Arducopter 2 stability patch
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.
Jason
- Attachments:
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Attitude.pde, 9 KB
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Replies to This Discussion
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DeveloperPermalink Reply by jasonshort on -
I think we're one step away maybe from that. but if we pull together we can figure it out.
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Permalink Reply by Arnt-Inge Hansen on -
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.
regards
Arnt-Inge
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DeveloperPermalink Reply by Adam Rivera on -
I would love to see the video. Thanks for testing so quickly.
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Permalink Reply by Arnt-Inge Hansen on
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Sorry RateP/R =0.12 adjusted from standard 0.145
Stabilize is set to 4.0 insted of 4.6
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Permalink Reply by Arnt-Inge Hansen on
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Flying in very gust winds, fun to see how hexacopteret fighting against the wind and can maintain the position very well under these conditions:
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DeveloperPermalink Reply by R_Lefebvre on -
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.
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Permalink Reply by Arnt-Inge Hansen on
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maybe the rate roll P, rate pitch P, have to be adjusted down a little bit?
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DeveloperPermalink Reply by Adam Rivera on -
Adjusting the P value down worked for me in eliminating the wobble.
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Permalink Reply by Chopper on -
I think that your stabilized P should be around 3, the pitch an roll is very jumpy
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Permalink Reply by Arnt-Inge Hansen on
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I have tested this now, must say I really am impressed by what you can in a short time! The only thing is that logs seems not to work
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2011-12-01 12-03 2.log, 583 KB
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Permalink Reply by nicolas grunbaum on -
That's nice!
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