your right prop off.
on, off, on, off
and smash into a wall.
You do the hokey cokey and you turn around.
That’s what it’s all about!
Why do all my crashes break a right hand, ACW / CCW rotating prop? I have so many spare lefts it’s getting embarrassing!
Though it wouldn’t help that sometime (I think yesterday) I fitted 10″ instead of my normal 11″ props to Phoebe’s left hand side. Oopsy – it least that explains the increasing negative (ACW) rotation, eventually leading to the left wall collision.
On the plus side, with the correct props fitted on the left hand side, I got stability matching the take-off angle with the attitude only PIDs (i.e. completely as expected), and zero-drift once the motion PIDs were included too (again, completely as expected). In other words, absolutely perfect…
…except for the fact she kept climbing; nevertheless still worth videoing. Two reasons why I didn’t video the flights – they’re called Jacob and Milly; I’m the parent in charge until mid-afternoon so my time for test flights today is very limited!
So back to the Z-axis velocity PIDs, it seems. I wonder whether the dlpf of 3 (44Hz, 4.9ms lag) could be the cause – either too high or too low – I can speculate on the cause of either way, so I’ll try both dlpf 4 (20Hz, 8.3ms lag) and dlpf 2 (90Hz and 3.0ms lag).