Project YMFC-32 - The STM32 quadcopter - Q & A.

This is normal. After starting the quadcopter the PID controllers and the IMU directly start to work. This means that the quadcopter tries to level itself directly after the start.

When the quadcopter is started at a (slight) tilted surface the rpm of the lower motors will increase and the rpm of the higher motors will decrease.

Always take off directly after you start the quadcopter.

If your motors run different direct on startup the ESC's are not calibrated correctly and you need to recalibrate all the ESC's with the ESC calibration sketch.

After calibration use the ESC calibration program and send a 5 as described in the setup video to check if the motors run at the same speed when the throttle is increased.

You can use the subtrims on your transmitter to level the YMFC-AL quadcopter.

Please understand that an auto-level feature is not the same as position hold. The quadcopter will always drift due to wind, turbulence, etc. No matter how level the quadcopter is.

In the original code the maximum angle is set to approximately 33 degrees. The angle is calculated as follows:

500 - 8 / 15 = 32.8 degrees

Where:
500 = standardized stick travel value
8 = deadband
15 = original angle setting

To change the maximum angle you need to change the value 15 in the following lines:

pitch_level_adjust = angle_pitch * 15;
roll_level_adjust = angle_roll * 15;

13 = 37 degrees
14 = 35 degrees
15 = 33 degrees
16 = 31 degrees
17 = 29 degrees
18 = 27 degrees

Adjust the maximum angle with small steps to see if the quadcopter keeps performing normal.