Replies to This Discussion

DeveloperPermalink Reply by R_Lefebvre on August 2, 2012 at 12:50pm

No, the problem is, if the DCM doens't know which way is up, with a Flybar or FBL controller, it'll still fly it right into the ground.  The problem is not the rate control, it's knowing which way is up.

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DeveloperPermalink Reply by R_Lefebvre on August 2, 2012 at 1:08pm

Wesley, is your 450 basically set up the same way it always was, and 2.7.1 was worse than before?

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Permalink Reply by Wesley Chuen on August 2, 2012 at 1:16pm

Yes, identical setup.  Before the crash, I got it to a point that it flew great.  I enjoyed flying it a bit too much and crashed it.  lol.  It was just normal flying in stab mode.

I've ordered a couple of sonar mounting bracket and will try to mount the sonar to the tail.  Just don't have the motivations to do it yet.  Too many things to play with.  Still want to put FPV stuff on my hexa.  Also got 2 sets of rover stuff going.  One going to be my lawn bot to mow my lawn and another one to be a home made Sagway.

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Permalink Reply by Christoph on August 2, 2012 at 1:35pm

Wesley. That's exactly how I am approaching. flybar 450 and external gyro. So I can test step by step with reduced complexity. It's like changing one variable after another to be able to track changes systematically

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Permalink Reply by malcolm churn on August 2, 2012 at 3:23pm

I use an external gyro, its one less thing to worry about...

well that makes 4 of us working on the heli, any one else?

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DeveloperPermalink Reply by R_Lefebvre on August 2, 2012 at 4:37pm

Again, the yaw control is the only thing that's working for me. ;)

Well, I just ordered a bunch of stuff to build an Octo.  I'm not giving up on helis completely, but I have to get a camera in the air.

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DeveloperPermalink Reply by Mark Colwell on August 3, 2012 at 8:23am

I keep track of your progress and review most code changes, but no flying.

I have set up a Swift 16, but no time to install my APM2  test board, I as I am testing Ublox & MediaTek, Onboard Mtek is disabled with External Ublox-5.

Too many changes have occurred in the libs and main code with all the contributors. I suspect issues with AUX_CH and Motors also Mount may be suspect.. I only have flybar helis with external gyro. 

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DeveloperPermalink Reply by R_Lefebvre on August 3, 2012 at 9:57am

Ok, who's up for some testing?

Anybody have something with a flybar or flybarless controller that they can simply mount an APM on, but won't be in control, just "along for the ride".  Do some hovering, collect data, and send the data back to us?

There's some discussion go on in the dev list about this issue.  Jonathan Challinger would like some data, and could maybe prepare something to collect extra data.  And Jason Short has a quick patch to test and see what happens.

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Permalink Reply by Christoph on August 3, 2012 at 11:16am

Robert, what exactly do you want to be tested? Which version? Which data?

I have everything installed on my 450. Software 2.3 installed and ready to fly.

As said: Flybar, external gyro.

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DeveloperPermalink Reply by R_Lefebvre on August 3, 2012 at 11:34am

Well, if you're up to it, Jason is suggesting changing these lines to this:

static void init_arm_motors() {
        ...
        ahrs._kp.set(0);
        ahrs._kp_yaw.set(0);
}

static void init_disarm_motors()
{
        ..
        ahrs._kp.set(.4);
        ahrs._kp_yaw.set(.4);
}

But it makes me nervous to just do this.  If you guys want, I can put together a file that will give full manual control over the flybar in acro mode.  It'll be a #define like #define TradHeli_Flybar_Acro Enabled.

Then when you flick to acro mode, it will pass the stick commands to the CCPM mixer directly, COMPLETELY bypassing the gyro/accel/stabilization stuff.

If you want to try it, I'll whip something up this weekend, but won't be able to test it.

Or if you're feeling brave, you can just stick Jason's patch in and give it a fly. ;)

Basically what he is doing is turning the accelerometers off completely as soon as you arm.  He says he has flown it on a quad.  What this is doing is assuming that the accels are the problem, turn off the accelerometer calculation, and rely ONLY on gyros to remember which way is up.  The risk is that it will drift, and forget which way is down.  The question is, is it better or worse?

Then when you disarm, it looks at the accels again to re-orient the stabilization solution to point down.

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Permalink Reply by malcolm churn on August 3, 2012 at 1:29pm

Will have to replace the fly bar on the Razor600 if i'm going to test that, cos otherwise its gonna crash, it will be really twitchy, i suggest you post the code with a WARNING :)

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Permalink Reply by malcolm churn on August 3, 2012 at 1:25pm

Yeah i can do that, i'll mount an apm on the fury55 and give it a go, what logs do you want to see?

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