Naze32 violently leveling in rate mode after forward flight.

[icedomin8r]

This only happens in rate mode after some moderate fast forward flight along with neutralization or SLIGHT counter correction of the pitch input. It results
in the quad over correcting severely and in most cases it shoots straight up, and or will end up traveling backwards from the original direction.



It happens twice in this clip, once at the 6 second mark and once at the 16 second mark.

At the 6 second mark all I did was neutralize my pitch input.

At the 16 second mark, I gave no more than back pressure from a neutral stick, NOTHING ELSE, and the quad rockets to the sky.

It flys fantastic in horizon/angle mode, and feels great when its not doing what you see in the video. Flips, rolls, everything is great outside of this problem. I've tried changing some of the I gains, but nothing helped.


This in on a Naze32 acro board Rev 5 (red color if it matters).

Blackout Mini-H V2 frame
Sunnysky X2204-2300KV
Gemfan 5x3
F-12A Fire Red 12A SimonK ESC's
Turnigy Nano-Tech 1500mah 35-70C 3S
Mobius

AUW - 535 grams

Here is a copy of my dump file.

# dump
Current Config: Copy everything below here...
aux 0 0
aux 1 1
aux 2 2
aux 3 0
aux 4 0
aux 5 0
aux 6 0
aux 7 0
aux 8 0
aux 9 0
aux 10 0
aux 11 0
aux 12 0
aux 13 0
aux 14 0
aux 15 0
aux 16 0
aux 17 0
aux 18 0
aux 19 0
aux 20 0
mixer QUADX
feature -PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -SERIALRX
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -LED_RING
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -POWERMETER
feature -VARIO
feature -3D
feature PPM
feature VBAT
feature MOTOR_STOP
map AETR1234
set looptime = 2500
set emf_avoidance = 0
set midrc = 1500
set minthrottle = 1150
set maxthrottle = 1850
set mincommand = 1000
set mincheck = 1100
set maxcheck = 1900
set deadband3d_low = 1406
set deadband3d_high = 1514
set neutral3d = 1460
set deadband3d_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set flaps_speed = 0
set fixedwing_althold_dir = 1
set reboot_character = 82
set serial_baudrate = 115200
set softserial_baudrate = 9600
set softserial_1_inverted = 0
set softserial_2_inverted = 0
set gps_type = 0
set gps_baudrate = 0
set serialrx_type = 0
set telemetry_provider = 0
set telemetry_port = 0
set telemetry_switch = 0
set vbatscale = 110
set currentscale = 400
set currentoffset = 0
set multiwiicurrentoutput = 0
set vbatmaxcellvoltage = 43
set vbatmincellvoltage = 33
set power_adc_channel = 0
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set yaw_control_direction = 1
set acc_hardware = 0
set max_angle_inclination = 500
set moron_threshold = 32
set gyro_lpf = 42
set gyro_cmpf_factor = 600
set gyro_cmpfm_factor = 250
set pid_controller = 0
set deadband = 6
set yawdeadband = 0
set alt_hold_throttle_neutral = 40
set alt_hold_fast_change = 1
set throttle_correction_value = 0
set throttle_correction_angle = 800
set rc_rate = 130
set rc_expo = 65
set thr_mid = 50
set thr_expo = 0
set roll_pitch_rate = 40
set yaw_rate = 75
set tpa_rate = 30
set tpa_breakpoint = 1500
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1200
set failsafe_detect_threshold = 985
set rssi_aux_channel = 0
set yaw_direction = 1
set tri_unarmed_servo = 1
set gimbal_flags = 1
set acc_lpf_factor = 100
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = 1
set small_angle = 25
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set mag_declination = 0
set gps_pos_p = 11
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 20
set gps_posr_i = 8
set gps_posr_d = 45
set gps_nav_p = 14
set gps_nav_i = 20
set gps_nav_d = 80
set gps_wp_radius = 200
set nav_controls_heading = 1
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set p_pitch = 48
set i_pitch = 49
set d_pitch = 35
set p_roll = 41
set i_roll = 36
set d_roll = 34
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1

[timecop]

bla bla bla bla bla bla bla bla bla
without "version" output or you specifically stating that you're running latest firmware, all these "bug reports" are completely fucking useless.

[icedomin8r]

Apologies.

Afro32 CLI version 2.2 Aug 3 2014 / 21:51:54

Latest firmware installed dated 08.04.2014 @ 16:27

[Vertigo]

Subscribing here, as this is exactly the same problem I reported here yesterday:
viewtopic.php?f=23&t=1947&start=950#p55907

IT also appears identical to the issue reported here:
viewtopic.php?p=53330#p53330
and here:
viewtopic.php?f=23&t=1947&start=900#p53402

But that poster said it was fixed by a new firmware in july, could this be a regression?

# version
Afro32 CLI version 2.2 Aug 3 2014 / 21:51:54

I dont see where I can check the firmware version, but I flashed it last week to the latest one baseflight offered.
Using white rev5 funfly board.

[Vertigo]

New frame, new motors, defaulted all settings, same problem. Angle and horizon work fine (aside from horizon occasionally leveling inverted it seems), in acro mode, I get the violent overcorrections. Time to try another firmware I guess.

[icedomin8r]

UPDATE: FWIW

In regards to my problem and a similar problem experienced by users such as Vertigo, the problem has been "fixed". Not that this information helps anyone, but I wanted to put it out there. Haven't had a chance to fly until this past weekend. Finally got my Blackout in the air after doing the following.

Reset the board to factory defaults, re-flashed the latest firmware through Baseflight, reconfigured the board as I needed. Result? Problem gone.

Now in rate mode it flys perfectly as it should. Again I wish I had a better answer for those that are having the same problem that I was.

I must say I was quite happy with the performance in horizon mode. But now with rate mode working properly, I freaking love this thing!

In retrospect I should have known better than to open my mouth before trying the obvious possible fixes. It was just such a glaring problem at the time I assumed it was a widespread issue that someone would have addressed before.

[Vertigo]

Care to post another dump of your current settings?

[Vertigo]

swapped out the board for an older naze32 controller (one without baro) and installed cleanflight firmware, and though it was a short test flight in my garden, even with default settings, its never flown better. Cant say for sure if the problem has been cured yet, but If thats confirmed on some longer FPV flights, Ill have to swap boards again to narrow the issue down to the board or firmware, but my first priority was getting something that flew properly.

On a sidenote, cleanflight has some nice tweaks (frsky RSSI, autotune, >4 aux channels, ..) and a responsive code maintainer, Ill probably stick with it, even if it turns out the problem lies with the board rather than baseflight.

[Vertigo]

small update; the quad with the new/old acro only controller and cleanflight flew absolutely perfectly with stock settings until I crashed in to a sign board . UNfortunately, I destroyed a motor, so now I cant test if it works with baseflight too, thereby identifying either the board or the firmware as most likely cause.

But now a second, virtually identical quad, which used to fly okay, has developed the same problem. I have no idea what triggered it. It may have had a moderate crash, and I enabled frsky telemetry, thats all I can think off.

When I posted this on the dutch forum, a few people told me they had the exact same problem. Here is another video from one of them, showing very well the issue:

[scrat]

Rate aka ACRO mode? Because I've never had that kind of problem and I'm flying just acro mode.

[Vertigo]

Acro mode. But I seem to have solved it. Cleanflight + 5x4 props + increased I factor on pitch seems to have cured it. Probably the I factor mostly.

[timecop]

and a responsive code maintainer

Ah, but that guy (Dominic Clifton) hasn't managed to keep a stable job for more than a year at any place he worked at, since he's impossible to work with in a team, therefore I give it a few more months before he gets bored and moves on to something else, then you'll be stuck with unmaintained garbage nobody actually WANTS to maintain because its written by a dick who was coding Java and Ruby on fails for a living (and then got fired).

[brm]

and a responsive code maintainer

Ah, but that guy (Dominic Clifton) hasn't managed to keep a stable job for more than a year at any place he worked at, since he's impossible to work with in a team, therefore I give it a few more months before he gets bored and moves on to something else, then you'll be stuck with unmaintained garbage nobody actually WANTS to maintain because its written by a dick who was coding Java and Ruby on fails for a living (and then got fired).

a few seconds or minutes on the last fabrication round would help as well.

[timecop]

I've already told you, i'm on the same reel of MPU6000s that I've had for several years.
(I did buy a new reel recently, but it's going to get wasted because I'm moving to MPU65 for any new hardware).

[scrat]

I've already told you, i'm on the same reel of MPU6000s that I've had for several years.
(I did buy a new reel recently, but it's going to get wasted because I'm moving to MPU65 for any new hardware).

Sorry for offtopic...what is benefit of MPU6500 over MPU6000?

Thanks.

[zoz]

NAZE32 BLACKOUT HEX no autolevel after fast flight, keeps wrong angle and drifts?

HI Guys

Setup:
NAZE32 Vers. 5 with Baro and MAG Sensors FW Version 2.3
Blackout HEX
Sunnysky 2204 2000KV Motors
A.K.E. 500MHz 12Amp Esc
4S
Boris B. PID's
EZUHF 4CH Lite 1Channel PPM SUM
Futaba T10CHP

FW 2.3
ACC Calibrated
ACC Trimmed
Gyro calibrating before every flight
NAZE32 Board is packed in a coperfoil and isolated from Sunlight and Wind

Problems:

https://www.youtube.com/watch?v=_Y-pt_COqDc

1. Hovering in Angle Mode and Horizon is fine at half throttle but after fast front flight the HEX doesn't auto level it keeps a wrong angle to left side and drift, this guy have the same problem but I diden't found a solution?

viewto...rt=2550#p54843

2. New battery and after 2 Min. lost motor power of all six motors the hex did a roll of death and crashed.



View this video on YouTube


Thank you for your Feedback

THX

[IceWind]

I had this problem before and it was the CG, made it a tad more nose heavy and it got fine.
At some stage was so bad it would almost crash if I tried to stop suddenly. Somehow I had it CG leveled really wrong.