ZMR 250 Clone w/Naze32Acro Mini Quadrotor Fall Out of Sky problem..
I'm just starting to fly my ZMR and have had some problems occur that I cannot explain. My pertinant setup information is below, along with a short video to describe the problem.
My Flight Controls setup:
Naze32 Acro, Configured with Baseflight for Hoirzon, Angle and Acro
Spektrum DX9, Spektrum 6210 w/Satellite, PWM into Naze
Mini Titan 2204 2300kv
12A MRM SimonK ESCs w 1A Linear BECs. Only one BEC is connected to power Electronics, ESCs all soldered to PDB.
Mini PDB supplied by a 3S 1300mAh 45-90C NanoTech
I've verified the ESC calibration in Baseflight. All motors start turning at the same PWM increment.
My PID are per the first post SimonK recommended PIDs.
Looptime = 2500
RC = 1.25
I've been experiencing problem when first powering up the motors. Too often, one of the motor/esc will not spin, but rather cog back and forth... that is, 3 motors will spin up nicely, while 1 of them will cog back and forth, but not spin. I have been able to work around this problem by picking up the quad, hold it level with fingers (and face!) clear of props, then throttle up and bank the quad in all directions... at some point, the subborn motor/esc will kick in and start working well.
Today, I finally started flying FPV under goggles. All was going well for the first three flights flown in Horizon mode, until my last flight. I set the Naze for Acro mode and took off half not knowng what to expect. I flew around uneventful for a few minutes and then for no apparent reason, my quad just falls out of the sky. Thankfully nothing broke, not even a prop. Not knowing what had caused that, I decided to try to fly it manually in Horizon mode to see if the problem was stll there. Well, it flew just fine for about 30 seconds until I pulled lightly aft on the stick and then the ZMR fell out of the sky again, this time doing a roll along with what seemed to be a throttle cut to all motors.
Here's a link to a short video of what happend in the air. Anyone have and ideas of what's going on?
Update: 12/30/2014
I seem to have fixed the problem. It was not a bad connection or solder joint.
I made adjustments to the following items, which completely eliminated the problems I'd been experiencing. I can't say for sure which was the major problem, but the combined changes below fixed it:
1. Re-calibrate Naze32 Acro Flight Controller.*
2. Reconfigured the Throttle Range on my DX9 transmitter, basicllay tightened up the pulse width range on both ends.. was 1007 - 2007 us, reset to something like 1050 - 1950 us.
3. Reconfigured Middle Throttle and Minimum Command.
4. Recalibrate ESCs. With the new Minimum Command Set, I recalibrated all ESCs using Baseflight by setting Minimum Command up to 1980 us to trigger the ESC calibrate mode, connecting the flight battery, then reset Minimum Command to 1050. I found that the minimum command setting was important during ESC calibration, as it sets the lower range of the calbiration. If set too high, throttle resolution could be lost. I fussed with this for a while, and settled on 1050.
* When I connected my Naze32 Acro to baseflight, I noticed that my accelerometer calibration had drifted. It was reading 1.02 g's vertically, and something other than 0.00 in the horizontal axes. I recalibrated it, and all was good.. until the Naze32 warmed up a little, then the vertical calbiration had drifted to 0.99-0.98. I assume the drift was with temperature.. but can't be certain. I didn't bother re-calibrating.. assuming that when I fly outside, it will be cold out and the Naze32 acclerometer would be cold, thus the vertical calibration would be closer to 1.0.
So, since fixing this, I've flown 8 LiPos. No problems. I've forced myself to fly Rate mode for the last 6 packs, and it's doing well. No more self flips into the ground.
Startups have been perfect... all motors fire and spin exactly at the same instant, and run up smoothly. I finally trust that the motors will come up together when I start up, and I just put on the goggles, and give it throttle without worrying that one of the motors will be sitting there cogging instead of turning. (Before, I had to visually check that all the motors were turning!)
I did my first *intentional* rolls yesterday, and today. No problem. Next I'll have to do my first *intentional* flip.
My Flight Controls setup:
Naze32 Acro, Configured with Baseflight for Hoirzon, Angle and Acro
Spektrum DX9, Spektrum 6210 w/Satellite, PWM into Naze
Mini Titan 2204 2300kv
12A MRM SimonK ESCs w 1A Linear BECs. Only one BEC is connected to power Electronics, ESCs all soldered to PDB.
Mini PDB supplied by a 3S 1300mAh 45-90C NanoTech
I've verified the ESC calibration in Baseflight. All motors start turning at the same PWM increment.
My PID are per the first post SimonK recommended PIDs.
Looptime = 2500
RC = 1.25
I've been experiencing problem when first powering up the motors. Too often, one of the motor/esc will not spin, but rather cog back and forth... that is, 3 motors will spin up nicely, while 1 of them will cog back and forth, but not spin. I have been able to work around this problem by picking up the quad, hold it level with fingers (and face!) clear of props, then throttle up and bank the quad in all directions... at some point, the subborn motor/esc will kick in and start working well.
Today, I finally started flying FPV under goggles. All was going well for the first three flights flown in Horizon mode, until my last flight. I set the Naze for Acro mode and took off half not knowng what to expect. I flew around uneventful for a few minutes and then for no apparent reason, my quad just falls out of the sky. Thankfully nothing broke, not even a prop. Not knowing what had caused that, I decided to try to fly it manually in Horizon mode to see if the problem was stll there. Well, it flew just fine for about 30 seconds until I pulled lightly aft on the stick and then the ZMR fell out of the sky again, this time doing a roll along with what seemed to be a throttle cut to all motors.
Here's a link to a short video of what happend in the air. Anyone have and ideas of what's going on?
Update: 12/30/2014
I seem to have fixed the problem. It was not a bad connection or solder joint.
I made adjustments to the following items, which completely eliminated the problems I'd been experiencing. I can't say for sure which was the major problem, but the combined changes below fixed it:
1. Re-calibrate Naze32 Acro Flight Controller.*
2. Reconfigured the Throttle Range on my DX9 transmitter, basicllay tightened up the pulse width range on both ends.. was 1007 - 2007 us, reset to something like 1050 - 1950 us.
3. Reconfigured Middle Throttle and Minimum Command.
4. Recalibrate ESCs. With the new Minimum Command Set, I recalibrated all ESCs using Baseflight by setting Minimum Command up to 1980 us to trigger the ESC calibrate mode, connecting the flight battery, then reset Minimum Command to 1050. I found that the minimum command setting was important during ESC calibration, as it sets the lower range of the calbiration. If set too high, throttle resolution could be lost. I fussed with this for a while, and settled on 1050.
* When I connected my Naze32 Acro to baseflight, I noticed that my accelerometer calibration had drifted. It was reading 1.02 g's vertically, and something other than 0.00 in the horizontal axes. I recalibrated it, and all was good.. until the Naze32 warmed up a little, then the vertical calbiration had drifted to 0.99-0.98. I assume the drift was with temperature.. but can't be certain. I didn't bother re-calibrating.. assuming that when I fly outside, it will be cold out and the Naze32 acclerometer would be cold, thus the vertical calibration would be closer to 1.0.
So, since fixing this, I've flown 8 LiPos. No problems. I've forced myself to fly Rate mode for the last 6 packs, and it's doing well. No more self flips into the ground.
Startups have been perfect... all motors fire and spin exactly at the same instant, and run up smoothly. I finally trust that the motors will come up together when I start up, and I just put on the goggles, and give it throttle without worrying that one of the motors will be sitting there cogging instead of turning. (Before, I had to visually check that all the motors were turning!)
I did my first *intentional* rolls yesterday, and today. No problem. Next I'll have to do my first *intentional* flip.
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