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Old Apr 10, 2012, 11:21 AM
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Rokie question: Eagle N6 and wobbling tricopter

Hi all,

built my first tri and still not flying
I can handle real planes and flew perfect quadro PhoenixRC simulator.

DX6i is set as acro. Ground test are all perfect. Made all setups as required.

Tried 10" and 8" props and replaced the Eagle N6 with an Eagle N6v
motors are perfectly aligned.

first test: Eagle N6, 10" x 4.5 prop and A2216KV880 motor

http://youtu.be/U4flOgFDD1A
remark: my friend said: reminds me, like my wife, when I say I am going out with my friends...


second test: Eagle N6v2, 8" x 4.5 prop and A2216KV880 motor

http://youtu.be/TBEb9lA6aqQ

Tried this one in the green. Starts off and swoops to the side, forward, is
completely erratic.

my guess - the motors are too big ?

why is it lifting all the time on one side (either left or right) first ?
why does the Eagle control not balance this ?

any clue for help is welcome

wolfgang
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Last edited by wkm1; Apr 10, 2012 at 01:30 PM.
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Old Apr 10, 2012, 11:50 AM
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This video might help you:

Multicopter PI-tuning: How to recognize different settings. (7 min 52 sec)
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Old Apr 10, 2012, 11:55 AM
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Are you changing the gyro gain at all ?

At a guess, looks like gyro gain too high on 1st video, but way too low on 2nd !
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Old Apr 10, 2012, 12:38 PM
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Quote:
Originally Posted by Mike Barton View Post
Are you changing the gyro gain at all ?

At a guess, looks like gyro gain too high on 1st video, but way too low on 2nd !
pitch, roll and yaw had been in all flights set to 50%, as the manual
recommends as an initial setting
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Old Apr 10, 2012, 12:40 PM
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[QUOTE=Mortimer;21289880]This video might help you:

unfortunately not. Impressive video, but my
roll, pitch and yaw gain had been set to 50%

the KK board and the EAGLE N6 has only those 3 controls.

What is P-gain and I-gain ?
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Last edited by wkm1; Apr 10, 2012 at 12:49 PM.
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Old Apr 10, 2012, 01:17 PM
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Do not forget the stick centering & ESC calibration ( you have to do it only once)
The manual says to start with low gain for first flight , but then it goes in any direction; try to start with gyro at +/-65% and back down until it is ok for you.
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Old Apr 10, 2012, 01:29 PM
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Quote:
Originally Posted by Julkabas View Post
Do not forget the stick centering & ESC calibration ( you have to do it only once)

The manual says to start with low gain for first flight , but then it goes in any direction; try to start with gyro at +/-65% and back down until it is ok for you.
has been done, as I said in my first post
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Old Apr 10, 2012, 04:42 PM
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Quote:
Originally Posted by wkm1 View Post
"This video might help you:"
unfortunately not.
the KK board and the EAGLE N6 has only those 3 controls.
This video has been made by KapteinKUK, which is the creator of the KK board.
Pots are for G, gain.
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Old Apr 11, 2012, 07:31 AM
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Quote:
Originally Posted by Mortimer View Post
This video has been made by KapteinKUK, which is the creator of the KK board.
Pots are for G, gain.
He is talking about 'I-gain' and 'P-gain' (?) in his video for a quad.

I am setting up a tricopter. My Eagle board has one (!) MEMS gyro to control 'Pitch', Roll' and 'Yaw'.
Therefore there are 3 pots on the board to set the gain for 'Pitch', Roll' and 'Yaw'.
Same on a KKmulticontroller v.5.5 "Blackboard": 3 pots, to change the gain for Pitch, Roll and Yaw.

Can someone please explain, what does he mean, if he is talking about I-gain and P-gain

Which pot do I have to turn, changing the I-gain or the P-gain ?

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Old Apr 11, 2012, 07:37 AM
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Quote:
Originally Posted by wkm1 View Post
He is talking about 'I-gain' and 'P-gain' (?) in his video for a quad.
<snip>

Which pot do I have to turn, changing the I-gain or the P-gain ?

that video doesn't apply to your board - you only have normal Gyro gains (or 'P' term) for each axis.
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Old Apr 11, 2012, 09:16 AM
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Those oscillations mean the gain is set too high on your gyro. So, in the first video, the oscillations on the roll axis, means you need to turn down your roll gyro's gain.

In the second video, the drift to the left, could be stick centering, but that really is the same as trims. You will have to apply trims to get it to remain somewhat level.

Remember, with a gyro only control board, all the board does is "resist rotation." That doesn't mean it will hold the copter level to the ground. It will try to maintain whatever orientation it is in, until you give it commands from the radio to roll. It's up to you controlling the radio to tell it where to remain level with the ground so to speak.

So, if your radio isn't trimmed, and its telling it to roll to the left, it's going to roll to the left and keep rolling as long as your radio is giving a roll left command. It's very important to get your radio trimmed properly for stable/steady flight.
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Old Apr 11, 2012, 11:01 AM
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Quote:
Originally Posted by wkm1 View Post
Can someone please explain, what does he mean, if he is talking about I-gain and P-gain
Read this: http://en.wikipedia.org/wiki/PID_controller
and this: http://www.rcgroups.com/forums/showthread.php?t=1375728

PID (Proportional, Integral and Derivative gains) are included into KK board firmware.
For example, in V 4.7: http://www.rcgroups.com/forums/showp...5&postcount=73

Quote:
Originally Posted by kapteinkuk

Roll pot now controls P-term gain on roll/pitch axis.
Pitch pot now controls I-term gain on roll/pitch axis.
Yaw pot controls P-term on yaw axis as before. Yaw axis I-term is fixed at 0.2

Suggested initial setup:

P pot at 50%

I pot at 0% (it can be left at 0% since it does not have a secondary function.

Yaw P pot at 50%

Trim it level.

Adjust P (roll/pitch) to your liking.
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Last edited by Mortimer; Apr 11, 2012 at 11:29 AM.
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Old Apr 11, 2012, 02:33 PM
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@Mortimer

Thanks, this opened my eyes and my mind. If it will help my tricopter... let's see, I will try
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Old Apr 11, 2012, 02:42 PM
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Ummm, unless I missed something he has an Eagle N6 control board. Does that run KK firmware? Otherwise the information about the KK PID doesn't apply.
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Old Apr 11, 2012, 03:04 PM
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wkm1 wrote "the KK board and the EAGLE N6 has only those 3 controls."
KK board informations are easily avalaible, it's not the case with Eagle N6.
However, it is highly probable that PID gains are also included in N6 firmware.
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