Hey I am a little desperate getting my drone into a stable hover state…
I tried everything to setup the build as perfect as possible:
- Correctly determine the center of gravity following this guide Drohne_PID-Regelung (look at the end) and mount the FC there
- Level the Drone with small weights to match the center of gravity while balancing
- Calibrate ESCs properly
- Set correct max and min values for RC Outputs
When getting the drone off the ground, there is still a little movement towards one direction so I try to find the perfect settings with RC trim, to adapt these values to the equilibrium torque params later, but here the problem begins:
When I try to apply trim to a channel, the changes are noticeable, but after a while the FC somehow reverts the changes by self-leveling or correcting these values during flight. Therefore I have to apply more and more trim until I am at the end of the possible range.
After landing and Re-Arming the applied trim is not working as expected. Sometimes starting is not possible without getting the drone to flip in the direction of the applied trim. This way it is impossible to find correct values for a stable hover.
I tried this with and without calibrating IMU before every flight. With parameter CAL_GYRO_ARM = true I have the feeling that after every liftoff I need to apply other trim values to stop the drone from drifting.
It seems that the FC is somehow overriding/adapting the FC signals while flying. This makes it impossible to find a good calibration or fly longer than 1 Minute. After this time you will reach max-value of the FC-Stick to correct the position drift of the drone, making it necessary to land before crashing.
I have no idea what causes this behaviour and what I can do to stop it.
Please help if somebody has an idea…
I am using the latest release of rosflight firmware, maybe it is worth to compile the newest version by myself and hope that this behavior is already fixed?