HobbyKing.com New Products Flash Sale
Reply
Thread Tools
Old Sep 03, 2012, 09:29 AM
Live for speed
GoFaster's Avatar
USA, CT, Bethany
Joined Mar 2004
1,371 Posts
hugy -

Sorry I misread your question and mixed it up with the sim3 phase. This is an extract from my "cal --mag" output.
The #define's appear right after the "lowMAE=...." line.

Code:
Mag Loops:  200000
Mag 0th order Variance:
+0.000000000   +0.000000001   +0.000000001      +0.000000000009
+0.000000001   +0.000000000   +0.000000001      +0.000000000009
+0.000000001   +0.000000001   +0.000000000      +0.000000000010

Mag 0th order Params:
+0.206717709   -0.006123692   -0.010416651      -0.038020855801
-0.021061349   +0.210793845   -0.001969416      -0.029490403132
-0.025410999   +0.001521368   +0.196824510      +0.057909913702


Mag 1st order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 1st order Params:
BIAS           SCALE
+0.000049801   -0.000188627
+0.000034020   -0.000355466
-0.000092928   -0.000274251


Mag 2nd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 2nd order Params:
BIAS           SCALE
-0.000000806   +0.000002895
-0.000000815   +0.000002104
-0.000000247   +0.000002550


Mag 3rd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 3rd order Params:
BIAS           SCALE
+0.000000126   -0.000000762
+0.000000106   -0.000000500
-0.000000144   -0.000000453


Mag Inclination Variance:
+0.000000001

Mag Inclination Parameter:
-67.379997253


Static value Variance # 1:
+0.000000001   +0.000000000   +0.000000001

Static value Params # 1:
+0.372308442   +1.836106350   -0.081055452

Static value Variance # 2:
+0.000000001   +0.000000000   +0.000000001

Static value Params # 2:
-1.105071087   -1.893882109   +0.066298476

Static value Variance # 3:
+0.000000001   +0.000000001   +0.000000001

Static value Params # 3:
+0.669378040   -0.227161728   +1.673201968


MAE: 0.0236355
AVG: 1.99799
lowMAE = 0.023635, n[0] = 0.000035
#define IMU_MAG_BIAS_X -3.802085580e-002
#define IMU_MAG_BIAS_Y -2.949040313e-002
#define IMU_MAG_BIAS_Z +5.790991370e-002
#define IMU_MAG_BIAS1_X +4.980135949e-005
#define IMU_MAG_BIAS1_Y +3.401998637e-005
#define IMU_MAG_BIAS1_Z -9.292756423e-005
#define IMU_MAG_BIAS2_X -8.059173810e-007
#define IMU_MAG_BIAS2_Y -8.149661151e-007
#define IMU_MAG_BIAS2_Z -2.470003789e-007
#define IMU_MAG_BIAS3_X +1.256068969e-007
#define IMU_MAG_BIAS3_Y +1.062783444e-007
#define IMU_MAG_BIAS3_Z -1.444701405e-007
#define IMU_MAG_SCAL_X +2.067177088e-001
#define IMU_MAG_SCAL_Y +2.107938450e-001
#define IMU_MAG_SCAL_Z +1.968245104e-001
#define IMU_MAG_SCAL1_X -1.886266300e-004
#define IMU_MAG_SCAL1_Y -3.554663351e-004
#define IMU_MAG_SCAL1_Z -2.742510217e-004
#define IMU_MAG_SCAL2_X +2.895123640e-006
#define IMU_MAG_SCAL2_Y +2.104068242e-006
#define IMU_MAG_SCAL2_Z +2.549966586e-006
#define IMU_MAG_SCAL3_X -7.624673000e-007
#define IMU_MAG_SCAL3_Y -4.998620047e-007
#define IMU_MAG_SCAL3_Z -4.529543373e-007
#define IMU_MAG_ALGN_XY -6.123691816e-003
#define IMU_MAG_ALGN_XZ -1.041665129e-002
#define IMU_MAG_ALGN_YX -2.106134876e-002
#define IMU_MAG_ALGN_YZ -1.969416175e-003
#define IMU_MAG_ALGN_ZX -2.541099891e-002
#define IMU_MAG_ALGN_ZY +1.521367650e-003
#define IMU_MAG_INCL -6.737999725e+001

---

Mag Loops:  205000
Mag 0th order Variance:
+0.000000000   +0.000000001   +0.000000001      +0.000000000009
+0.000000001   +0.000000000   +0.000000001      +0.000000000009
+0.000000001   +0.000000001   +0.000000000      +0.000000000010

Mag 0th order Params:
+0.208792171   -0.009390944   -0.016841487      -0.038808108524
-0.032967372   +0.213680668   -0.003409565      -0.029545159237
-0.042978986   +0.003259080   +0.198543356      +0.057997107527


Mag 1st order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 1st order Params:
BIAS           SCALE
+0.000090902   -0.000358498
+0.000059727   -0.000560411
-0.000142307   -0.000448828


Mag 2nd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 2nd order Params:
BIAS           SCALE
-0.000000549   +0.000002205
-0.000000839   +0.000001264
-0.000000492   +0.000001558


Mag 3rd order Variance:
BIAS           SCALE
+0.000000000   +0.000000000
+0.000000000   +0.000000000
+0.000000000   +0.000000000

Mag 3rd order Params:
BIAS           SCALE
+0.000000079   -0.000000544
+0.000000073   -0.000000231
-0.000000066   -0.000000234


Mag Inclination Variance:
+0.000000001

Mag Inclination Parameter:
-67.379997253


Static value Variance # 1:
+0.000000000   +0.000000000   +0.000000001

Static value Params # 1:
+0.365656557   +1.813590174   -0.080630301

Static value Variance # 2:
+0.000000000   +0.000000000   +0.000000001

Static value Params # 2:
-1.098494370   -1.871066614   +0.065746247

Static value Variance # 3:
+0.000000000   +0.000000000   +0.000000001

Static value Params # 3:
+0.659784541   -0.224589254   +1.661214238


MAE: 0.0164586
AVG: 1.99745
lowMAE = 0.016459, n[0] = 0.000034
#define IMU_MAG_BIAS_X -3.880810852e-002
#define IMU_MAG_BIAS_Y -2.954515924e-002
#define IMU_MAG_BIAS_Z +5.799710753e-002
#define IMU_MAG_BIAS1_X +9.090224648e-005
#define IMU_MAG_BIAS1_Y +5.972721401e-005
#define IMU_MAG_BIAS1_Z -1.423069361e-004
#define IMU_MAG_BIAS2_X -5.493001918e-007
#define IMU_MAG_BIAS2_Y -8.394681521e-007
#define IMU_MAG_BIAS2_Z -4.915622324e-007
#define IMU_MAG_BIAS3_X +7.870228647e-008
#define IMU_MAG_BIAS3_Y +7.336411359e-008
#define IMU_MAG_BIAS3_Z -6.630640660e-008
#define IMU_MAG_SCAL_X +2.087921710e-001
#define IMU_MAG_SCAL_Y +2.136806680e-001
#define IMU_MAG_SCAL_Z +1.985433562e-001
#define IMU_MAG_SCAL1_X -3.584976636e-004
#define IMU_MAG_SCAL1_Y -5.604106311e-004
#define IMU_MAG_SCAL1_Z -4.488283794e-004
#define IMU_MAG_SCAL2_X +2.205293993e-006
#define IMU_MAG_SCAL2_Y +1.263597455e-006
#define IMU_MAG_SCAL2_Z +1.558150073e-006
#define IMU_MAG_SCAL3_X -5.442815271e-007
#define IMU_MAG_SCAL3_Y -2.305748930e-007
#define IMU_MAG_SCAL3_Z -2.341064677e-007
#define IMU_MAG_ALGN_XY -9.390944012e-003
#define IMU_MAG_ALGN_XZ -1.684148683e-002
#define IMU_MAG_ALGN_YX -3.296737206e-002
#define IMU_MAG_ALGN_YZ -3.409564610e-003
#define IMU_MAG_ALGN_ZX -4.297898623e-002
#define IMU_MAG_ALGN_ZY +3.259080270e-003
#define IMU_MAG_INCL -6.737999725e+001

---
Are you using the latest (Windows) QGC?
GoFaster is offline Find More Posts by GoFaster
Reply With Quote
Sign up now
to remove ads between posts
Old Sep 03, 2012, 09:54 AM
Registered User
hugy's Avatar
Joined Apr 2010
586 Posts
I'm running v1.0.1 alpha vrc18 So that is the latest I can get from the downloads section.
hugy is offline Find More Posts by hugy
Reply With Quote
Old Sep 03, 2012, 10:05 AM
Live for speed
GoFaster's Avatar
USA, CT, Bethany
Joined Mar 2004
1,371 Posts
I'm out of ideas. Hopefully your thread on the AQ forum will provide some answers...
GoFaster is offline Find More Posts by GoFaster
Reply With Quote
Old Sep 03, 2012, 10:12 AM
Registered User
hugy's Avatar
Joined Apr 2010
586 Posts
I'm now on 1.0.2 software and it showed a lot of checksum errors on the static calibration with the tip pointing towards earth. Removed that file so now running with level and pointing up static calibrations. It is now running step 3 and it is running much faster. Will post back with results.
hugy is offline Find More Posts by hugy
Reply With Quote
Old Sep 03, 2012, 02:02 PM
Registered User
hugy's Avatar
Joined Apr 2010
586 Posts
Here are some pictures from my files.

the step 3 mag cal just runs for hours. without giving any output.

temp range only one the other static calibrations temp ranges look the same.


corner up

rate


mag


acc


Board level
rate


mag


acc


corner down

rate


mag


acc


Calibso
rate


mag


acc


I know there is some noise on the acc in the static calibrations but there is a train going by near my house :|
hugy is offline Find More Posts by hugy
Reply With Quote
Old Sep 08, 2012, 10:49 PM
AutoQuad OS developer
maximal's Avatar
near Ithaca, NY, US
Joined Aug 2004
948 Posts
Flight video

Well, for those not on the AQ forums, I'd like to report that my AQ is up and flying very well. After all the crazy calibrations and other required steps were done (not trivial, but I muddled through), it was super stable without any further tuning required, with perfect control response. I almost couldn't believe it. Very pleasing!

You can read more of my first flight report here if you want: http://forum.autoquad.org/viewtopic....7&t=887&p=4170

Video is of my 4th flight with this controller (the rest of the home-made Y6 setup has already proven to be a great flyer with a different controller) -- some short-range RTH tests, position/altitude hold, a bit of manual flying, and an "auto-landing." The camera work is a bit shaky -- sorry, my daughter is 12 and this was her first assignment as my camera operator!

AutoQuad 6.6r19 (experimental) Y6 4th Test Flight (4 min 32 sec)


-Max
maximal is offline Find More Posts by maximal
Last edited by maximal; Sep 08, 2012 at 11:03 PM.
Reply With Quote
Old Sep 09, 2012, 04:26 AM
OS Sponsor
kinderkram's Avatar
Germany, NRW, Dusseldorf
Joined Jun 2010
5,250 Posts
Your camera girl did a good job keeping your Y6 in the focus - which is the hardest part estimating its movements.
Amazing you got these results without any tuning. She really flies like on rails with a precise PH.

Well done, Max!
kinderkram is offline Find More Posts by kinderkram
RCG Plus Member
Reply With Quote
Old Sep 10, 2012, 12:54 AM
Registered User
Joined Jul 2007
76 Posts
Wow, Maximal.
That was Really amazing of your AQ board. Did youfollow only the wiki? Also which is that trasnmitter you are using?
roxyboby is offline Find More Posts by roxyboby
Reply With Quote
Old Sep 10, 2012, 01:42 AM
AutoQuad OS developer
maximal's Avatar
near Ithaca, NY, US
Joined Aug 2004
948 Posts
Thanks guys! It is a real pleasure to fly. Or should I say to guide? It really can fly itself!

I just followed the wiki docs and got some help in the AQ forums. Having a working/good chassis to plop the AQ brain into helped. I had some issues with calibration logs/analysis, which are being examined/worked on by the team, but got through that. Definitely a learning process! For me, it was fun. But I'm not easily frustrated by technology (computers and programming are my "thing").

The Frankenradio is an older Multiplex Evo 9 modified with an FrSky Tx module (the JR version) and their telemetry display. Rx is an FrSky D8R-XP with a Futaba S.Bus adapter (SBE-1) and home-made signal inverter. I'm not using PPM output for a couple of reasons related to camera control, but that would also be an option instead of the (relatively expensive) SBE-1.

-Max
maximal is offline Find More Posts by maximal
Last edited by maximal; Sep 10, 2012 at 01:49 AM.
Reply With Quote
Old Sep 12, 2012, 07:43 AM
OS Sponsor
kinderkram's Avatar
Germany, NRW, Dusseldorf
Joined Jun 2010
5,250 Posts
Some more user test videos:

Waypoint & Orbit mode (by VIM)

AQ6.6 orbit to waypoint (2 min 59 sec)



Long distance Waypoint flight (by VIM)

AQ6.6 Distance flight (3 min 29 sec)



Gimbal test (by Max)

AutoQuad 6.6r21 Y6 Gimbal Test 1 (4 min 11 sec)



Off center weight & other "stupid" tests (by Kisssys)

QuadAQ6 6 (4 min 20 sec)
kinderkram is offline Find More Posts by kinderkram
RCG Plus Member
Reply With Quote
Old Sep 12, 2012, 07:46 AM
DVE
Registered User
Russian Federation, Sankt-Petersburg, SPB
Joined Jul 2011
578 Posts
How soon new boards will be in stock? Now it looks like a mystical thing, that no one can see Whats happen, hardware problems found?
DVE is offline Find More Posts by DVE
Reply With Quote
Old Sep 12, 2012, 08:00 AM
Friend is a 4 letter word...
JussiH's Avatar
3rd stone from the sun
Joined May 2007
2,671 Posts
Quote:
Originally Posted by DVE View Post
How soon new boards will be in stock? Now it looks like a mystical thing, that no one can see Whats happen, hardware problems found?
Nope, apart from a few manufactorer QC issues (already sorted for all affected) on the first batch, no HW problems have been found.

A new batch is in progress and I hope we can have them available before the end of this month and a more steady supply from there on.
JussiH is offline Find More Posts by JussiH
RCG Plus Member
Old Sep 14, 2012, 04:27 AM
Registered User
gitit20's Avatar
Joined May 2012
587 Posts
I like it but not going to pay 500 for this when i can get an APM 2.5 for 169.99 Not trying to be harsh but that's to costly sorry guys
gitit20 is offline Find More Posts by gitit20
Reply With Quote
Old Sep 14, 2012, 04:39 AM
Live for speed
GoFaster's Avatar
USA, CT, Bethany
Joined Mar 2004
1,371 Posts
It's nice to have choices. Good luck with yours.
GoFaster is offline Find More Posts by GoFaster
Reply With Quote
Old Sep 14, 2012, 04:46 AM
Registered User
Joined Jul 2007
76 Posts
Quote:
Originally Posted by gitit20 View Post
I like it but not going to pay 500 for this when i can get an APM 2.5 for 169.99 Not trying to be harsh but that's to costly sorry guys
But can an APM 2.5 achieve at least half the functionality the the AQ can?
roxyboby is offline Find More Posts by roxyboby
Reply With Quote
Reply


Thread Tools

Similar Threads
Category Thread Thread Starter Forum Replies Last Post
New Product Autoquad team proudly presents: Autoquad ESC32 JussiH Multirotor Electronics 272 Jan 01, 2014 01:32 PM
Discussion Naza dji sh gps - south hemisphere public beta testers results! Velociraptor73 Multirotor Talk 26 Nov 20, 2012 01:45 AM
Discussion How Bloomberg's Soft Drink Ban Will Backfire on NYC Public Health MtnGoat Life, The Universe, and Politics 1 Jun 26, 2012 11:19 PM
Discussion The AutoQuad! [ video ] kapteinkuk Multirotor Talk 5 Jun 10, 2012 11:19 AM
Download G-3 Public Beta (.426) is out. Includes Airplane Importer! L0stS0ul Simulators 37 Mar 03, 2006 05:28 PM