Vision failure everytime during takeoff

[Tamas Pal 0]

@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?

[modaltb]

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

[modaltb]

@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	9

Checkout out noise management here... I've had some nasty flights due to cutoff frequencies.

[Tamas Pal 0]

@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.

[modaltb]

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.

[Tamas Pal 0]

@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

[modaltb]

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-v0

I'm getting our team to do a real tune and early this week and will post info.

[Tamas Pal 0]

@modaltb Thanks. which escs are you using for this?

[modaltb]

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:

[Tamas Pal 0]

@modaltb so, the problem is solved for you by tuning only ?

[modaltb]

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!!!