With a fresh firmware install/ resetting PIDs to stock for generic quadcopter it flies fairly stable. The D term sounds a bit high on stock settings, with the motors trilling slightly and getting hot, however this gets worse with each flight. By flight number 3, there is a huge lag (+1 second) in throttle input, and the throttle input seems to be either 100% or idle. This was cause for a very exciting test flight and I was lucky to get it on the ground only breaking the props, but before I try again I’m wondering what I can do to prevent this in future tests?
I’ve attached the logs, but what I observed was: launch in POSITION, quad does not respond to throttle input immediately, then takes off slowly, gaining speed and continuing to accelerate upwards even after I have lowered the throttle to the minimum. the drone eventually started to drop, again having a delayed response. At this point I was just trying to get it on the ground safely and thoroughly regretting my decision to test over concrete, and set the drone down harshly. The drone flipped and ejected the battery, which was honestly beneficial, even if it was a bit painful watching a 25000mah 6s bounce off the aforementioned concrete.
I assumed that the autolearn was applying new PIDs, but when I checked after the most recent crash, they seem unchanged from the last firmware refresh. There is no significant delay in the radio transmission, previous flight have had instant response times and even in the fateful test flight #3 it seemed to have a low latency response in other flight axis’ except vertical. I’ve attached the flight log from the crash, any help is appreciated! Working on building a drone for sea turtle research and I’d like to get this project off the ground so I can start testing some remote sensing equipment.
Logs are uploaded publicly here
Equipment: Arris M900 frame, 18x6.1 props, Xrotor 50a pro ESC, Cube Orange FC, Here3 GPS
Firmware: PX4 1.16
