Posted by jpsabo |
Mar 04, 2012 @ 05:05 PM | 2,981 Views
I built a test stand to get a better understanding of the motors and props that I use. The flybrushless.com website has a great collection of results, so I contributed what I have collected to the database there.
Posted by jpsabo |
Dec 20, 2011 @ 02:33 PM | 2,735 Views
Break-In Procedure - Hyperion G3 LiPo are robust and do not need a complicated break-in procedure. We recommend that the first 5 uses are limited to 3C charge rates, and that pilots use throttle management to avoid long periods of max-rate discharge for those first 5 flights. Note also the other care suggestions below. Those apply pretty generally to any LiPo pack, not just Hyperion G3...
PID controller involves three separate parameters: the term Proportional, the term Integral and the term Derivative. The variation of each of these parameters alters the effectiveness of the stabilization.
Applied to a multirotor, the coefficients of these parameters can be translated by their behaviour:
Proportional coefficient: alone, it may achieve stabilization. This coefficient determines the importance of action on the engines in relation with the values measured by the gyroscopes. The higher the coefficient, the higher the tricopter seems more “rigid” versus angular deviation. If it is too low, the multicopter will appear soft and will be harder to keep steady. One can “feel” this setting by handling the tricopter and trying to change its orientation: the higher the parameter, the higher the opposition is important. In practice, this parameter must be set alone and increased up to be the limit for obtaining small oscillations. If too high, the system becomes unstable by amplifying the oscillations.
Integral coefficient: this coefficient can increase the precision of the angular position. In practice, when the tricopter is disturbed and its angle changes, the term Integral remembers the disruption and apply a correction to the engines to get the right angle. We can see this term as an heading hold factor. Typically if