Hey, I had a little brainstorm last night after watching the DJI Wookong video. It's a sweet little system, but I wondered if AC2 could do that? So I put a battery on the end of one arm and it couldn't hold level. It came close but 3-4° error meant that it couldn't fly perfectly still. So during the ride in to work I thought of a way to rework the controller so it replicates my hand on the stick rather the the PI>PI rate controller we have now.
I've never been happy with the Outer I term. It never really seemed to be very effective. I started thinking that my hand is putting a constant bias to the stick to get the perfect stability, so I could easily replicate that with the outer loop's I-term. I re-routed the Integral to directly sum with the rate controller output. I flew it tonight and it does work. I can hold perfectly level with a 22003S battery dangling from the arm. I think this is exactly what is needed for better Hexa/Octa redundancy.
Enclosed is the patch that works with 2.0.54. Just replace attitude.pde with the linked file. Then set your STB_PIT_I and STB_RLL_I to .1, and your limit to something high like 30° or 40°
Let me know how it goes for you and please let me know how you might improve it.
I think we're one step away maybe from that. but if we pull together we can figure it out.
I have flown tonight in a gustty wind with this stability patch, the wind can no longer move the copter. I have a film of it, but is little dark of course, may I'll publish it later in the evening. RateP/R 0.2. I tryed Loiter and Alt hold in this windy condition, it worked not bad at all. Jason and Chris are some magicians. I think that this is fully in line with DJI and MK at this time.
I would love to see the video. Thanks for testing so quickly.
Sorry RateP/R =0.12 adjusted from standard 0.145
Stabilize is set to 4.0 insted of 4.6
Flying in very gust winds, fun to see how hexacopteret fighting against the wind and can maintain the position very well under these conditions:
That looks pretty good considering the conditions. You can see the I term for the angle working to keep the quad leaned over to resist the wind.
However, there's still unacceptable wobbliness within the larger control input. I would guess that it's the problem I've laid out.
maybe the rate roll P, rate pitch P, have to be adjusted down a little bit?
Adjusting the P value down worked for me in eliminating the wobble.
I think that your stabilized P should be around 3, the pitch an roll is very jumpy
what's ALT HOLD ?