Moving on...
It's been a while since I posted to this thread. I had some great experiences over the holidays while traveling south to some better weather. Of course that ended in a bad crash while pushing the limits flying at night. Brought the 'chopstick' quad back home and made some repairs, and got it ready to test again, but then the Vermont winter reared it's ugly head - and a couple weeks of frozen tundra-;ike conditions stopped me in my tracks...
Finally the weather broke and it was ie to put this thing back in the air. Unfortunately, I feel I changed too many things without proper test time, instead of sticking with the common wisdom of 'change one thing at a time.' Took the quad over to an ice covered field near the house, and it had no normal controls. It began to drift forward a bunch, and for some reason, correction to pull it back didn't seem to be working, and it just wanted to continue forward, only allowing me to fight against the craft to pull it back to me. Eventually it hit hard, breaking 2 more props and leaving me with that sinking feeling...
After some more repairs, I took it out to the driveway during a brief break in the weather. It's not a big enough space to really get it going, but I figured I'd allow it to hover, and see where it was at...
First thing I noticed was that engaging the Multiwii Baro mode and Baro+Mag mode made the quad jump up and down in the air. The video above shows the craft hovering - but that was completely by manual adjustments to flight, despite being in a mode that was supposed to self level. I had calibrated the mag with my new Bluetooth and Android app setup, and I'm not worried that may have actually made it worse than it was prior to "proper" calibration. I flipped it out of that mode - flying strictly on the Horizon mode - which is supposed to allow it to self-level when you let go of the sticks. This didn't seem to be working either. Seems the software side of things is f%#ked. I plan on reinstalling the software fresh from the desktop computer - to see if that helps.
While the quad was on the gorund, I spun up the motors a few times to feel for excessive heat on the ESCs and the motors. They all seemed fine (I'm sure the chilly weather didn't hurt), but while checking, I noticed that the back left prop seemed to be spinning odd. Must be a bent shaft!
Time to take this motor apart and see what the guts look like. I have never done this before, so it should be interesting to see inside, as well as determine whether the shaft is indeed bent and if this is causing some of the pull that the craft was exhibiting...
Stay tuned for brushless motor surgery...