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Old Jan 25, 2013, 10:53 PM
Winging it >
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Quote:
Originally Posted by RCvertt View Post
Just a little tough love from the VTOL family That Chimera looks like a cool project F&T.
Yep, VTOL is not for sissies.
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Old Jan 25, 2013, 11:47 PM
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Quote:
Originally Posted by leadfeather View Post
Yep, VTOL is not for sissies.


Quote:
Originally Posted by tom-tom 1 View Post
I got two short flights down the street-straight and low in forward flight mode. I still haven't got the thing to hover. My yaw control seems to be opposite in hover mode than in forward flight mode. It doesn't help to reverse my servo in the radio. It just reverses both. I have changed yaw direction in the code and that doesn't seem to be the answer either. RCvertt, do you have any ideas. Is there someplace in the code where I can control the variable thrust in forward mode- like reverse direction, increase or lessen or turn off? I am going to switch out the boards with my quad copter and see if I can get it to hover. I could have something hooked up wrong. I know my quad copter works so I'm interested in what that board wilol do in my quad vtol.
Now that sounds like progress.

To reverse the yaw for forward flight only, you need to change all the signs before the yaw command indicated below in red.

Code:
  #ifdef QTR                                                                                                               //QTR- Quad Tilt Rotor definition.                                     
    if (rcData[AUX1]>1000 && rcData[AUX1]<1300)                                                                            //QTR- Hover Flight mode.
	   {
	    forwardFlightDelay = 0;                                                                                        //QTR- Reset Forward Flight delay timer to zero.
	    hoverDelay++;                                                                                                  //QTR- Start hover delay timer.
	    if (hoverDelay >= userHoverDelay)                                                                              //QTR- If timer has reached 3 seconds...  (UserHoverDelay = 350 = 3seconds).       Timer based on MultiWii rcDelayCommand timer. //rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
               {                                                                                                           //QTR- ...use Hover motor commands. 
                hoverDelay = userHoverDelay;	                                                                           //QTR- Keep timer at 160 so commands stay in Hover mode.	
                motor[0] = rcCommand[THROTTLE] - axisPID[ROLL] + axisPID[PITCH] - YAW_DIRECTION * axisPID[YAW]; //REAR_R   //QTR- Motor 9    Hover motor command.
                motor[1] = rcCommand[THROTTLE] - axisPID[ROLL] - axisPID[PITCH] + YAW_DIRECTION * axisPID[YAW]; //FRONT_R  //QTR- Motor 10   Hover motor command.
                motor[2] = rcCommand[THROTTLE] + axisPID[ROLL] + axisPID[PITCH] + YAW_DIRECTION * axisPID[YAW]; //REAR_L   //QTR- Motor 11   Hover motor command.
                motor[3] = rcCommand[THROTTLE] + axisPID[ROLL] - axisPID[PITCH] - YAW_DIRECTION * axisPID[YAW]; //FRONT_L  //QTR- Motor 3    Hover motor command.
               }
	        else                                                                                                       //QTR- ...if timer has not reached 3.2 seconds keep doing Forward Flight motor controls.  	        
		    {
		         motor[0] = rcCommand[THROTTLE] - YAW_DIRECTION * rcCommand[YAW]; //REAR_R                             //QTR-            ForwardFlight motor command.
                     motor[1] = rcCommand[THROTTLE] - YAW_DIRECTION * rcCommand[YAW]; //FRONT_R                            //QTR-            ForwardFlight motor command.
                     motor[2] = rcCommand[THROTTLE] + YAW_DIRECTION * rcCommand[YAW]; //REAR_L                             //QTR-            ForwardFlight motor command.
                     motor[3] = rcCommand[THROTTLE] + YAW_DIRECTION * rcCommand[YAW]; //FRONT_L                            //QTR-            ForwardFlight motor command.
		    }
	    }
    if (rcData[AUX1]>1800 && rcData[AUX1]<2000)                                                                                //QTR- Forward Flight mode. 
       {
	hoverDelay = 0;                                                                                                        //QTR- Reset Hover delay timer to zero.
        forwardFlightDelay++;                                                                                                  //QTR- Start Forward Flight delay timer.                                                                              
	if (forwardFlightDelay >= userForwardFlightDelay)                                                                                         //QTR- If its been 3 seconds...
           {	 		                                                                                                    //QTR- ...use forward flight motor commands.
            forwardFlightDelay = userForwardFlightDelay;                                                                                          //QTR- Keep timer at 160 so commands stay in forward flight mode.
            motor[0] = rcCommand[THROTTLE] - YAW_DIRECTION * rcCommand[YAW]; //REAR_R                                          //QTR- ForwardFlight motor command.
            motor[1] = rcCommand[THROTTLE] - YAW_DIRECTION * rcCommand[YAW]; //FRONT_R                                         //QTR- ForwardFlight motor command.
            motor[2] = rcCommand[THROTTLE] + YAW_DIRECTION * rcCommand[YAW]; //REAR_L                                          //QTR- ForwardFlight motor command.
            motor[3] = rcCommand[THROTTLE] + YAW_DIRECTION * rcCommand[YAW]; //FRONT_L                                         //QTR- ForwardFlight motor command.
	   }
	    else                                                                                                               //QTR- ...if timer has not reached 3.2 seconds keep doing Hover motor controls.  	        
	        {
                 motor[0] = rcCommand[THROTTLE] - axisPID[ROLL] + axisPID[PITCH] - YAW_DIRECTION * axisPID[YAW]; //REAR_R      //QTR- Motor 9    Hover motor command.
                 motor[1] = rcCommand[THROTTLE] - axisPID[ROLL] - axisPID[PITCH] + YAW_DIRECTION * axisPID[YAW]; //FRONT_R     //QTR- Motor 10   Hover motor command.
                 motor[2] = rcCommand[THROTTLE] + axisPID[ROLL] + axisPID[PITCH] + YAW_DIRECTION * axisPID[YAW]; //REAR_L      //QTR- Motor 11   Hover motor command.
                 motor[3] = rcCommand[THROTTLE] + axisPID[ROLL] - axisPID[PITCH] - YAW_DIRECTION * axisPID[YAW]; //FRONT_L     //QTR- Motor 3    Hover motor command.
		 }		   
        }
  #endif
If yaw is too strong in forward flight then you can change all the forward flight commands from
Code:
YAW_DIRECTION * axisPID[YAW]
to
Code:
YAW_DIRECTION * (axisPID[YAW]/2)
to make it half as strong or change it to
Code:
YAW_DIRECTION * (axisPID[YAW]*2)
to make it twice as strong.

------------------
If you want to turn off differential motor thrust for forward flight, delete the yaw command from all the forward flight motor commands like so...
Code:
motor[1] = rcCommand[THROTTLE] - YAW_DIRECTION * rcCommand[YAW]; //FRONT_R
would become...
Code:
motor[1] = rcCommand[THROTTLE]; //FRONT_R
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Last edited by RCvertt; Jan 26, 2013 at 12:07 AM.
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Old Jan 26, 2013, 01:38 PM
MULTI ENGINE FANACTIC
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Joined Dec 2000
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iM DESPERATE LOL

I REALLY LOVE VTOLs, my dream was to build a X-22, but I have NO IDEA of programming...

Now I really want to do your VTOL, its DELICIOUS !!!

Could someone help me here, please?
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Old Jan 26, 2013, 06:46 PM
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Quote:
Originally Posted by CESARNOGUEIRA View Post
iM DESPERATE LOL

I REALLY LOVE VTOLs, my dream was to build a X-22, but I have NO IDEA of programming...

Now I really want to do your VTOL, its DELICIOUS !!!

Could someone help me here, please?
My suggestion, which will get you up to speed, is to go back to the beginning of this thread and read it carefully. I was where you are not to long ago. RCvertt and Foam and Tape are the contributors who have lead me to where I am. I am not completely there yet but I think I understand what I'm doing. Also the multiwii.com site will help you with the physical building of the multiwii board. Bird of Play provides plans for the QTR vtol aircraft. If you do this, I think the above mentioned people including myself will try to help you with the project. That's all you have to do.

Rcvertt, Thank you for the code information. I'll dive into it tonight.

I went to the field today ready for forward flight. I had problems with my board. It just didn't act right. The motors didn't run up correctly. The variable thrust didn't work and the motors didn't smoothly power up. They came to half speed and then suddenly full power without my increasing the throttle. I couldn't see anything wrong but the other day a wire came loose from the board. I think I need to glue the wires to the board to take the strain off the solder joints.
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Old Jan 27, 2013, 10:20 PM
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Quote:
Originally Posted by tom-tom 1 View Post
I went to the field today ready for forward flight. I had problems with my board. It just didn't act right. The motors didn't run up correctly. The variable thrust didn't work and the motors didn't smoothly power up. They came to half speed and then suddenly full power without my increasing the throttle. I couldn't see anything wrong but the other day a wire came loose from the board. I think I need to glue the wires to the board to take the strain off the solder joints.
If you make a code change and it doesn't act right afterwards, don't try to fix that file by trying to undue your changes. Start with a fresh file that you know works and that you haven't made any changes to, then try to make your changes again. Always start with a fresh file until your changes work.
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Old Feb 02, 2013, 12:30 PM
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RCvertt
Do you have to turn on Pins A0, and A1 in the code or GUI to use them for the ailerons. I'm thinking about useing them on my QTR. You said earlier, you used them on your QTR. Thanks.
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Old Feb 06, 2013, 09:33 PM
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Here is a video of my QTR.

QTR forward flight (0 min 55 sec)
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Old Feb 06, 2013, 10:21 PM
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loved the commentary how she handle the landing ?
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Old Feb 07, 2013, 02:56 PM
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France (near the ch'ti village)
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Quote:
Originally Posted by tom-tom 1 View Post
did you sync all your esc with your rc command ?
for a good quad you need it !!
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Old Feb 08, 2013, 06:39 PM
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Quote:
Originally Posted by tom-tom 1 View Post
Here is a video of my QTR...
Flown and crashed like a BOSS!

It's good to get that new plane smell off it quick so you don't mind crashing it some more as the development continues. Get a car inverter. It'll let you plug your glue gun and soldering iron into your car lighter port. I always have to glue my plane together at least 10 times before I get it all working smoothly.

Attached is new code that should let you use servo 1 and servo 2 on A0 and A1. Test it on the ground to make sure it works. I has the following new section where you can access the motor and servo commands. Change signs to reverse movement and use axisPID instead of rcCommand if you want the servo to respond to gyro movement.

Code:
///////////////////////////QTR Motor and Servo commands./////////////////////////////
void forwardFlightMotorCommands()
     {
      motor[0] = rcCommand[THROTTLE] +YAW_DIRECTION * rcCommand[YAW]; //REAR_R                                                  ForwardFlight motor command.
      motor[1] = rcCommand[THROTTLE] +YAW_DIRECTION * rcCommand[YAW]; //FRONT_R                                                 ForwardFlight motor command.
      motor[2] = rcCommand[THROTTLE] -YAW_DIRECTION * rcCommand[YAW]; //REAR_L                                                  ForwardFlight motor command.
      motor[3] = rcCommand[THROTTLE] -YAW_DIRECTION * rcCommand[YAW]; //FRONT_L                                                 ForwardFlight motor command. 
     }
     
void hoverMotorCommands()
     {
      motor[0] = rcCommand[THROTTLE] -axisPID[ROLL] +axisPID[PITCH] -YAW_DIRECTION * axisPID[YAW]; //REAR_R   //QTR- Motor 9    Hover motor command.
      motor[1] = rcCommand[THROTTLE] -axisPID[ROLL] -axisPID[PITCH] +YAW_DIRECTION * axisPID[YAW]; //FRONT_R  //QTR- Motor 10   Hover motor command.
      motor[2] = rcCommand[THROTTLE] +axisPID[ROLL] +axisPID[PITCH] +YAW_DIRECTION * axisPID[YAW]; //REAR_L   //QTR- Motor 11   Hover motor command.
      motor[3] = rcCommand[THROTTLE] +axisPID[ROLL] -axisPID[PITCH] -YAW_DIRECTION * axisPID[YAW]; //FRONT_L  //QTR- Motor 3    Hover motor command.
     }
     
void servoCommands()
     {
      servo[1] = constrain(1500 +rcCommand[ROLL] +rcCommand[PITCH], 1020, 2000);
      servo[2] = constrain(1500 +rcCommand[ROLL] +rcCommand[PITCH], 1020, 2000);
     }
///////////////////////////QTR Motor and Servo commands./////////////////////////////
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Last edited by RCvertt; Feb 08, 2013 at 07:01 PM.
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Old Feb 08, 2013, 06:58 PM
KFC
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United States, KY, Hanson
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Quote:
Originally Posted by tom-tom 1 View Post
That field looks awfully familiar...
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Old Feb 08, 2013, 07:34 PM
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Yep! KFC, I guess you would recognize the field at Rodards, KY. You have after all, flown all kinds of odds and ends there. I wish you would join us more often.

RCvertt, thanks for the code. I went gym flying today and I'm heading to E-fest tomorrow. I'll have the QTR repaired and going again in a day or two. I was really pleased with forward flight. I had taken off and landed two or three times prior to the crash. The battery was a little low and when I lost speed in the turn I didn't have enough power or throw to land smoothly. I still haven't figured out why it won't hover. I'm using the same motors as F&T and my airframe is 75% the size as per Birdofplay's plans. I know the weight has to be less. Mine is right at 2 lbs. with battery. When I get it back together I'm going to start cutting out foam from under the props to allow more air flow.
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Old Feb 08, 2013, 09:01 PM
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Nice! I'll be there tomorrow, just spent the last 4 days churning out 3 new VTOLS. They'll probibly crash sometime tomorrow
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Old Feb 22, 2013, 06:17 PM
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The last code post won't work. Use the attached code instead.

As always when testing new code keep the props off for initial testing in case a motor decides to go full power.
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Old Mar 31, 2013, 07:02 PM
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Quote:
Originally Posted by tom-tom 1 View Post
I decided to go for an active elevator on the canard and elevons on the aft wing. I got everything mixed correctly as far as direction goes. Travel and trim are another matter. Where generally is the CG as far as forward flight is concerned? In F&Ts videos I could hardly tell the surfaces were moving so I'm guessing that I won't need a lot of throw. Here are photos of the new (around 2 LBs) lighter version. I went back with the little blue wonder motors. I hope to test it out this week.
I was wondering- for the Quad-Tilt-Rotor, how did you mount motors to have them rotate perfectly with each other?
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