I'm new to the quad world.  Flew my son-in-laws MAVIC and was pretty good so decided to print and build my own.  Eneded up with a PEON 230 frame and I-Filghts Succex Mini F7 FC with matching 35A 4 in 1 ESC and MT2204 2300KV motors 5" props. BN880 GPS.

Heard about INav and saw some videos on ALTHOLD and NAV capabilities and found that is what I really wanted...  problem is there is no official target  for my FC.  I did some research and found an "unofficial target" in which I had to use INav 3.1.0 a dev build to flash.  The guy who shared it said he has had success with all functionality... but... not me!

After the flash I am getting green for all my sensors.  I cannot for the life of me figure out whats up with my alt hold.  It is very unstable... it will climb and drop at any time as if I dropped or raise the throttle.  The baro is on the underside of the FC and I tried foam which seemed to make it worse. 

I did some black box logging with Debug_Mode set to Altitude but with so many different variable to choose from I don't know what to look for.  It's confusing that when I look at BARO I see a negative value and assuming "M" which is shown as part of the graph definition of the field is intended for meters.... then I am way off... also the NavPos & NavTgtPos (which seem to follow each other closely and also are noted with "M") are different than the baro number but are also negative values.
Im really lost here.... I am trying to debug and just figure out why ALTHOLD is sporadic.  Can someone please help me figure out how to do that or whether any of my settings are off?  will post a DIFFALL after this post.

# diff all

# version
# INAV/IFLIGHT_SUCCEX_E_F722_V1 3.1.0 Jun  1 2021 / 02:40:51 (de635fc0)
# GCC-9.3.1 20200408 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# mixer

mmix reset

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

# safehome

# logic

# gvar

# pid

# feature
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper

# map

# serial
serial 0 0 115200 115200 0 115200
serial 3 2 115200 115200 0 115200
serial 4 262144 115200 115200 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1875 2100
aux 1 1 2 900 1150
aux 2 1 2 1400 2100
aux 3 10 3 1900 2100
aux 4 11 2 1900 2100
aux 5 3 2 1400 2100
aux 6 26 1 1850 2100

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 23 1 V
osd_layout 0 1 12 1 V
osd_layout 0 15 0 9 V
osd_layout 0 22 14 11 V
osd_layout 0 24 0 7 V
osd_layout 0 30 2 10 V
osd_layout 0 34 10 2 V

# master
set looptime = 2000
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 60
set acc_hardware = MPU6000
set acc_lpf_hz = 30
set acczero_x = -14
set acczero_y = 27
set acczero_z = 191
set accgain_x = 4075
set accgain_y = 4118
set accgain_z = 4068
set align_mag = CW270FLIP
set mag_hardware = HMC5883
set magzero_x = 4
set magzero_y = -86
set magzero_z = 71
set maggain_x = 414
set maggain_y = 439
set maggain_z = 451
set baro_hardware = DPS310
set serialrx_provider = IBUS
set blackbox_rate_denom = 2
set motor_pwm_rate = 2000
set motor_pwm_protocol = ONESHOT42
set throttle_idle =  5.000
set failsafe_procedure = RTH
set align_board_roll = -6
set align_board_pitch = 4
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set inav_w_z_baro_p =  0.500
set nav_auto_speed = 700
set nav_mc_bank_angle = 45
set nav_mc_hover_thr = 1462
set osd_units = IMPERIAL
set debug_mode = AUTOLEVEL
set tz_automatic_dst = USA
set vtx_band = 5
set vtx_low_power_disarm = ON

# profile
profile 1

set mc_p_pitch = 50
set mc_i_pitch = 50
set mc_d_pitch = 38
set mc_p_roll = 46
set mc_i_roll = 46
set mc_d_roll = 35
set mc_p_yaw = 65
set mc_p_level = 50
set setpoint_kalman_enabled = ON
set setpoint_kalman_q = 200
set tpa_rate = 10
set tpa_breakpoint = 1650
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 60
set pitch_rate = 60
set yaw_rate = 60

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1


# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
profile 1
battery_profile 1

# save configuration
save

#

Attached is a screen shot of the log with debug mode set to altitude.  Notice how I am throttling down but the altitude is climbing.  You would think that if the log shows the altitude climbing the ALTHOLD algorithms would know to slow down the motors I would think unless something else is included in the algorithm.  Not sure whether it is C code but if even if I knew where the code lived not sure that would tell me all the variables that are factored in.  Something told it to spin up and based on the throttle position it should have been opposite. My hover is around 1470 so 1343 should have been descending.

Forget it... seems like when I descend that indicator always trends downward.  Goes to show I really dont understand what I should look at.  I tried to attach the log but its to big.  Will try to link it to my G-Drive and share it that way.

Debug Altitude uploaded to my drive at

https://drive.google.com/file/d/1xk_zdXy...sp=sharing

Please take a look and help me.... been going at this for a couple weeks and my wife's about to break my drone to stop it from consuming so many hours....

Lost me at “mavic”….

Have you watched this video?

Will watch now.  Thanks...

Actually I did watch that.... but I am assuming that you are recommending that because you see an obvious issue... so will watch again just in case I missed something... would help if there is something in specific that you are questioning and you could point that out... please note I am new to this... albeit I am a software architect I definitely am open to criticism as I do understand that I dont understand.  Thanks.

(07-Sep-2021, 01:22 AM)Rob Axel Wrote: Lost me at “mavic”….

I hear you Rob.... That's why I built mine.

(07-Sep-2021, 02:14 AM)i_build Wrote: Will watch now.  Thanks...

Actually I did watch that.... but I am assuming that you are recommending that because you see an obvious issue... so will watch again just in case I missed something... would help if there is something in specific that you are questioning and you could point that out... please note I am new to this... albeit I am a software architect I definitely am open to criticism as I do understand that I dont understand.  Thanks.

Actually I was on a bus when I sent that video link.

There can be several causes to the problems you are facing:

1. 3d printed frame. How I know cause I build the Peon 230 in PETG and PLA and just hated the frame resonance/vibrations. Moving all the electronics to a carbon frame was like night and day. This could be causing the instability you are seeing to some degree.

2. The Gyro/Accelerometer/Barometer/Compass/GPS all have a role to play here. It may be an issue with these or their calibration. 

3. The quad will need to be tuned for the flight mode you wish to fly it with and this will always take some experimentation.

Thank you. I suspected the frame also and printed rubber soft mounts for the motors as well as soft mounted the FC in addition to cranking down all of the fasteners with loctite. I then ran Debug_Mode set for the GYRO and looked at the results post and pre and saw a marked improvement but then realized I don't know what "right" should look like. Should the black box under raw GYRO show some deviation from straight and the filetered be completely flat? I think it looks close to flat after filtered... but is my goal for it to be perfectly straight?

Will order a carbon frame on amazon today since it made that much of a difference for you... is the general consensus that 3D printed frames will not allow acceptable resonance no matter what other measures are taken?

None the less it is a starting point... Not sure if anyone could look at the GYRO data on the debug and tell me if that looks good to them...

Thanks in advance I appreciate the help.

Ordered the Carbon Fiber frame will come in tomorrow... hope that gets a bunch of issue fixed. Thanks.

Anything larger than a micro quad is not advisable on a 3d printed frame.

3d printing is great for rapid prototyping and best left at that. Yes you can print some mounts and adapters in TPU but not an actual 5” frame regardless of PLA/ABS/PETG etc etc.

Soft-mounting the FC is standard practice but soft-mounting motors is still unproven and many ditched the idea long ago.

Don’t worry about the blackbox for now. Without a benchmark you will not know what go focus on. You should be able to get the quad flying on default settings with some basic tuning.

Just got the Mark 4 replica and boy does it make me embarrassed to have built the PEON aptly named. Only bad thing was although the kit allows for a 20 mm FC they only included the soft mount for the holes for the larger. Will dig around cause I know I had the smaller ones and post back findings as soon as I can.

All setup with the new frame.  I do feel it flies better and the GYRO noise is less.  I watched the video again and it stresses the fact that you need to get all the kinks out in ANGLE mode 1st cause it is the foundation for all nav modes... and that is what I am concentrating on,  my issue is still similar to what the PEON 230 frame was doing,  I'm in angle mode at about 6-7 feet up and hovering and it will hover great for like 5-10 seconds and then sink as if I cut throttle.  My hover point is about 1415 and you can see in the logs where I am sitting at 1415 baro steady... then baro drops.... NAV POS(2) follows right after.  Without video I cant tell if the baro is dropping before the quad actually drops (in error) or the quad actually drops and the baro is reading correctly and NAV POS(2) then acts. Through it all there was a tiny correction (roll to the right) but throttle remained steady at 1415 / 1414.  Trying to adjust up the angle strength gain and Position Z P Gain to see if that might help...

Link to my G Drive for that blackbox log file its tiny and isolated to that 1 anomaly.

https://drive.google.com/file/d/17eKE_Y-...sp=sharing

I am not good at Blackbox logs but I will suggest you check your ALT_P, ALT_I and hover_throttle.

Barometers are pressure and temperature sensitive sensors. And so my assumption is it that if you hover longer in the same spot you could be hovering in your prop wash or turbulent air where the pressure changes are very rapid and iNav might be fighting to keep the altitude position stable and beyond a certain point assumes the barometer readings are sporadic and fails.

If you are trying to achieve what a Mavic does with Altitude and Position hold then it may be tough because the Mavic has a ton of sensors and for low altitude it uses the optical sensors at the underside of the quad which will be far more accurate than a barometer.

Lots of good info on this site: https://inavfixedwinggroup.com/

This is their page for INAV 3.0 and it covers different board alignments, but also how to get your servo travel directions in the correct direction.