SMALL - espritmodel.com SMALL - Telemetry SMALL - Radio
Reply
Thread Tools
Old Sep 22, 2010, 03:28 AM
Registered User
United Kingdom
Joined Nov 2008
2,027 Posts
Quote:
Originally Posted by thanhTran View Post
Are you mentioning the video I posted earlier?

The video (that has wobble mentioned) I posted earlier was with my tricopter running KK board with 2 ST gyros. See the video tittle?

My quad with my own code is not showing any where yet. Still need my camera woman .

I'm just using decimation and over sampling, no other filtering done. I'm writing my own code, not porting or based of any one. It only relies on rate dampen like what Rolf does though. I.e. no PID control. Since you mention filtering, I will probably do some moving average to see if it improves any thing. What kind of filtering does the UAVX do?

Thanks Mike

-Thanh
Hi Thanh

Yes, thats the one.
Was just curious as to what code you were using.

The UAVX filtering (choose which works best) is as follows (requires saving the previous gyro outputs):

Code:
// Simple filters using weighted averaging
#define VerySoftFilterU(O,N)	(((O)+(N)*3+2)>>2)
#define SoftFilterU(O,N) 		(((O)+(N)+1)>>1)
#define MediumFilterU(O,N) 		(((O)*3+(N)+2)>>2)
#define HardFilterU(O,N) 		(((O)*7+(N)+4)>>3)
#define NoFilter(O,N)			(N)
So when you get new GyroOutput:
Code:
GyroOutput = HardFilterU(PrevGyroOutput,GyroOutput) 
PrevGyroOutput = GyroOutput
Its's quite straightforward to implement and tweak in c.

I havn't tried this so can't comment on its effectiveness.....

Mike
Mike Barton is offline Find More Posts by Mike Barton
Reply With Quote
Sign up now
to remove ads between posts
Old Sep 22, 2010, 03:45 AM
That tree again!!!!
thanhTran's Avatar
Germantown, MD, US
Joined Sep 2004
6,642 Posts
Quote:
Originally Posted by Mike Barton View Post
Hi Thanh

Yes, thats the one.
Was just curious as to what code you were using.

The UAVX filtering (choose which works best) is as follows (requires saving the previous gyro outputs):

Code:
// Simple filters using weighted averaging
#define VerySoftFilterU(O,N)	(((O)+(N)*3+2)>>2)
#define SoftFilterU(O,N) 		(((O)+(N)+1)>>1)
#define MediumFilterU(O,N) 		(((O)*3+(N)+2)>>2)
#define HardFilterU(O,N) 		(((O)*7+(N)+4)>>3)
#define NoFilter(O,N)			(N)
So when you get new GyroOutput:
Code:
GyroOutput = HardFilterU(PrevGyroOutput,GyroOutput) 
PrevGyroOutput = GyroOutput
Its's quite straightforward to implement and tweak in c.

I havn't tried this so can't comment on its effectiveness.....

Mike
Thanks Mike
Yeah, that tricopter uses KK controller. I don't have tricopter code yet. Thanks for the filter info. They do look too easy to try I was thinking about a moving average of 8 or 16 samples (which is pretty effective to read the current reading when I was implement a up convert switching A123 battery charger charging up to 42v at around 4A CCCV method). Hopefully the filter helps
thanhTran is offline Find More Posts by thanhTran
Reply With Quote
Old Sep 22, 2010, 04:03 AM
Registered User
United Kingdom
Joined Nov 2008
2,027 Posts
Quote:
Originally Posted by thanhTran View Post
Thanks Mike
Yeah, that tricopter uses KK controller. I don't have tricopter code yet. Thanks for the filter info. They do look too easy to try I was thinking about a moving average of 8 or 16 samples (which is pretty effective to read the current reading when I was implement a up convert switching A123 battery charger charging up to 42v at around 4A CCCV method). Hopefully the filter helps
The cute thing about this code is that it can weight the new value from previous multiple sample results without having to hold lots of previous samples.
So less storage and processing required.

One other option is Kalman filter, but I suspect the processing required would mean the copter would never take off....
Mike Barton is offline Find More Posts by Mike Barton
Reply With Quote
Old Sep 22, 2010, 06:30 AM
RTFM // copter damaged
warthox's Avatar
Joined Aug 2009
1,726 Posts
Quote:
Originally Posted by alll View Post
For the Yaw contest I am still the best , but I don't think I will get close to your flying skills

manuLRK
KK Quad Fast Yaw (0 min 54 sec)
did u watch it till the end? i will compare the videos frame by frame this evening to get a spin/s value...
warthox is offline Find More Posts by warthox
Reply With Quote
Old Sep 22, 2010, 06:50 AM
manuLRK
Belgium
Joined Sep 2004
1,529 Posts
Yar rate contest

Quote:
Originally Posted by warthox View Post
did u watch it till the end? i will compare the videos frame by frame this evening to get a spin/s value...
,

Ok, original was taken at 30fps, I need 7.5 frames to do 360, i think.
This makes it 4 rps = 240 rpm

manuLRK
alll is offline Find More Posts by alll
Reply With Quote
Old Sep 22, 2010, 07:33 AM
Registered User
BRAZIL
Joined Jul 2010
77 Posts
My tricopter is crazy see the video the motor left start first and run more...

http://www.vimeo.com/15180508

I have make all the cheks on the cheklist descript in the kk site...
the tricopter will not fly cool
Crissbrasil is offline Find More Posts by Crissbrasil
Reply With Quote
Old Sep 22, 2010, 07:41 AM
RTFM // copter damaged
warthox's Avatar
Joined Aug 2009
1,726 Posts
Quote:
Originally Posted by Crissbrasil View Post
My tricopter is crazy see the video the motor left start first and run more...

http://www.vimeo.com/15180508

I have make all the cheks on the cheklist descript in the kk site...
the tricopter will not fly cool
trim it... its normal
warthox is offline Find More Posts by warthox
Reply With Quote
Old Sep 22, 2010, 07:44 AM
Registered User
BRAZIL
Joined Jul 2010
77 Posts
Quote:
Originally Posted by warthox View Post
trim it... its normal
warthox,thanks for help me,i see all your fantastic videos....

the trim going to end,and need more.
Crissbrasil is offline Find More Posts by Crissbrasil
Reply With Quote
Old Sep 22, 2010, 07:52 AM
Registered User
Joined Sep 2010
13 Posts
Quote:
Originally Posted by Crissbrasil View Post
My tricopter is crazy see the video the motor left start first and run more...

I have make all the cheks on the cheklist descript in the kk site...
the tricopter will not fly cool
Hi, I have exactly the same problem with mine. And I have also tried trimming it, changing props, everything it says on the kk site. The problem is that the only description of how to trim a multicopter on the kk site is about a quadcopter, not a tricopter...

Would be great if anyone could share how to do the trimming.

...soooo close and yet so far!
marba is offline Find More Posts by marba
Reply With Quote
Old Sep 22, 2010, 08:00 AM
Registered User
BRAZIL
Joined Jul 2010
77 Posts
Quote:
Originally Posted by marba View Post
Hi, I have exactly the same problem with mine. And I have also tried trimming it, changing props, everything it says on the kk site. The problem is that the only description of how to trim a multicopter on the kk site is about a quadcopter, not a tricopter...

Would be great if anyone could share how to do the trimming.

...soooo close and yet so far!
I agree, we need help, please if possible put in a cheklist on kk site, specific for tricopter`s. I look forward to being able to fly but in no way ... as spoken by marba .... so close but so far.
Crissbrasil is offline Find More Posts by Crissbrasil
Reply With Quote
Old Sep 22, 2010, 08:10 AM
Registered User
nicnaimless's Avatar
United States, MI, Jenison
Joined Jun 2008
1,149 Posts
Just Ordered a board

I'm perhaps the newest member to the KK quad community.

Can't wait to get started!
nicnaimless is offline Find More Posts by nicnaimless
Reply With Quote
Old Sep 22, 2010, 08:11 AM
Registered User
France (Dijon - Burgundy)
Joined Dec 2009
9 Posts
Tricopter Motors and Tail servo wiring

Hi there,

After 2 quads, I'd like to make a Tricopter but I can't find again the post for the motors and tail servo wiring!!!!

Is someone be able to help me?

Thanks
Helichem is offline Find More Posts by Helichem
Reply With Quote
Old Sep 22, 2010, 08:14 AM
Registered User
Joined May 2010
488 Posts
Quote:
Originally Posted by Helichem View Post
Hi there,

After 2 quads, I'd like to make a Tricopter but I can't find again the post for the motors and tail servo wiring!!!!

Is someone be able to help me?

Thanks
http://www.kkmulticopter.com/index.p...-a-kktricopter
Niall is offline Find More Posts by Niall
Reply With Quote
Old Sep 22, 2010, 08:20 AM
Registered User
France (Dijon - Burgundy)
Joined Dec 2009
9 Posts
Thanks Niall.

I found it just before your reply, there:

http://www.rcgroups.com/forums/showp...&postcount=958
Helichem is offline Find More Posts by Helichem
Reply With Quote
Old Sep 22, 2010, 08:41 AM
RTFM // copter damaged
warthox's Avatar
Joined Aug 2009
1,726 Posts
Quote:
Originally Posted by Crissbrasil View Post
warthox,thanks for help me,i see all your fantastic videos....

the trim going to end,and need more.
reverse your channel for roll and try it again ;-)
warthox is offline Find More Posts by warthox
Reply With Quote
Reply


Thread Tools

Similar Threads
Category Thread Thread Starter Forum Replies Last Post
Discussion Quadrotor brushless controller airbotix Multirotor Talk 63 Aug 06, 2010 11:15 AM
Discussion ALPO -Aerobatic Low Parts count Original design. Brian Courtice Foamies (Scratchbuilt) 8 Sep 21, 2009 03:57 AM
Discussion Any tips for my first flight with a low wing plane? Warthog_Fan Fuel Plane Talk 4 Sep 06, 2009 07:53 AM
Help! Need help with Low-cost QuadRotor Hero.sl Coaxial Helicopters 5 Jun 28, 2009 02:26 AM
Question Searching Simple Controller for Free Flight flymax Power Systems 8 Jan 07, 2006 10:07 AM