Drone is tilting when the air comes (8-10 knots)

PX4 Autopilot
1

Hi,

Drone Setup:

  • Quadcopter Type: OctaQuad (Coaxial Octocopter)
  • Flight Controller: Pixhawk 6X
  • PX4 Version: 1.15.4
  • GPS: Yes
  • Airframe: Generic 10" Octocopter Coaxial Geometry
  • Body Structure: Multilayered Carbon Fiber with Removable Arms and Honey Comb
  • Dimensions:
    – Length (Nose to Tail): 130 cm
    – Width (Right Motor to Left Motor): 130 cm
    – Height: 20 cm
  • Weight: ~22 Kg
  • Ducted design with a 20 cm high wall all around 4 sides with small verticle slots near the corners. Center of each side is complete solid, corners are also solid.

Design

image
image450×134 17.8 KB

My drone is built of carbon fiber as one part. Different number of carbon fiber layers are used. Epoxy is used to combine the sheets.

  • CG also seems fine. No issues in the Altitude flight mode.

Problem

I flew this drone for 15 mins with no problems in Position mode when there was no air.
But, the problem comes when the wind starts (8-10 knots). As soon as wind start, my drone starts tilting towards the side from where the air is coming.
I changed the side of my drone (nose to tail) and now the other side starts tilting towards the side which is on the direction of wind.

Never done AutoTune on this drone, stabalized manually because the autotune isn’t working (ticket already created for that too).

Tried solutions:

Already tried the following parameters to fix this issue, but no effect of these:

  • EKF2_DRAG_CTRL = 1
  • EKF2_WIND_NSD = 0.5
  • MPC_TILTMAX_AIR = 50/25/20

Flight Logs

The below given logs are of the flights where wind condition is almost 8-10 knots in average and drone is tilting in the direction of the air coming from.

2

Isn’t that somewhat expected given the shrouding adds a lot of wind resistance?

3

Is there any way to fix it using the parameters?
Or the shrouding needs to be removed/modified to fix this?

4

I can’t tell without having seen it fly.