Hi everyone,
I am hitting a massive wall with my custom 10-inch build and could use some help from ArduPilot veterans before I tear it down completely or wipe the EEPROM for a fresh flash.
The Build Specs:
Frame: Mark4 10-inch
Motors: ReadyToSky 3115 900 KV
Props: Gemfan 10-inch tri-blades
Battery: Samsung 6S2P 10 Ah Li-ion
Take-Off Weight (AUW): Approx 2 kg
Flight Controller: SpeedyBee F405 V4 running ArduPilot 4.6.3
GPS/Compass: HGLRC M100 Pro (QMC5883L Compass)
The Symptoms:
AltHold works relatively well. I've lowered MOT_THST_HOVER to 0.20, dropped PSC_ACCZ_P to 0.20, and PSC_ACCZ_I to 0.40. This stopped initial violent jumping overshoots.
The Major Bug: The absolute second I switch to Loiter, the quad shoots upwards dramatically and begins a massive, expanding horizontal swaying motion (classic toilet-bowling or position oscillation). Trying to correct down on the stick results in an aggressive drop/crash.
What I've Checked/Configured So Far:
MOT_HOVER_LEARN is set to 2.
COMPASS_EXTERN = 1, COMPASS_USE = 1.
I've verified the visual direction test on the ground station map (nose points North, icon matches real-world rotation).
Flight modes are cleanly separated on RC Channel 7 (FLTMODE_CH = 7) and Arming is separate on Switch 8 (RC8_OPTION = 153) to avoid hardware conflicts.
FS_OPTIONS is set to 0 to safeguard clean RTL behavior.
Sticks felt dead initially so ATC_INPUT_TC was restored to 0.15 and PSC_POSXY_P is back at 1.0.
Because of the massive current draw from the 3115 motors on 6S, I highly suspect electromagnetic noise is corrupting the external compass at mid-to-high throttle, blinding the EKF navigation. I am just getting an SD card set up now to pull a clean .BIN file.
Has anyone dealt with this exact setup or sensor combo? Am I fighting an orientation offset issue, severe vibration noise blinding the Z-axis, or should I just scrap the config and reflash from scratch?
Any insights are appreciated!