Hello everyone,
This is Tamim. I’m working on a custom-frame drone and i have issue: in Position mode, the drone oscillates on pitch. The goal is a stable drone in Position mode. The attached video and flight log were both recorded in Position mode, and I’d like to test the fix in Position mode only.
Drone details:
- Design: This is an unusual frame. Rather than a single X configuration, it’s effectively two X-shaped drones joined together with a cabin between them, giving it a long shape. This layout introduces extra pitch inertia, which I believe is the source of the oscillation. The design is fixed and cannot be changed, so we need to stabilize it as-is.
- Motors: 16 total, but only 8 are configured in firmware — each coaxial pair shares the same PWM signal. Motors are SunnySky X2212 980KV with 9443 props. A picture of the motor wiring/layout is attached.
- Flight controller: Pixhawk 6C
- Firmware: PX4
- GPS: Disabled
-Flying: Indoor only. Position mode.
- Positioning: Holybro H-Flow sensor used in place of GPS for EKF2. It provides both optical flow and a range finder. The H-Flow has no offset — it sits in the center of the drone, directly below the flight controller.
- Battery: 6000*2 mAh 4S, fully charged for each flight
All other settings can be found in the parameters file.
Flight log: [u]Flight Review
