Replies to This Discussion

Permalink Reply by RickP on March 15, 2012 at 5:30am

Thanks Marco. Its a hexa and weighs around 2.2kg so quite a heavy beast. You may well be right on the Loiter_I, but it seemed to help damp the oscillation i was seeing yesterday.

Will try the rate_i increase and report back.

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Permalink Reply by RickP on March 15, 2012 at 8:09am

Tried increasing rate_i to 0.02, was quite hairy and flipped on landing doing a prop. Hey ho...

DeveloperPermalink Reply by Marco Robustini on March 15, 2012 at 9:26am

RickP, flip when landing just for this little increase? DAMN! :P

Permalink Reply by RickP on March 15, 2012 at 9:47am

Marco - I think the issue I'm seeing is that when its gusty (and we're only talking 5-8knots), the hexa is correcting hard against the wind induced pitch/roll. In the air, this isn't too bad as the model stays roughly where it was.

When landing, it means you can get caught out, which is I think what happened - it tilted forward hard just as it touched down, building up some forward momentum.

Will try and do more testing - not saying that 0.02 is wrong - maybe I need to come down more on rate P or stable P to reduce the initial reaction perhaps.

Permalink Reply by Paul on March 14, 2012 at 1:33am

hello, are we safe to use for hexa or should we wait for next version? ive just got myself a photohigher gimbal and would hate to crash this.

paul

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Permalink Reply by Jan Schermer on March 14, 2012 at 1:38am

My hexa flies fine, but I haven't tried navigation functions, it flies a little different from the previous ones because of all the DCM changes.

Have you tried resetting board? Gyro is calibrated on every start, so it should read zero. It can oscillate slightly as it is very very sensitive (the same goes for acc) - it might look like it's oscillating bad but you need to look at the scale - something like +-3 is still fine. It is also sensitive to temperature so if you power it up in a car and then take it outside, it can stay offset until you reset again. It's best to recalibrate after first 2 minutes of flight to be safe.

EDIT: sorry, didn't notice the attachment - it doesn't look jumpy which is good, I can't comment on the constant offsets - but I don't think it's anything but raw values that translate to 0,0,0 in reality (after calibration) - I don't have my board here so can't check. If it read anything but 0 it would react wildly in flight and would be unflyable.

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DeveloperPermalink Reply by Marco Robustini on March 14, 2012 at 11:58am

2.5.0 is imminent, you should wait...

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Permalink Reply by Todd Hill on March 14, 2012 at 2:01am

After trying Git and mission planner i am finding the best results with latest mission planner. have had three good flights with my Y6 and three with my quad. Both using APM1 2560. i am realizing that for me it isnt so much about tweaking the code through the IDE as it is doing a great deal of calibrating. if i can now get my loiter dialed in i will post some video tomorrow. As of the last flights today my problem is a slow drift away from set loiter position. baro and sonar hold are now working very well, in most instances not deviating more than 1.5m for baro only to 0.5 meters for sonar. think i may be able to get the loiter dialed in tomorrow provided weather holds out.

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Permalink Reply by Todd Hill on March 14, 2012 at 2:27am

think what i ended up with beforebi had to stop was Stab P=3.6 I=0.05 and D=0.12 for roll and pitch, throttle P=2.50, Loiter P=0.12 , Nav P=2.5. Flight weight right around 1.5kg, 650kV motors, 12*3.8 APC props. Will verify those settings later on in the morning. No wild yawing or leaning as of yet.

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Permalink Reply by heikki.tukiainen on March 14, 2012 at 11:10am

One flipping Arducopter 2.4.1...

Issue 1:

Flies smoothly, but all of sudden it flips. Yesterday night discovered that the motor 1 shutdown most often. Changed the esc of it, but no effect.

I have changed the ESC mode to nimh and LVC to low.

It flies smoothly but typically when I apply yaw it flips forward. Reason is that the front motor has shutdown. In handtest you can get the shutdown to happen.

Issue 2:

Another weird property is that sometimes when I try to relauch after a flip / heavy landing the copter spins e.g., left side fast. By applying full left you can get it to hover, but it is pretty weird. Handtest shows that the left motors are more "sensitive" they speed up much faster when tilted (compared to right ones)

I have flown HK board earlier and I am a newbie to Arducopter, so this might be a user error as well / esc / soldering etc. error.

Wondering if the gyro / other sensors are in wrong position and should be calibrated. Tired with unarm - rearm, but typically no effect. Does arm calibrate gyros?

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DeveloperPermalink Reply by Marco Robustini on March 14, 2012 at 11:54am

Have you calibrated the esc throttle range?

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Permalink Reply by heikki.tukiainen on March 14, 2012 at 12:00pm

Yes I have calibrated. All motors start at a same time on launch.

The weird thing is that sometimes it flies nicely for 1 minute, and all of a sudden if flips. Then trying to relauch causes e.g., lean to left. Battery off & restart might return situation to normal.

If esc trottle was not calibrated would it fly nicely at all?

Thanks for a tip I will redo trottlecalibrations anyhow - one by one...

--- edits

AMP2, recalibrated trottles. Will read the Wiki. Now I will give a test flight! :-)

Thanks for help!

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