I’ve already built the quadcopter drone using Cube Plus and here 3 + run the Arducopter v4.4.4 firmware
The drone looks fine when I take off in stabilize mode and after that, I switch to loiter mode,
drone is very stable.
But to easy for the newbie drone pilot to take off, I want to take off at loiter mode to make the stable for my drone.
So I switch to loiter mode to take off and my copter may be unstable and can flip. ( GPS is 3D lock).
Now, I need advice to fix the copter can take off in loiter mode.
and possibly GPS_GNSS_MODE,5 instead of 65 even though 65 is usually good.
If that large building has a lot of solar panels (it looks like it does) then I find them to be very reflective of GPS signals and you might get a better result being a little further away from it, at least for testing.
I also meant to say:
I didnt see any very bad behaviour from Loiter. I suspect the GPS wandering position is giving you trouble at take off, and in big copters this can cause a tip-over or even the copter moving horizontally fast and hitting things - so be careful!
I would suggest take off in AltHold mode and get a couple of meters altitude.
Or enable the Fence - then you wont be able to arm until there is a good 3D fix and Home can be set.
and you will need to recheck your MOT_SPIN_ARM and MOT_SPIN_MIN using MissionPlanner motor test. Set MOT_SPIN_ARM to the lowest value where all motors start reliably, for example 0.11.
Then add +0.03 and set MOT_SPIN_MIN , for example 0.14
It’s OK to use AltHold instead of Stabilise to take off, it is much more “in control”, until Loiter is sorted out.
But it’s always good to practice in Stabilise anyway, one day you may need it.
What battery do you have?
Set all the other parameters that I already specified, they are mostly data-gathering and some slight improvements. Let’s see the log after a new test flight with all the adjusted parameters.
Is it Lipo or Li Ion? Semi-solid state or anything special?
Which battery are you planning on getting?
Did you do all the other parameters I mentioned to gather data and aid tuning?
Head over to ecalc, put in your components and see the copter goes with your existing battery, then change to the new battery and see what that does for motor temperature and flight time.
A bigger battery may not give more flight time if it is too big.
This exactly is Lithium Ion Battery.
I going to update to Tatu Lipo battery for a longer flight time, Thank you for the advice about ECALC, I will consider it.
Also, I have set the pagram as you advised me, everything is just fine now:
Here are the logs: