Tricopter spinning uncontrollably

[DanAbara]

Hi guys,

I have a tricopter running the Pixahwk 1 autopilot. I have setup everything correctly. I am using the Tricopter Y+ airframe where all the rotors spin counterclockwise. The tricopter arms correctly, but as soon as I try to fly it, it spins/rotates uncontrollably in the clockwise direction.

What I have attempted:

• I have reversed the servo channel via the RC4_REV parameter in QGC. That didn't work.
• I have also reversed the Rudder channel on my Radio Tx, also to no avail.

These are the steps which solved this issue for some other users found via my online search, but its not working for me.

Please help.

Thanks.

[DanAbara]

So here's some logs from manual tests I've done. I simply held the copter in hand and tried to spin it in different directions. These logs are with different PID gains.

https://review.px4.io/plot_app?log=4dfa5c20-b1a1-44e7-ab9e-2dd0390480c6

https://review.px4.io/plot_app?log=5b17d57a-73ea-42f5-9028-bf1ccd12769b

I also wonder why the Yaw angle starts from a large non-zero value.

Thanks.

UPDATE:
So I changed the airframe from Y+ to Y- for the tricopter after re-installing firmware 1.8.2, and the tricopter can lift from the ground without spinning uncontrollably but the vibrations are massive.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

Closing as stale.

[julianoes]

vibrations are massive.

I suspect that's a hardware or tuning issue.

[DanAbara]

@julianoes thank you. Yes the vibration is a hardware issue.