Replies to This Discussion

Permalink Reply by Glenn M on June 20, 2012 at 4:00pm

I wish I had a working copter.. jesus. I can't even find out if there is still a wait on the fully assembled (non-gps) APM2 boards from 3dr, which I need to know before I order since I will be leaving the country for Canada in 3 weeks, and don't want it to turn up here a week after I leave.

My main problem with your yaw controller wasn't that it was slow, but that it turned a constant yaw motion (yaw stick right across) into several jumpy movements. Eg if I held the yaw stick full across, it would turn about 50 degrees, pause slightly, turn another 50 degrees, pause slightly etc.

Unfortunately I can't help with any more logs until I get a replacement board.

DeveloperPermalink Reply by R_Lefebvre on June 20, 2012 at 8:33am

I've just emailed Dave some code to try which will hopefully help all this.  I'm actively working on the yaw control.  I'm going to fix it.  It's just a matter of time at this point.

Your log though, it's pretty weird.

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ModeratorPermalink Reply by Dean Wynton on June 20, 2012 at 2:29pm

Robert, I am using 2.6 delta still as I prefer it to the release in mission planner?
On all fronts including the yaw? It seems more stable? Or maybe its just me?
The latest version is better for aggressive flying, but I think delta was more sedate?

Permalink Reply by Rui Manuel Cravo Marques on June 20, 2012 at 3:35pm

I'm using the final release 2.6 but I'm using Robert's yaw controlo code since I don't need agressive yaw maneuvers and I like it very much, it's very precise even if it's a bit slower.

DeveloperPermalink Reply by R_Lefebvre on June 20, 2012 at 3:51pm

Thanks Guys.

Dean, if you are using 2.6D, then I believe you have my yaw controller.

It's possible to use the official 2.6 release, and my yaw code together, if you add this line to APM_Config:

#define ALTERNATIVE_YAW_MODE ENABLED

 

In the mean time, what I'm working on is currently here:

http://code.google.com/r/robertlefebvre-wip2/source/list?name=YawCo...

That's my personal clone of APM, YawControl branch, where I'm playing around.  Hopefully DaveC is going to try it soon.  This hasn't been flown by anybody yet, and contains some radical stuff, like gain scheduling.

Permalink Reply by Dave C on June 21, 2012 at 12:26am

I'll test that today, thanks Rob. 

Glenn, hopefully your new APM will arrive soon, and pleased that we are not all in possession of such flakiness :P

I remember you once wrote something about 'just tying my motors on with cable ties'.

Not a good place to start when you are flying a potentially very dangerous bit of kit (esp if you can control the yaw)

Anyway don't despair, I'm sure you will be able to get an APM shipped to Canada, eh Danny!! :)

Permalink Reply by Glenn M on June 21, 2012 at 4:06am

Thanks Dave... many great things were built with zip ties! I think this way of mounting the motors is easily as solid as they were on the previous motor mounts that came with the delrin kit which just sandwiched the arm between delrin plates which were fastened with nylon screws which had a habit of stripping their nuts.

I think there's much more danger of failure of cheap props, cheap chinese motors (had a dt750 go this evening which looks like a magnet has come loose inside) and so on.

One day I'll get a reliable platform going... Have just transplanted the multiwii onto my 4s tri and will get some flying in with it like this until I figure out another APM or alternative. The multiwii does feel great just to fly compared so far though!

DeveloperPermalink Reply by R_Lefebvre on June 21, 2012 at 4:29am

Glenn, you in Canada?  Ontario?

Permalink Reply by Glenn M on June 21, 2012 at 4:30am

New Zealand, soon to be Vancouver for a bit.

Permalink Reply by Dave C on June 21, 2012 at 3:49pm

Or of course we could just design a mag/gps unit that's suspended a few inches above the whole power plasma-dome... on a stick maybe.

I say we colour it purple and white :)

:EDIT I defo responded to a different post, what's up with this board?

Permalink Reply by Brad Hughey on June 20, 2012 at 7:48am

Glenn, unfortunately a "props off" test doesn't tell you anything.  If the motors don't have a load on them, they won't draw anywhere near your normal flying current.  It is precisely this operating current magnitude which generates the spurious magnetic field(s) which are the proximal cause of the interference.

To do this the right way, you need a solid, immoveable test fixture, preferably made from a non-magnetic material, which can hold your multicopter in a safe position at full throttle.  That is really the only way to recreate the proper magnetic environment in which your craft flies.

P.S. I posted this before reading the balance of the replies, which are more precise in context.  Still, please understand that the magnetic fields from the power lines are directly proportional to the current flowing through them.  No props = little current.

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Permalink Reply by Rod Cole on June 20, 2012 at 7:21am

Glenn:

I feel the same way; to that end, I have purchased a DJI NAZA and am awaiting the GPS module. I believe that some future incarnation of APM2 could even outperform the Wookong M or even their Ace One, but this is a long way off.

I was really disappointed to see the highly vaunted 2.6 firmware is still causing the same old problems for many while others can get it to work fine. It now appears from this thread that there needs to be some isolation from the electrical noise from the ESC and motors. DJI mounts the compass and GPS well above the noise, which, no doubt, contributes to its stability.

Another concern is that it appears to get any kind of accuracy, I am going to have to wait for the new UBLOX GPS and spend even more money, if it can even be made to work on my current APM2.

Since my purpose is to use my multi-rotors for AP, I do not have the time to incessantly tinker with it, nor spend hours every week following the threads in order to make it fly.

While I believe the good folks at DIYDrones will eventually get it working, I have no faith in the current design and may revisit the product at some future date.

That said, I have an APM2 and 3DRadio kit for sale. Interested parties may send me a PM.

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