Motor clipping

[Lyagukh]

Just back from the first outdoor flight with AQ 6.6. Overall performance is quite impressive and better than 6.1. It is stable in wind, it holds horizontal position nicely (albeit vertical hold needs some PID tuning), RTH also works as expected. Then I took a look at flight logs and was quite surprised. I'm flying hexa plus frame and while front and rear motors produce nice logs like shown in the second of attached images (motor8.png), side motors look completely out of order (e.g. see attached motor4.png). In fact, there was some strange "metal" sound from the motors during the flight which I cannot reproduce on the bench using the same ESC and motor. I use KDA 20-22L motors and Turnigy Plush ESC with SimonK firmware, 3S LiPo. This very setup on the same frame worked ok with 6.1 (and did not produce those strange metal sounds). I set motor frame to 3 in the code itself which is hexa plus. It uses 100 for side motors roll and pitch and 75 for front and rear motors.

What could this mean?

Igor

[bn999]

Igor, while I can't comment on your metallic sounds, I don't think the clipping shown on the top graph is healthy. The dynamic range sent to the ESC is too much, probably because of the D terms being too high.

The second graph must be a mistake as it does not look like motor output at all.

[Lyagukh]

[bn999]

[Lyagukh]

[Lyagukh]

[rwijnhov]

Decrease I to 1.2 or 1.2 and p to 120 and it will be much better.

[Lyagukh]

[Teletubbie]

I had no clipping with the default V6.5.

I am on V6.6 R18 and have also clipping now.

Tomorrow trying the changed P & I

//Frank