Build KapteinKUKs Simple and Low Part Count Quad, Hex and Tricopter Flight Controller - Page 395 - RC Groups
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Sep 22, 2010, 04:28 AM
Registered User
Quote:
Originally Posted by thanhTran
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
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Sep 22, 2010, 04:45 AM
That tree again!!!!
thanhTran's Avatar
Quote:
Originally Posted by Mike Barton
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
Sep 22, 2010, 05:03 AM
Registered User
Quote:
Originally Posted by thanhTran
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....
Sep 22, 2010, 07:30 AM
Registered User
Quote:
Originally Posted by alll
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...
Sep 22, 2010, 07:50 AM
manuLRK

Yar rate contest


Quote:
Originally Posted by warthox
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
Sep 22, 2010, 08:33 AM
Registered User
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
Sep 22, 2010, 08:41 AM
Registered User
Quote:
Originally Posted by Crissbrasil
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
Sep 22, 2010, 08:44 AM
Registered User
Quote:
Originally Posted by warthox
trim it... its normal
warthox,thanks for help me,i see all your fantastic videos....

the trim going to end,and need more.
Sep 22, 2010, 08:52 AM
Registered User
Quote:
Originally Posted by Crissbrasil
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!
Sep 22, 2010, 09:00 AM
Registered User
Quote:
Originally Posted by marba
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.
Sep 22, 2010, 09:10 AM
Registered User
nicnaimless's Avatar

Just Ordered a board


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

Can't wait to get started!
Sep 22, 2010, 09:11 AM
Registered User

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
Sep 22, 2010, 09:14 AM
Registered User
Quote:
Originally Posted by Helichem
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
Sep 22, 2010, 09:20 AM
Registered User
Thanks Niall.

I found it just before your reply, there:

https://www.rcgroups.com/forums/show...&postcount=958
Sep 22, 2010, 09:41 AM
Registered User
Quote:
Originally Posted by Crissbrasil
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 ;-)


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