Althold mode at big tilt boosts throttle too much causing over controls.

[RBirdie001]

When copter is in althold mode and is tilted significantly (I guess over 30 degrees), althold boosts throttle extremely up so that overcontrols to crazy dance. I've seen it twice: 1) Tricopter with iNAV 1.5 in althold, manual control in horizon mode. I got too close to a tree branch so I had to use bigger input on roll stick (but didn't touch throttle stick). Copter got to crazy overshooting so I was lucky to land it. Video: https://www.youtube.com/watch?v=dP9BRAIkA5E Hear motors - I didn't touch throttle stick!

2) Quad with iNAV 1.6RC2, newly set nav_max_speed = 500. I flew normally in horizon for a minute, then I activated RTH (it means also althold). Quad started first turning towards me, but then started uncontrollable rolls. Video: https://www.youtube.com/watch?v=9JbhxLmhgyQ I examined quad after crash, but didn't find any harware problem to explain beviour. More description at videos. Can be maximal throttle correction by althold limited? Thanks! Roman

[digitalentity]

Please share 1) details of your setups; 2) configuration dumps; 3) blackbox logs if available.

My thoughts:

1. AltHold works perfectly with tilts up to 60 deg (tested). Your first video doesn't look too bad. If that was an uncontrolled climb it looks more like an accelerometer issue.
2. Uncontrolled rolls in 99% is a hardware problem usually caused by motor/ESC issue, power failure or no signal ground on wires from FC to ESCs.

[RBirdie001]

Thanks for so many interesting ideas! My setups are: 1) Tricopter 32cm motor-center 9x4.7props,1200kV motors, 20A OPTO BlHeli ESC, FC NAZE32 rev. 6 10DOF. This wasn't really serious issue, just as baro boosted throttle during tilt significantly, copter got much more side speed than I expected so it was difficult to stabilize copter without hitting trees around. Just possibility to limit maximal allowed influence of althold into throttle would help. 2) Quad 47cm M2M across, 9x4.7props,1200kV motors, 16A OPTO BlHeli ESC (connected only signal wire, for ground is used power ground 20cm to central ground point. I wanted avoid grounding loops). FC Afro Naze32 Mini with external MAG. No blackbox logs, sorry... Config dump is here: quad450_INAV16RC2_dump.txt I was flying it for some weeks before without any problem, even tested full manual TH fast climbs, posholds, altholds and several (at least 10 times) switch activated RTH - all worked perfectly. (Navigation modes made HUGE improvement in iNAV, big thanks!!!) I only wanted make copter returning home faster so I increased set nav_max_speed = 500. After this change it was first RTH test, which ended immediately with crash. I examined copter after crash (soft field - not much damaged copter) and didn't find any obvious hardware problem. All motors and ESC work, all sensors OK... After replacing prop and replacing one arm copter hovers again - real flight not tested yet. I can't confirm it was really baro issue, but I thought it can have something common with problem 1) which I consider as a baro isuue. Thanks for any ideas! Roman

[digitalentity]

For 1 - it's hard to tell without a blackbox log. NAZE32 Rev6 should have a dataflash so you can record some logs of the issue. Looks like an accelerometer resonance issue to me - need logs to confirm.

For 2 - this is easily testable - hover manually and give full throttle (manually). High possibility that your quad will flip. This is caused by noise picked up by long ESC signal wire at high throttle values. Signal wire coming to ESC is twisted with the ground for a reason - and that reason is noise tolerance.

[RBirdie001]

Thanks! I just wanted to let you know what I found to help the developement. I'll keep testing and post if I find anything interesting. Still not think it was ESC wire interference - as I wrote, I have tested full TH climbs before without any problem. If nobody else reported such problem, it could be something with my hardware. Roman

[RBirdie001]

New observation: In short: I found that neither baro nor navigation engine is the reason for roll problem described in 2). In details: After reparing the quad, checking all hardware and loading final iNAV 1.6 release I went fly again. After about 30 sec. of slow flying in horizon I tested full throttle fast uprise to about 30m. Copter was still behaving OK, but then at fast diving (I guess about 3m/s) I applied close to ground about 75% throttle to break descend. Copter was shaky as usual during vertical descend and then (still in manual-horizon) made the same diagonal barell rolls as previously in video 2) and crashed to ground. (Unfortunately on hard pavement so damage is worse than last time. :-( ) There wasn't althold nor navigation active at the time so it's definitely not the reason for problem 2) and I'm sorry for the confusion. It really looks more like ESC or signals problem. Tests about 1) I haven't done yet.

[vic2k]

I had have the same issue when i switched from inav pos hold + inav alt hold to RTH. Kwad harshly turned front side to RTH point and start to wobbling and fast decrease altitude. I save kwad from crash by fast toggling from RTH to Angle. F450 30A simonk 1000KV NAZE32 rev5 10DOF

tasks

Task list rate/hz max/us avg/us maxload avgload total/ms 0 - SYSTEM 9 9 5 0.5% 0.5% 9 1 - PID 499 1510 1350 75.8% 67.8% 133147 5 - SERIAL 99 7002 3 69.8% 0.5% 87 6 - BEEPER 99 12 4 0.6% 0.5% 81 7 - BATTERY 49 40104 9 197.0% 0.5% 130 8 - RX 49 105 94 1.0% 0.9% 941 9 - GPS 24 340 75 1.3% 0.6% 350 10 - COMPASS 9 237 231 0.7% 0.7% 454 11 - BARO 99 244 235 2.9% 2.8% 4628 Task check function 10 3 28 Total (excluding SERIAL) 279.8% 74.3%

status

System Uptime: 179 seconds, Voltage: 122 * 0.1V (3S battery - OK), System load: 0.04 CPU Clock=72MHz, GYRO=MPU6050, ACC=MPU6050.n, BARO=MS5611, MAG=HMC5883 Sensor status: GYRO=OK, ACC=OK, MAG=OK, BARO=OK, SONAR=NONE, GPS=OK Stack size: 2048, Stack address: 0x20005000 Cycle Time: 2004, I2C Errors: 0, config size: 1688

dump

version

INAV/NAZE 1.5.1 Jan 5 2017 / 11:29:36 (556168d)

pflags

Persistent config flags: 0x00000000

dump master

mixer

mixer QUADX mmix reset smix reset

feature

feature -RX_PPM feature -VBAT feature -UNUSED_1 feature -RX_SERIAL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -FAILSAFE feature -SONAR feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -UNUSED_2 feature -BLACKBOX feature -CHANNEL_FORWARDING feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -SOFTSPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature RX_PPM feature VBAT feature MOTOR_STOP feature GPS feature FAILSAFE feature PWM_OUTPUT_ENABLE

beeper

beeper GYRO_CALIBRATED beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACC_CALIBRATION beeper ACC_CALIBRATION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE

map

map AETR1234

serial

serial 0 1 115200 38400 0 115200 serial 1 2 115200 115200 0 115200

set looptime = 2000 set i2c_overclock = OFF set gyro_sync = OFF set gyro_sync_denom = 2 set acc_task_frequency = 500 set attitude_task_frequency = 250 set async_mode = NONE set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 30 set rssi_ppm_invert = OFF set rc_smoothing = ON set input_filtering_mode = OFF set min_throttle = 1150 set max_throttle = 1850 set min_command = 1000 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 1000 set motor_pwm_rate = 1000 set motor_pwm_protocol = ONESHOT125 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set auto_disarm_delay = 5 set small_angle = 25 set reboot_character = 82 set gps_provider = UBLOX set gps_sbas_mode = AUTO set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set inav_accz_unarmedcal = ON set inav_use_gps_velned = ON set inav_gps_delay = 200 set inav_gps_min_sats = 6 set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.500 set inav_w_xy_gps_p = 1.000 set inav_w_xy_gps_v = 2.000 set inav_w_z_res_v = 0.500 set inav_w_xy_res_v = 0.500 set inav_w_acc_bias = 0.010 set inav_max_eph_epv = 1000.000 set inav_baro_epv = 100.000 set nav_disarm_on_landing = OFF set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = ON set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_max_speed = 300 set nav_max_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_rth_climb_first = ON set nav_rth_tail_first = OFF set nav_rth_alt_mode = AT_LEAST set nav_rth_altitude = 1000 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1500 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 20 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_roll2pitch = 75 set nav_fw_loiter_radius = 5000 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_detect_time = 40 set nav_fw_launch_thr = 1700 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_timeout = 5000 set nav_fw_launch_climb_angle = 10 set serialrx_provider = SPEK1024 set spektrum_sat_bind = 0 set telemetry_switch = OFF set telemetry_inversion = OFF set frsky_default_lattitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = IMPERIAL set frsky_vfas_precision = 0 set frsky_vfas_cell_voltage = OFF set hott_alarm_sound_interval = 5 set battery_capacity = 0 set vbat_scale = 110 set vbat_max_cell_voltage = 43 set vbat_min_cell_voltage = 33 set vbat_warning_cell_voltage = 35 set current_meter_scale = 400 set current_meter_offset = 0 set multiwii_current_meter_output = OFF set current_meter_type = ADC set align_gyro = DEFAULT set align_acc = DEFAULT set align_mag = DEFAULT set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 0 set gyro_lpf = 42HZ set moron_threshold = 32 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set pos_hold_deadband = 20 set alt_hold_deadband = 50 set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set tri_unarmed_servo = ON set servo_lowpass_freq = 400 set servo_lowpass_enable = OFF set servo_center_pulse = 1500 set servo_pwm_rate = 50 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_kill_switch = OFF set failsafe_throttle_low_delay = 100 set failsafe_procedure = RTH set rx_min_usec = 885 set rx_max_usec = 2115 set acc_hardware = MPU6050 set baro_use_median_filter = ON set baro_hardware = MS5611 set mag_hardware = HMC5883 set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SPIFLASH set magzero_x = 266 set magzero_y = -369 set magzero_z = 116 set acczero_x = 23 set acczero_y = 23 set acczero_z = -126 set accgain_x = 4049 set accgain_y = 4056 set accgain_z = 4061

rxfail

rxfail 0 a rxfail 1 a rxfail 2 a rxfail 3 h rxfail 4 h rxfail 5 h rxfail 6 h rxfail 7 h rxfail 8 h rxfail 9 h rxfail 10 h rxfail 11 h rxfail 12 h rxfail 13 h rxfail 14 h rxfail 15 h rxfail 16 h rxfail 17 h

dump profile

profile

profile 1

aux

aux 0 1 3 1300 1700 aux 1 26 0 1750 2100 aux 2 20 2 900 1250 aux 3 3 3 900 1250 aux 4 9 3 900 1250 aux 5 8 3 1750 2100 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900

adjrange

adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0

rxrange

rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

servo

servo 0 1000 2000 1500 90 90 100 -1 servo 1 1000 2000 1500 90 90 100 -1 servo 2 1000 2000 1500 90 90 100 -1 servo 3 1000 2000 1500 90 90 100 -1 servo 4 1000 2000 1500 90 90 100 -1 servo 5 1000 2000 1500 90 90 100 -1 servo 6 1000 2000 1500 90 90 100 -1 servo 7 1000 2000 1500 90 90 100 -1

set nav_alt_p = 50 set nav_alt_i = 0 set nav_alt_d = 0 set nav_vel_p = 100 set nav_vel_i = 50 set nav_vel_d = 10 set nav_pos_p = 65 set nav_pos_i = 120 set nav_pos_d = 10 set nav_posr_p = 180 set nav_posr_i = 15 set nav_posr_d = 100 set nav_navr_p = 10 set nav_navr_i = 5 set nav_navr_d = 8 set deadband = 5 set yaw_deadband = 5 set throttle_tilt_comp_str = 0 set flaperon_throw_offset = 250 set flaperon_throw_inverted = OFF set gimbal_mode = NORMAL set fw_iterm_throw_limit = 165 set mode_range_logic_operator = OR set default_rate_profile = 1 set mag_declination = 10279 set mag_hold_rate_limit = 90 set p_pitch = 39 set i_pitch = 19 set d_pitch = 26 set p_roll = 38 set i_roll = 18 set d_roll = 26 set p_yaw = 85 set i_yaw = 45 set d_yaw = 0 set p_level = 15 set i_level = 15 set d_level = 75 set max_angle_inclination_rll = 300 set max_angle_inclination_pit = 300 set gyro_soft_lpf_hz = 60 set acc_soft_lpf_hz = 15 set dterm_lpf_hz = 40 set yaw_lpf_hz = 30 set yaw_p_limit = 300 set iterm_ignore_threshold = 200 set yaw_iterm_ignore_threshold = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000

dump rates

rateprofile

rateprofile 1

set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 45 set thr_expo = 15 set roll_rate = 20 set pitch_rate = 20 set yaw_rate = 20 set tpa_rate = 0 set tpa_breakpoint = 1500

[digitalentity]

@RBirdie001 anything new here?

[RBirdie001]

Hi! I tested big tilts in althodld mode on my tricopter and didn't see any problem. Quad, where I observed it is since that time unflyable so I can't verify it on it, but I think it will be OK even here and problems were caused with ESCs. According me this issue can be closed as fauolt in the code wasn't confirmed. Thanks for the help! Roman ---------- Původní e-mail ---------- Od: Konstantin Sharlaimov notifications@github.com Komu: iNavFlight/inav inav@noreply.github.com Datum: 9. 7. 2017 15:22:18 Předmět: Re: [iNavFlight/inav] Althold mode at big tilt boosts throttle too much causing over controls. (#1359) " @RBirdie001(https://github.com/rbirdie001) anything new here?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub (https://github.com/iNavFlight/inav/issues/1359#issuecomment-313919615), or mute the thread (https://github.com/notifications/unsubscribe-auth/APG0l4LDBqtyvIdsy0EjLw8mwVYxIuanks5sMNQDgaJpZM4MTP6A) .

"

[DzikuVx]

@RBirdie001 Thanks for recheck, closing.