Matek F722-STD - with Inav 1.9.1 - FC disoriented in the air

[DaveKraft]

I just finish my first Inav build, it is a cloudsurfer from HK with Matek F722 FC, and Inav 1.9.1 (recommended version from mateksys, with fixed issue of rudder output -S06). On the ground it looks just fine, GPS is fixed, just ready to go, but once it airborne, the flight controller looks disoriented, look at the video, how horizont bar starts drifts all over screen in completely wrong angle related to ground. then I make some changes: I tried to disable Barometric sensor (make it simple as I can), set lover LPF gyro cutoff freq (20MHz), I change how is FC mounted (add soft mount to my FC), balance prop again, and result is still the same, after takeoff it is works just fine, but after lets say 20 - 30sec horizont bar starts moving randomly all over screen, so FC is disoriented and any of flight mods can't be used, except "manual" mode. Unfortunately, I don't have black box data. Only a video. And I can't reproduce same behavior on the ground, I hold airplane in hand and wiggle with for 10minutes with motor on cruise throttle and FC was working just fine, issue appears only in the air, during actual flight.

Video link: https://youtu.be/3vWMR8YK-SE

my settings are:

version

INAV/MATEKF722 1.9.1 Mar 8 2018 / 11:09:25 (a818e2e)

resources

mixer

mixer AIRPLANE

servo mix

smix 0 7 8 100 0

servo

servo 2 1000 2000 1382 100 -1 servo 3 1000 2000 1522 -100 -1 servo 4 1000 2000 1522 -100 -1 servo 5 1000 2000 1496 -100 -1

feature

feature -TX_PROF_SEL feature MOTOR_STOP feature GPS feature CHANNEL_FORWARDING feature AIRMODE feature PWM_OUTPUT_ENABLE

beeper

map

map TAER5678

name

name CloudSurfer

serial

serial 0 1024 115200 38400 0 115200 serial 2 32 115200 38400 0 115200 serial 3 2 115200 38400 0 115200 serial 4 2048 115200 38400 0 115200

led

color

mode_color

aux

aux 0 0 7 1700 2100 aux 1 1 8 1300 1700 aux 2 2 8 1700 2100 aux 3 3 1 1475 1900 aux 4 9 1 1675 1900 aux 5 8 1 1950 2100 aux 6 10 1 1125 1475 aux 7 14 1 900 1025 aux 8 27 6 1700 2100 aux 9 28 6 900 1300 aux 10 15 2 1300 2100 aux 11 30 3 1300 1700

adjrange

rxrange

master

set gyro_sync = ON set gyro_hardware_lpf = 20HZ set acc_hardware = MPU6500 set acczero_x = -74 set acczero_y = -23 set acczero_z = -103 set accgain_x = 4087 set accgain_y = 4085 set accgain_z = 4088 set mag_hardware = NONE set baro_hardware = BMP280 set pitot_hardware = NONE set rssi_channel = 16 set min_throttle = 1275 set max_throttle = 2000 set failsafe_throttle = 1350 set failsafe_procedure = RTH set align_board_pitch = -30 set align_board_yaw = 1800 set vbat_max_cell_voltage = 420 set vbat_min_cell_voltage = 310 set battery_capacity = 6000 set battery_capacity_warning = 3000 set battery_capacity_critical = 1200 set current_meter_scale = 179 set imu_dcm_kp = 2108 set imu_dcm_ki = 16384 set imu_dcm_kp_mag = 2048 set imu_dcm_ki_mag = 16384 set small_angle = 32 set auto_disarm_delay = 0 set gps_sbas_mode = EGNOS set nav_extra_arming_safety = OFF set nav_landing_speed = 150 set nav_rth_climb_first = OFF set nav_rth_allow_landing = FS_ONLY set nav_rth_altitude = 7000 set nav_fw_cruise_thr = 1600 set nav_fw_min_thr = 1275 set nav_fw_max_thr = 2000 set nav_fw_bank_angle = 35 set nav_fw_pitch2thr = 12 set nav_fw_loiter_radius = 7000 set telemetry_inversion = ON set osd_video_system = 1 set osd_rssi_alarm = 35 set osd_time_alarm = 60 set osd_alt_alarm = 1000 set osd_main_voltage_pos = 289 set osd_rssi_pos = 2050 set osd_flymode_pos = 2476 set osd_throttle_pos = 193 set osd_vtx_channel_pos = 2487 set osd_current_draw_pos = 2401 set osd_mah_drawn_pos = 353 set osd_bat_remaining_capacity_pos = 2433 set osd_gps_speed_pos = 2275 set osd_gps_sats_pos = 2081 set osd_gps_lon_pos = 2098 set osd_gps_lat_pos = 2066 set osd_home_dir_pos = 2092 set osd_home_dist_pos = 2059 set osd_altitude_pos = 2297 set osd_vario_pos = 2231 set osd_ontime_flytime_pos = 2455 set osd_messages_pos = 2497 set osd_main_cell_voltage_pos = 2369 set osd_throttle_auto_thr_pos = 2113 set osd_efficiency_mah_pos = 2465

profile

profile 1

set fw_p_pitch = 10 set fw_i_pitch = 6 set fw_p_roll = 10 set fw_i_roll = 6 set fw_p_yaw = 10 set fw_i_yaw = 6 set fw_ff_yaw = 50 set max_angle_inclination_rll = 600 set max_angle_inclination_pit = 600 set tpa_rate = 40 set pitch_rate = 15 set yaw_rate = 10 set manual_roll_rate = 80 set manual_pitch_rate = 80 set manual_yaw_rate = 80

[shellixyz]

This doesn't seem right. Did you change these values ?

set imu_dcm_kp = 2108
set imu_dcm_ki = 16384

You could try to set them back to the defaults:

set imu_dcm_kp = 2500
set imu_dcm_ki = 50

There is known memory corruption bug on MATEKF722 board with version 1.9.0 so that might be the reason (#2914). I think it is not recommended to use this board with version 1.9.0.

If you feel adventurous you can try the development branch but use the default imu_dcm_kp and imu_dcm_ki values: inav_1.9.1_MATEKF722.hex.zip

Remember this is not an official release. It has been built from the latest code and has not been tested as well.

[DaveKraft]

I did not change these values, to be honest, I don't even know what they are!! :-) I chose 1.9.1 (from mateksys page) simply because my board doesn't have support in older versions, is there any way how to use this board with older versions? like 1.8.0? But I will definitely set those values as you suggested, and will try the latest build (from your post).

thx for your help

Regards, David

[wilco1967]

The Matek F722 is working just fine in the latest Development... But not in the 'official' 1.9.0. Those values being corrupted in 1.9.0 is already solved in Development.

I've been flying the Development version on a Mini Talon the last few weeks or so, since that bug was fixed, and it's working great since. Never tried flying while the bug was still there...

inav_1.9.1_MATEKF722 03-04.hex.zip

This is the version from a few days ago that is working great for me, and is 'flight tested'.... shellxyz's version seems even newer, so you may want to use that instead.

Blackbox logging however doesn't work properly yet (at least on mine), but that's not stopping it from flying. #2796

[shellixyz]

@DaveKraft The support for the MATEKF722 board has only be added recently and the first release including it was 1.9.0 so you can't use 1.8.0. I would suggest to use either my build (I flight tested it so it should work) or the build provided by @wilco1967.

[DaveKraft]

Thx for your help guys. I already flash version from shellxyz and set everything from scratch, these "strange" values are no longer there, so I will test it as soon as I can, probably next weekend.

One thing I didn't mentioned (I forgot), on my previous version (the faulty one) I was unable to save small_angle value (after reboot it was set back to 32, every time), don't know if it could be some way related to my issue, now I can save this value.

[shellixyz]

One thing I didn't mentioned (I forgot), on my previous version (the faulty one) I was unable to save small_angle value (after reboot it was set back to 32, every time), don't know if it could be some way related to my issue, now I can save this value.

Was most likely related to the same bug that caused the corruption of your imu_dcm_kp and imu_dcm_ki settings

[DaveKraft]

Hi guys, I'm just come back from the airfield, and can confirm, that now it flew like a charm! :-) I tried almost every flight mods, let the plane on Pos/alt hold for more than 15minutes, angle, horizont and RTH is also working......everything is OK, I wasn't brave enough to test auto launch, maybe next time. :-) Thank you again for your support.
btw, I found only one thing strange, on previous build, I had to invert telemetry (frsky receiver) by CLI command, on this build telemetry work only if I disable/turn off telemetry inverter. everything is connected same way as before, don't know if it is a bug, or some change in this build, but anyway it works that way! :-)

here is my current and working settings:

version

INAV/MATEKF722 1.9.1 Apr 8 2018 / 20:57:06 (2d3fa62b)

resources

mixer

mixer AIRPLANE

servo mix

smix 0 7 8 100 0

servo

servo 2 1000 2000 1382 100 -1 servo 3 1000 2000 1522 -100 -1 servo 4 1000 2000 1522 -100 -1 servo 5 1000 2000 1496 -100 -1

feature

feature -TX_PROF_SEL feature MOTOR_STOP feature GPS feature CHANNEL_FORWARDING feature AIRMODE feature PWM_OUTPUT_ENABLE

beeper

map

name

name CloudSurfer

serial

serial 0 1024 115200 38400 0 115200 serial 2 32 115200 38400 0 115200 serial 3 2 115200 38400 0 115200 serial 4 2048 115200 38400 0 115200

led

color

mode_color

aux

aux 0 0 7 1700 2100 aux 1 1 8 1300 1700 aux 2 2 8 1700 2100 aux 3 3 1 1475 1900 aux 4 9 1 1675 1900 aux 5 8 1 1950 2100 aux 6 10 1 1125 1475 aux 7 14 1 900 1025 aux 8 27 6 1700 2100 aux 9 28 6 900 1300 aux 10 15 2 1300 2100 aux 11 30 3 1300 1700

adjrange

rxrange

master

set looptime = 2000 set gyro_hardware_lpf = 188HZ set acc_hardware = MPU6500 set acczero_x = -62 set acczero_y = -30 set acczero_z = -39 set accgain_x = 4087 set accgain_y = 4087 set accgain_z = 4071 set mag_hardware = NONE set baro_hardware = BMP280 set pitot_hardware = NONE set rssi_channel = 16 set min_throttle = 1275 set max_throttle = 2000 set failsafe_throttle = 1450 set failsafe_procedure = RTH set align_board_pitch = -25 set align_board_yaw = 1800 set vbat_max_cell_voltage = 420 set vbat_min_cell_voltage = 310 set battery_capacity = 6000 set battery_capacity_warning = 3000 set battery_capacity_critical = 1200 set current_meter_scale = 179 set small_angle = 180 set auto_disarm_delay = 0 set gps_sbas_mode = EGNOS set nav_extra_arming_safety = OFF set nav_landing_speed = 150 set nav_rth_climb_first = OFF set nav_rth_allow_landing = FS_ONLY set nav_rth_altitude = 7000 set nav_fw_cruise_thr = 1600 set nav_fw_min_thr = 1275 set nav_fw_max_thr = 2000 set nav_fw_bank_angle = 35 set nav_fw_pitch2thr = 12 set nav_fw_loiter_radius = 7000 set nav_fw_launch_thr = 2000 set nav_fw_launch_motor_delay = 250 set nav_fw_launch_climb_angle = 20 set telemetry_inversion = OFF set osd_video_system = 1 set osd_rssi_alarm = 35 set osd_time_alarm = 60 set osd_alt_alarm = 1000 set osd_main_voltage_pos = 289 set osd_rssi_pos = 2050 set osd_flymode_pos = 2476 set osd_throttle_pos = 193 set osd_vtx_channel_pos = 2487 set osd_current_draw_pos = 2401 set osd_mah_drawn_pos = 353 set osd_bat_remaining_capacity_pos = 2433 set osd_gps_speed_pos = 2275 set osd_gps_sats_pos = 2081 set osd_gps_lon_pos = 2098 set osd_gps_lat_pos = 2066 set osd_home_dir_pos = 2092 set osd_home_dist_pos = 2059 set osd_altitude_pos = 2297 set osd_vario_pos = 2231 set osd_ontime_flytime_pos = 2455 set osd_messages_pos = 2497 set osd_main_cell_voltage_pos = 2369 set osd_throttle_auto_thr_pos = 2113 set osd_efficiency_mah_pos = 2465

profile

profile 1

set max_angle_inclination_rll = 600 set max_angle_inclination_pit = 600 set manual_roll_rate = 70 set manual_pitch_rate = 70 set manual_yaw_rate = 70

[DaveKraft]

well, I tested it again, and same behavior is back. but after much longer time than on the previous build. Today I flew more than 25 minutes, and after 20 minutes of climbing to higher altitude horizont start floating again, but much slower and not so random, just "waving" from one side to another, very slowly, but I wasn't able to use any automatic flight mod, because of that. my best guess is that my FC is getting overheating during fly , which leads to disoriented gyro/acelerometer, and the previous bug just amplified that same behavior.I will try to add some better cooling to my FC, and make few more tests.

[digitalentity]

I suspect the faulty board

[putimir]

Hey @shellixyz : do you know any other parameters that get corrupted in 1.9.0? I flew my S800 yesterday (722/1.9.0) without much issues (it was maiden and used autolaunch haha; horizon, acro/air), everything was fine except the RTH, which exhibited violent banks and yanks into ground. Then I stumbled upon this issue (I also had corrupted set imu_dcm_kp and set imu_dcm_ki); I flashed the board yesterday with hex from Matek site (dated apr.27), but did not do full chip erase).

So, are there any other parameters known to check for corruption?

Thanks

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