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APM 2.6 with Raspberry Pi

Posted by Tom R on February 12, 2016 at 6:01pm

Greetings all,

I have been trying to build a fully autonomous, indoor drone for about year now based on the Owenquad Tutorial (https://code.google.com/archive/p/owenquad)

I am using a ardupilot apm 2.6, F330 DJI Flamewheel frame, Emax 2212 motors, Emax 20A ESC with SimonK firmware, 8045 props (8"), and 4 Lipo Cell Battery.

The problem is the stabilization does not make any sense, when trying to hover.  It always wants to fly forwared and sometimes right.  I have made sure the quad's weight is balanced and I started with very low PID values, but adjusting the PID values makes absolutely no sense because I enter values as low as 0.00000000001 and it will still move right or forward.

Like I said, I have been working on this for a very long time and I am at a lost.  What could I possibly be doing wrong or is there something wrong with the owenquad code (Here is the code: http://owenson.me/build-your-own-quadcopter-autopilot/pi-quad.ino).

Yes, the ardupilot is oriented correctly and yes the ESCs are calibrated. 

If someone helps me figure this stabilization issue out I will give them $100, via paypal and if you are in the bay area I will also buy you a beer.  Thanks in advance!

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Replies

  • Andre K. February 13, 2016 at 1:02am

    it's leveling that helps it "stand still" in an non-navigation mode.

    no multirotor/helikopter will "stand still" whithout having position reference and correcting position according to it.

    so It's in stabilize or alt-hold mode, you should not expect it to hover perfectly still.

    if it gains speed towards one direction every time, (no wind, in open space) : do "accelerometer levelling"

    • Tom R > Andre K. February 13, 2016 at 7:23pm

      Hi Andre,

      Thanks for the suggestions.  There is a line of code to calibrate the accelerometer, when ever the drone is powered on. 

      I actually met a really helpful guy at a Hobby People store that found the problem. 

      The issue was that we needed to create a software equivalent of "Trimming" that is done with the trimming buttons on a RC controller. 

      Just an FYI for anyone that encounters this problem.  After all this time it was a simple adjustment.  I should have asked for help a long time ago...

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