Artificial horizon on OSDoge / Naze combo tilts under power
Hi,
I am running a Naze32 Rev6 (cleanflight) with a OSDoge in a ZMR250 with PDB simplifier. The Naze connects directly into the PDB and the OSDoge stacks on top. It is a great setup, except, when under power (60% +) the artificial horizon tilts hard one way. I see this both flying and on a level surface with the props off.
I have swapped out the Naze, with no effect. I have also swapped out a motor which I suspected had bad bearings, again with no improvement.
I am thinking it may be vibration based, but am unsure. Any thoughts on possible causes and how I might pin it down.
Thanks
Hi Carl,
It is very possible that this is vibration based. The OSDoge reads the signal from the accelerometer in the Naze32- If there is a large amount of vibration, it can throw off these numbers.
Are you flying in rate mode? If so, the accelerometer being off wouldn’t effect flight performance.
If you have this issue with the props off on the bench, that would lead us to believe that you might have a motor that is unbalanced.
A good thing to look at is your raw sensor data in cleanflight during motor rev.
Here is what your sensors should look like without any motor spin:
You should see that you have nice flat lines that respond to movement when you move the quad around.
And here is what an output with new motors at 60% throttle without props installed should look like:
You can see that there is some vibration in the accelerometer, which is normal-
If these vibrations get out of hand you can have some major issues- but no worry, they can be tuned out.
One thing that you can try doing is adjusting the acc LPF settings in the cleanflight CLI to tune out the vibrations so that they are ignored by the flight controller.
For example, acc_lpf_factor- This setting controls the Low Pass Filter factor for ACC. Increasing this value reduces ACC noise (visible in GUI), but increases ACC lag time. Zero = no filter
Typically, acc lpf factor is set to 4, but you can take it up to 250.
To adjust this, go to the CLI and type “set acc_lpf_factor = some number between 1 and 250”
Here is the same quad as above at 60% throttle, but with the acc lpf factor set to 100:
So, try tuning in the acc_lpf_factor. It should be balanced so that you have a good mix of performance, with the noise tuned out of the ACC readings.
Let me know if that helps to answer your questions!
-Anthony