The system identification test stopped before its end
What ArduPilot says:
- SystemID Parameter Error
- SystemID Stopped: axis = 0
- SystemID Stopped: lean=N.N max=N.N
- SystemID Stopped: Landed
The test signal was switched off early and normal control is back; the recording is incomplete. “SystemID Stopped: lean=… max=…”: the copter leaned beyond its maximum lean angle (the second number, in hundredths of a degree; the first is in degrees). “SystemID Stopped: Landed”: the landing detector tripped. “SystemID Stopped: axis = 0”: SID_AXIS was set to 0 in flight. “SystemID Parameter Error”: the sweep settings make no sense: a frequency that is not positive, a negative fade time, or a record time shorter than two cycles of the starting frequency.
What to do, most likely first
The test signal is too large for this copter, or wind added to it, and the lean limit was reached.
CheckThe lean value in the message is a little above the maximum.
FixHalve
SID_MAGNITUDEand repeat in calm air with room all around.The sweep is set up wrongly:
SID_T_RECis too short forSID_F_START_HZ, or a frequency is 0.CheckRead
SID_F_START_HZ,SID_F_STOP_HZ,SID_T_REC,SID_T_FADE_INandSID_T_FADE_OUT.FixMake
SID_T_REClonger than two divided bySID_F_START_HZ, both frequencies above 0 and the fade times 0 or more.The test was started too low and the copter touched down.
FixStart from a hover at least a few metres up.
Parameters to look at
| Parameter | What it is |
|---|---|
SID_AXIS | System identification axis |
SID_MAGNITUDE | System identification Chirp Magnitude |
SID_F_START_HZ | System identification Start Frequency |
SID_F_STOP_HZ | System identification Stop Frequency |
SID_T_REC | System identification Total Sweep length |
SID_T_FADE_IN | System identification Fade in time |
SID_T_FADE_OUT | System identification Fade out time |
The code that sends it
SystemID Parameter Error
ArduCopter/mode_systemid.cpp ModeSystemId::run() · Open in ArduPilot Copter-4.7.1
SystemID Stopped: axis = 0
ArduCopter/mode_systemid.cpp ModeSystemId::run() · Open in ArduPilot Copter-4.7.1
SystemID Stopped: lean=N.N max=N.N
ArduCopter/mode_systemid.cpp ModeSystemId::run() · Open in ArduPilot Copter-4.7.1
SystemID Stopped: Landed
ArduCopter/mode_systemid.cpp ModeSystemId::run() · Open in ArduPilot Copter-4.7.1