Drone has always twitched in position mode. I initially thought there was a temporary desynch or problem with the ESC, I later discovered via previous logs that global position lost confidence and it switched to altitude mode and once there, the motors began to twitch.
Things I’ve tried:
1: Tighten down the fuselage and ensure motor mounts, booms, plates etc. are secured.
Result: no change.
2: Reduct radio power output in case the doodle labs signal is interfering with GPS
Result: no change
3: Rely exclusively on barometer for altitude positioning in altitude mode
Result: no change
4: Turn on CAN termination in case there was some voltage splash in the GPS
Result: no change
5: Change antenna position, 6” away from GPS
Potential issues:
S_variance_M_S: Hiccups in RTCM data?
Here’s two logs: one is noticing the issues. First is a test fight, the second is a test flight fallowed by crash.
https://review.px4.io/plot_app?log=1a0cfc15-5be5-488d-b591-a95b0e049d96. (crash)
https://logs.px4.io/plot_app?log=9041a448-efa8-4100-9ffc-62e5fd37d8cd (test, no crash)
Hardware: 4215 465 KV motors w/ 18.5” Props
Ark 4-in-1 ESC
Ark Teseo GPS (mounted externally on the left side, 5” away from FC, 8” away from PDB, 3” away from radio antenna
Ark RK Jetson PAB Orin Nano 4GB NDAA Bundle
Ark PAB 12s PDB
QGC (Next Vision CCAC3)
Doodle Labs Helix (2.4 ghz)