Continuous Yaw upon lift-off. PX4 Pixhawk 6X

PX4 Autopilot Multicopter 🛸
1

Hi,

I am experiencing continuous yaw throughout my whole flight. Below is my setup and the flight logs.

Setup:

  • Generic Quadcopter with PX4 and QGC.
  • Tarot frame.
  • Pixhawk 6X from Holybro
  • M8N GPS module
  • 6S Lipo
  • T-motor 40Amp ESC
  • T-motor MN5008 motors
  • T-motor 15 inch CF props
  • Take-off weight 2.8kg

Flight logs:
https://review.px4.io/plot_app?log=15d4e222-f807-4e13-97b4-7e62d877ba86
https://review.px4.io/plot_app?log=04659704-76ae-4551-ba34-2bb544946aeb
https://review.px4.io/plot_app?log=6eb07afb-fcbf-4c09-bb87-b8c2e346eb08

IMG-6463
IMG-64631920×1440 227 KB

1 Like
2

More flight logs after performing calibration again. For all of the flight I just take-off and land after a few seconds as the drone either drifts a lot and spins in the yaw axis.

Arm on ground without lift-off:
https://review.px4.io/plot_app?log=8f87ddc6-46a2-4eee-808d-4488126eb140

Position mode:
https://review.px4.io/plot_app?log=41864304-212b-4f3f-b441-109e0281ef3d
https://review.px4.io/plot_app?log=14cc7d33-588a-4996-bc10-24f2305d2081

Stabilize mode:
https://review.px4.io/plot_app?log=99c41bdb-b3a9-4d00-ab53-d0d41cc229a0

3

Completely off topic, but you are in Chicago. So are we.

4

Have you gone through the normal pid tuning procedures?

5

It looks like your step responses are rather off.

6

Hi @Andrew_Wilkins ,

I have not done any PID tuning. I am fairly new to PX4 and QGC, but have built drones before with Ardupilot and Mission planner.

Can you please point me in the right direction for PID tuning or a complete guide to PX4 setup and steps before flight? I did use the px4 online docs, but might have missed it.

Only place I see tuning is in-flight autotune.

Yes we are indeed. I am a Masters in Robotics student at Northwestern University. Very briefly met you when you gave a talk there at the end of last year.

Best,
Marno

7

Ah, yes Zach gave the talk there.

I would say start here, but if you would like we can hop on a call and talk through more of the process. I see from the logs that that might be the main cause for this

8

Thank you @AWilkins_Ascend I appreciate the time. I will give feedback once I have tried the PID tuning.