Vision failure everytime during takeoff
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@modaltb After diabling it, the quad is able to hover in stabilized mode. but it is going here and there uncontrollably and dangerously without any stick input and a bit of wobbling is still there. Any update?
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My next step is to share some PX4 params (pid settings, cutoff filters) that got my sentinel stable, but I need my team to validate before sending. I’m not clear if this will solve everything but will at least be a good data point. I’m hoping to get this tested tomorrow and will share
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@Tamas-Pal-0 ...
I still have nothing to report as far as finding root cause of something, after our tune tweaks I was up and going. I am still testing though for this use case to see if there's some edge case I'm not seeing, I'm just a bit slow with this debugging.
As far as sharing my params that got me flying, I don't even know if my approach here is valid, you have different motor/prop setup, and frames aren't identical, battery type?...
My lawyer told me to tell you "not to use these since we don't have the same setup and the author/developer in the post here isn't really a pilot so...." You've been warned by the lawyer!
# Pitch PID 1 1 MC_PITCH_P 5.5 9 1 1 MC_PITCHRATE_P 0.065 9 1 1 MC_PITCHRATE_I 0.150 9 1 1 MC_PITCHRATE_D 0.002 9 1 1 MC_PITCHRATE_K 1.0 9 # Roll PID 1 1 MC_ROLL_P 5.5 9 1 1 MC_ROLLRATE_P 0.065 9 1 1 MC_ROLLRATE_I 0.150 9 1 1 MC_ROLLRATE_D 0.002 9 1 1 MC_ROLLRATE_K 1.0 9 # Yaw PID 1 1 MC_YAW_P 2.0 9 1 1 MC_YAWRATE_P 0.15 9 1 1 MC_YAWRATE_I 0.10 9 1 1 MC_YAWRATE_D 0.0 9 1 1 MC_YAWRATE_K 1.0 9 ################################################################################ # Noise management ################################################################################ 1 1 MOT_SLEW_MAX 0.0 9 1 1 IMU_DGYRO_CUTOFF 30.0 9 1 1 IMU_ACCEL_CUTOFF 30.0 9 1 1 IMU_GYRO_CUTOFF 30.0 9Checkout out noise management here... I've had some nasty flights due to cutoff frequencies.
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@modaltb I have tried with your parameters. It is still the same. I am able to hover it but it is going here and there uncontrollably and a bit of wobbling is still there.
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Any chance you could post a link to a video of a flight to help us understand the failure mode even more? Sorry to this going, but we're struggling to find a smoking gun.
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@modaltb I am using your parameters here and disbaled the modalai_esc driver. The video link is here
https://drive.google.com/file/d/1cbBXsEFMLztR7F1_en4i77F1ww4LbQ1t/view?usp=sharing -
OK thanks for the data. This is where I'm at now with my VOXL2 / VOXL2 IO setup sentinel, it's not super clean yet but but flyable for sure:
https://www.youtube.com/watch?v=1INto92k-v0I'm getting our team to do a real tune and early this week and will post info.
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@modaltb Thanks. which escs are you using for this?
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Hi @Tamas-Pal-0 ,
These are BLHeli 20A, should be similar/same as the ones from this kit: https://shop.holybro.com/spare-parts-s500-kit_p1251.html
Here's my setup:
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@modaltb so, the problem is solved for you by tuning only ?
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On my setup yes that was all I needed to do, but we are still going to do a "full proper tune" on our S500 based frame (Sentinel dev drone) and I will confirm with you that we are getting performance as expected after this and share a video. Our flight test team will be doing that this week, thanks for the patience!!!
