Orange cube toilet bowling after 1minute

1

Hi all,

I have a UAV heli with orange cube+ and here 4. I had a misshap and accidently wrote some wrong parameteres to flight controller 6months ago. I have had alot of toilet bowling issue. I recenlty have installed new orange cube+ and here 4 and writted with original paramteres when flew nicely. I can take of in stabilize and is rock solid, i switch to loiter and is rock solid for 1 minute and then it starts to toilet bowl slightly and gradually gets worse. When in a mission it is fine in straight lines but when bank turns seems to wander a fair bit. I have lost count of how many compass calibrations I have done. I have attatched latest short log and need some urgent help.
00000007.BIN (3.0 MB)

2

Autotune it, what software stack are you using?

3

I would say vibrations are a problem - not the worst but much less than ideal.
Set these to improve the compass calibration, that will help too.
The second compass is also included here even though it’s disabled, just in case you ever need it.

COMPASS_OFS_X,80.80406
COMPASS_OFS_Y,107.86597
COMPASS_OFS_Z,-66.71071
COMPASS_DIA_X,1
COMPASS_DIA_Y,1
COMPASS_DIA_Z,1
COMPASS_ODI_X,0
COMPASS_ODI_Y,0
COMPASS_ODI_Z,0
COMPASS_MOT_X,1.92429
COMPASS_MOT_Y,0.3843866
COMPASS_MOT_Z,0.368461
COMPASS_SCALE,1
COMPASS_ORIENT,0
COMPASS_OFS2_X,150.43431
COMPASS_OFS2_Y,639.02515
COMPASS_OFS2_Z,-177.4337
COMPASS_DIA2_X,1
COMPASS_DIA2_Y,1
COMPASS_DIA2_Z,1
COMPASS_ODI2_X,0
COMPASS_ODI2_Y,0
COMPASS_ODI2_Z,0
COMPASS_MOT2_X,-3.260254
COMPASS_MOT2_Y,1.9721045
COMPASS_MOT2_Z,5.60994
COMPASS_SCALE2,1
COMPASS_ORIENT2,0
COMPASS_MOTCT,2

Set these before the next flight and send that log, then we can check and set the harmonic notch filter too. Your current notch frequency of 10Hz seems too low to me.

BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,3
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4

The PIDs look odd to me, but I’m not a heli guy so I cant say for sure. the attitude control does look poor though.

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