Problems with altitude hold

[tibean]

Hi.

First of all I would like to give you my congratulations for the wonderful software that you developed. But after several months of frustration with Altitude Hold feature, I’m asking for help. Not sure if this is the current place, let me know if there is a better one. I have a 5 inch quad with a Matek F405STD, equipped with a sonar TFMini pointing to the ground. I’ve used the Present setting for this type of quad. There are two major issues that I’m not able to overcome:

1. Quad is not able to keep altitude, with stock PID values, or even after a (tentative) PID tuning to the Altitude Hold parameters. When hovering two meters from the ground, the quad slowly starts to drop altitude and hits the ground. And when hovering, if I softly move the quad forward (pitch), it will lose altitude and hit the ground.
2. Sonar seems not be doing nothing, ie, when I get the quad hovering two or three meters from the ground if I put my hand under the sonar, the quad does not react moving up. Barometer is properly isolated with foam, and sonar and barometer have correct readings in Sensors tab. I believe vibrations are within the expected values, based on my limited knowledge from inspecting Black Box logs. Moreover, installing Ardupilot on this same setup with default PIDs proves that there is no problems with my hardware: the altitude hold works wonderfully and the sonar reacts properly. I’m sharing Black Box log that reflects these two issues. Every time I moved forward the quad, it dropped altitude until I add some throttle to compensate. In the last moments of the flight the quad was hovering about three meters from the ground in Position Hold until it slowly moved down and reached the ground, moment which I disarmed the quad. I’ve spent several hours looking for videos and posts regarding this kind of behavior but I don’t find anyone facing the same problem as I am. Can someone give me some light where can be the problem and give some hope to move forward? Thank you.

Tiago LOG00002.zip

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[digitalentity]

What's your config? Can you post a config dump?

[tibean]

Hi. My frame is a 3D printed frame based on Pavel's design (https://www.thingiverse.com/thing:2686018). Triblade 5045 props, Multistar BLHELI-S 30A ESCs from HK, 3s LIPO battery, EMAX RS2205 motors, sonar TFmini, GPS+mag Beitian BN880. FC is a Matek F405STD softmounted in rubber mounts.

My configs:

diff all

version

INAV/MATEKF405 2.3.0 Nov 24 2019 / 10:52:41 (d0bdd38c0)

GCC-8.2.1 20181213 (release) [gcc-8-branch revision 267074]

start the command batch

batch start

reset configuration to default settings

defaults noreboot

resources

mixer

mmix 0 1.000 -1.000 1.000 -1.000 mmix 1 1.000 -1.000 -1.000 1.000 mmix 2 1.000 1.000 1.000 1.000 mmix 3 1.000 1.000 -1.000 -1.000

servo mix

servo

logic

gf

feature

feature -OSD feature DYNAMIC_FILTERS feature GPS feature BLACKBOX feature PWM_OUTPUT_ENABLE

beeper

map

serial

serial 2 32 115200 115200 0 115200 serial 3 65536 115200 115200 0 115200 serial 4 2 115200 115200 0 115200

led

color

mode_color

aux

aux 0 0 4 1300 2100 aux 1 1 0 900 1700 aux 2 3 0 1300 1700 aux 3 9 0 1800 2100 aux 4 8 1 1800 2100

adjrange

rxrange

temp_sensor

wp

wp 0 invalid

osd_layout

master

set looptime = 500 set gyro_hardware_lpf = 256HZ set gyro_lpf_hz = 90 set gyro_lpf_type = PT1 set gyro_notch1_hz = 200 set gyro_notch1_cutoff = 100 set acc_hardware = MPU6500 set acczero_x = -14 set acczero_y = -24 set acczero_z = -36 set accgain_x = 4084 set accgain_y = 4081 set accgain_z = 4100 set rangefinder_hardware = BENEWAKE set align_mag = CW270FLIP set mag_hardware = HMC5883 set magzero_x = -46 set magzero_y = -63 set magzero_z = 12 set baro_hardware = BMP280 set pitot_hardware = NONE set rssi_channel = 16 set motor_pwm_rate = 4000 set motor_pwm_protocol = DSHOT150 set failsafe_procedure = RTH set vbat_scale = 1099 set current_meter_offset = 30 set yaw_jump_prevention_limit = 200 set model_preview_type = 3 set servo_pwm_rate = 330 set applied_defaults = 2 set gps_provider = UBLOX7 set gps_sbas_mode = AUTO set mc_airmode_type = THROTTLE_THRESHOLD set nav_use_midthr_for_althold = ON set frsky_pitch_roll = ON set name = J2

profile

profile 1

set mc_p_pitch = 58 set mc_i_pitch = 50 set mc_d_pitch = 22 set mc_p_roll = 43 set mc_i_roll = 40 set mc_d_roll = 20 set mc_p_yaw = 70 set dterm_lpf_hz = 80 set use_dterm_fir_filter = OFF set dterm_notch_hz = 200 set dterm_notch_cutoff = 100 set yaw_p_limit = 300 set d_boost_factor = 1.500 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set roll_rate = 50 set pitch_rate = 50 set yaw_rate = 45

profile

profile 2

profile

profile 3

battery_profile

battery_profile 1

set battery_capacity = 2200

battery_profile

battery_profile 2

battery_profile

battery_profile 3

restore original profile selection

profile 1 battery_profile 1

[ThijnLans]

the max altitude for althold is default 2 meter i have also the tfmini

pleas do this

set inav_max_surface_altitude = 1000 set nav_max_terrain_follow_alt = 1000

this altitude is 10Meter and that is the range of te lidar

[tibean]

Hi, thanks for your reply.

Maybe you mean inav_max_surface_altitude = 10000 (cm) nav_max_terrain_follow_alt = 10000 (cm)

to get 10meters?

regards, T

thijn1234 notifications@github.com escreveu no dia segunda, 20/01/2020 à(s) 07:40:

the max altitude for althold is defult 2 meter i have also the tfmini

pleas do this inav_max_surface_altitude = 1000 nav_max_terrain_follow_alt = 1000

this altitude is 10Meter

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