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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

 

 

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Permalink Reply by Arnt-Inge Hansen on December 2, 2011 at 2:30am

Jason, Chris do you no what's wrong with the log? Is there a solution soon?

Permalink Reply by nicolas grunbaum on December 2, 2011 at 3:37am

Arnt I just grab an old log.pde (the one frome 2.0.50) and now my log files works ok!

I will keep this until the problem is resolved. 

Ah, I think (not sure) found my problem yesterday. I put a bec instead of using the power supply from an ESC.

Today I reversed that and put the old attitude.pde. It worked without trying to flip. Now the new test, with the patch. Let's see what happends.

Permalink Reply by nicolas grunbaum on December 2, 2011 at 3:46am

Ok, just tested with some nice gusts of winds. It worked nice. The problem yesterday was the bec. I still have some wobbling. Will deal with that now.

Permalink Reply by Arnt-Inge Hansen on December 2, 2011 at 3:52am

nicolas remember to have all the esc's signal ground put into apm esc's output. This behavior that you described, I had also due to lack of grounding to esc's. This was because I put on an external bec and I thought that this ground was not necessary: I thought this ground was common with battry ground, but it wasn't

Permalink Reply by nicolas grunbaum on December 2, 2011 at 4:00am

Ok! I understand. So even If I don't use the bec function of the esc, I have to put at least one - into apm and esc?

Permalink Reply by Arnt-Inge Hansen on December 2, 2011 at 4:07am

It requires grounding to each esc, If you have jdrones esc's maybe other types, in cold condition the apm would not arm, and the esc's give alarm that the pwm missing.

Permalink Reply by nicolas grunbaum on December 2, 2011 at 4:13am

Ok, now I went back to my esc power supply. Just the one that gives power to apm conected. The rest just have the signal conected. Everithing working fine. So I'm leaving this way.

Permalink Reply by Arnt-Inge Hansen on December 2, 2011 at 4:20am

I would recommend you to have an external bec, preferably two. power from esc's bec make it very hot and can cause it burn

Permalink Reply by Arnt-Inge Hansen on December 2, 2011 at 4:14am

You have to put at least one into APM from PDB (+5v connection), and all the esc's ground into PDB

Permalink Reply by nicolas grunbaum on December 1, 2011 at 6:07am

Jason, I have something strange with mine. Sometimes it tries to come to me even I told him not, just for a glith. Then normal. And a problem with my logs. look at this:

 

I'm going to do some more test.

 

Permalink Reply by Arnt-Inge Hansen on December 1, 2011 at 6:27am

I have the same, If you have the cli switch in flight mode and go to terminal in mp it starts erase eeprom

Permalink Reply by Geir Engebakken on December 1, 2011 at 11:46am

My logs too are corrupt now after applying this patch, or the .54 upgrade, not quite sure which. Never seen this before.

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