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Old Sep 04, 2011, 01:37 AM
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Romania
Joined Mar 2010
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I have much better results with FMP04. with 2.0.39 I have seven satellites in 2 sec and 30 sec are 12 satellites. version v1.4, I will try and v1.6.
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Old Sep 04, 2011, 03:48 AM
1400 watt RW Zephyr
matwelli's Avatar
Taranaki New Zealand
Joined Sep 2003
1,336 Posts
Quote:
Originally Posted by DaniSaez View Post
I love it Matt!!! congratulations!

I like very much the KISS principle! Keep It Simple & Stupid ;-)

Well done
Dani
Thanks Dani

OK, test flowen this morning, better PID settings

Does anyone want the mix file ?
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Old Sep 04, 2011, 03:58 AM
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Geneva, Switzerland
Joined Jan 2009
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Great work Matt!

I would love to get your mix files!

Any chance to see a video with your new PIDs?

Bastien
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Old Sep 04, 2011, 05:46 AM
Registered User
Schweiz, AG, Schneisingen
Joined Mar 2011
698 Posts
Quote:
Originally Posted by matwelli View Post
Thanks Dani
Does anyone want the mix file ?
yes, if you are willing to share your mixer code - that would be great.
also you experience generating the mixing relationships.
robert
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Old Sep 05, 2011, 08:50 AM
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Cayman Islands, Grand Cayman, Patricks Island
Joined Nov 2005
628 Posts
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Originally Posted by xchurchx View Post
Hi,
I haven't read back, but have you verified your back left prop is balanced?
Just to let you know, i sourced the problem for this excessive trim issue, it happened to be one of my ESC's had a different firmware version to the other three. They were all identical ESC's so i thought, but it turned out one of them was running a different firmware to the others, this was causing the excessive trim issue.

Changed them all out and the problem has gone away
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Old Sep 05, 2011, 11:12 AM
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Joined Nov 2010
28 Posts
Hello Forum!
my English is translated by Google so do not be surprised!
I've since May of this year I built a Hexakopter with ArdupilotMega, the software is transferred to AMP Planner! it all works. 3 steps on the switch, I Stablemode, Baro, GPS!

that works too! 'm in the air! and there is 2 problems, the first in Stablemode I must talk to Roll and, vobei the radio setup performs korreckt is (min which values ​​and maximum reach I have to because that is nowhere where 1000 - 2000) and how do I fix it ? by Subtrimm?

Problem No. 2 is even worse, I do not know how I can prevent the rocking of the copter, as in Stablemode only P and I values ​​are not a D on this problem for months I'm going right now I have P = 4, 5 and I = 0.06

When I look at the videos on the net as the boards are the copter in the air, what am I doing wrong?


Help?


greeting


Dimi
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Old Sep 06, 2011, 12:54 AM
Mark Harrison
USA, CA, Piedmont
Joined Jun 2010
2,256 Posts
Quote:
Originally Posted by drmgcm View Post
Just to let you know, i sourced the problem for this excessive trim issue, it happened to be one of my ESC's had a different firmware version to the other three.
How did you figure out the firmware version? Nice debugging work!
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Old Sep 06, 2011, 03:38 AM
1400 watt RW Zephyr
matwelli's Avatar
Taranaki New Zealand
Joined Sep 2003
1,336 Posts
Crop Circles

Ok, help please guys - this happened with the NG code and with the 2.039 code

Quadcopter, Running an APM with Magnetometer and GPS

in loiter/position hold it ends up doing big, fast CCW circles

what could be the cause ? im suspecting the magnetometer is getting thrown out by the magnetic field from the powerwires, maybe 20-30 deg, so the quad is correcting in the wrong direction

Thoughts ?
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Old Sep 06, 2011, 03:53 AM
1400 watt RW Zephyr
matwelli's Avatar
Taranaki New Zealand
Joined Sep 2003
1,336 Posts
Vtail Octo custom mix

Ok , i modified a Y6 mix, as it required not alot of work

first, define how much "authority" pitch and roll corrections have
my mix has them at 100%, but in some cases you may want less
int roll_out = g.rc_1.pwm_out;
int pitch_out = g.rc_2.pwm_out;


if i wanted for example to have pitch to have 80% authority the code would look like this
int pitch_out = g.rc_2.pwm_out * .8 ;

second step is decide what motors will run from what channel
for me channel 1 = front motor pair, channel 2 = left motor pair, channel 3 = right motor pair, channel 4 = right rear motor(CW yaw) and channel 7= left rear motor (CCW yaw), channels 5 and 6 are skipped as they are used for camera control

Now the mixes

in my example i have the front motors responding to throttle and pitch only, so the code looks like this
motor_out[CH_1] = g.rc_3.radio_out + pitch_out;

the left two motors are throttle and Roll only
motor_out[CH_2] = g.rc_3.radio_out + roll_out;

the right two motors are throttle and roll also, but this time you need to correct for roll in the other direction, so we put a negative sign in front of the roll term
motor_out[CH_3] = g.rc_3.radio_out - roll_out;

Ok, almost there

the rear motors, individually controlled, take care of throttle, pitch (- this time) and Yaw

first - for throttle and pitch
motor_out[CH_7] = g.rc_3.radio_out - pitch_out;
motor_out[CH_4] = g.rc_3.radio_out - pitch_out;


and now for yaw
motor_out[CH_4] -= g.rc_4.pwm_out;
motor_out[CH_7] += g.rc_4.pwm_out;


hope the above makes sense, remeber this isnt my work, i just bodged it around
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Old Sep 06, 2011, 11:03 AM
Registered User
Netherlands, ZH, Ridderkerk
Joined Aug 2010
329 Posts
The below makes sense to me. Thank you for taking the time to write it all up!
Is there an (scientific) reason behind the 45 degrees angle of the tale motors other than looking really cool?

Quote:
Originally Posted by matwelli View Post
Ok , i modified a Y6 mix, as it required not alot of work

first, define how much "authority" pitch and roll corrections have
my mix has them at 100%, but in some cases you may want less
int roll_out = g.rc_1.pwm_out;
int pitch_out = g.rc_2.pwm_out;


if i wanted for example to have pitch to have 80% authority the code would look like this
int pitch_out = g.rc_2.pwm_out * .8 ;

second step is decide what motors will run from what channel
for me channel 1 = front motor pair, channel 2 = left motor pair, channel 3 = right motor pair, channel 4 = right rear motor(CW yaw) and channel 7= left rear motor (CCW yaw), channels 5 and 6 are skipped as they are used for camera control

Now the mixes

in my example i have the front motors responding to throttle and pitch only, so the code looks like this
motor_out[CH_1] = g.rc_3.radio_out + pitch_out;

the left two motors are throttle and Roll only
motor_out[CH_2] = g.rc_3.radio_out + roll_out;

the right two motors are throttle and roll also, but this time you need to correct for roll in the other direction, so we put a negative sign in front of the roll term
motor_out[CH_3] = g.rc_3.radio_out - roll_out;

Ok, almost there

the rear motors, individually controlled, take care of throttle, pitch (- this time) and Yaw

first - for throttle and pitch
motor_out[CH_7] = g.rc_3.radio_out - pitch_out;
motor_out[CH_4] = g.rc_3.radio_out - pitch_out;


and now for yaw
motor_out[CH_4] -= g.rc_4.pwm_out;
motor_out[CH_7] += g.rc_4.pwm_out;


hope the above makes sense, remeber this isnt my work, i just bodged it around
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Old Sep 06, 2011, 01:10 PM
1400 watt RW Zephyr
matwelli's Avatar
Taranaki New Zealand
Joined Sep 2003
1,336 Posts
Quote:
Originally Posted by isojed View Post
The below makes sense to me. Thank you for taking the time to write it all up!
Is there an (scientific) reason behind the 45 degrees angle of the tale motors other than looking really cool?
the rear angle is not quite 45, closer to 35, its a compromise between lift and yaw control, if the angle was less, it would take more thrust for yaw, which would start to induce some roll, if it was more, you would start losing alot of lift, as it is its calculated that the rear motors are down about 15% on thrust

but looking cool is also a worthy design spec
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Old Sep 06, 2011, 04:45 PM
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Geneva, Switzerland
Joined Jan 2009
800 Posts
Hi Matt,

Thanks for your explanations, it also make sense for me.

I hope to find enough time to build a new frame and test your code soon, I really like the idea and it seems to be a nice AP/AV platform.

Thank you!

Regards,

Bastien
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Old Sep 07, 2011, 03:30 AM
1400 watt RW Zephyr
matwelli's Avatar
Taranaki New Zealand
Joined Sep 2003
1,336 Posts
Thanks Bastion

personally if you dont need 8 motors, i would build the Y6 Vtail, 6 motors and alot lighter, if you do, i will write the code (it only needs 4 channels and flies like a tricopter)
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Old Sep 07, 2011, 02:00 PM
Registered User
Geneva, Switzerland
Joined Jan 2009
800 Posts
Hi Matt,
I was exactly thinking on building an Y6 Vtail, so if you can write the code, it would be really helpful... Thanks for your offer!
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Old Sep 07, 2011, 03:05 PM
Registered User
Netherlands, ZH, Ridderkerk
Joined Aug 2010
329 Posts
Thanks (again) Matt.
I am gonna build me a Y6 Vtail too.
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