Hi all! After some pid tuning, but require further adjustment, today i made the first real flight with my "heavy ArduXOcto", i open this thread for sharing my experience if someone else wants build a similar "heavy configuration" using ArduPiloltMega 2560, IMU, GPS and Baro, etc.
I have previously tested more expensive systems like Mikrokopter and Wookong, and unfortunately i think there is still much hard work over the code for make this electronic flight like the competition, but considering the price i would say that goes too well.
I'm still quite satisfied, even though my copter in some aggressive maneuvers tend to wobble a lot, and in the Loiter mode some circles is inevitable because I believe that the management of the accelerometers correction is not optimized or inactive.
Over the baro range i've a good altitude precision, max 20/30 cm of excursion.
This is my hardware configuration:
- APM 2560
- OilPAN IMU
- Mediatek MT3329 GPS V1.6
- XL-MaxSonar MB1200 (with active filter and "thermal mods", 4 x 10 ohm resistor around the case)
- ESC HiModel Pro 30A, in high timing mode
- Two switching BEC 6V 5A (connected to electronics through two diodes 3A, the tension output is 5.33V)
- Motor TigerMotors MT2814 710 kv (mounted with 3° inclination for increase YAV control)
- Props APC 13x6.5 "E" (X8)
- Two-Way telemetry "Mikrokopter Wi232" (890 MHz)
- Six led strip connected to APM (pins AN8<->AN13 through ULN2003), thanks to u4eake for the code
- Homebuilt frame, mixed aluminum / vetronite (by AleBS, thanks dude! :P) + homebuilt hood
- Lipo 4s2p 5000 mhA 40c
- TX Futaba T12FG
- RX Futaba R6008HS
I'm uploading the video on my youtube channel, post them soon, for now I leave you some pictures.
I enclose the parameters used for the flight test in a soft wind, but there's one error, the real "Rate Pitch I" is set to "0".
@Marco I figured you would be able to help...
I thought the issue was firmware! I am guessing I loaded the "flat" oct firmware through Planner...
I have no idea how to use arduino to load the firmware... Can you point me to a decent how to please? I searched, but well, searching the forums is no easy task...
Thanks to other members input, I have found Arduino info...in the Misc of the Wiki...So I have now uploaded arduino and the sketch(s). May I ask, what parts of the code did you change for your x oct? I have never played with code at all, so a few newb questions...
Do I need to uncomment (by removing the "//" prefix from a line of code) the line that has the frame defined?
Is this all I need to change in APM_Config.h file??
//#define FRAME_CONFIG OCTA_QUAD_FRAME
Yes. is correct!
Uncomment the line (remove the "//") and write this:
#define FRAME_CONFIG OCTA_QUAD_FRAME
and remember also this one:
#define FRAME_ORIENTATION X_FRAME
Marco, Many thanks for your help, I have had a successfull flight with my X8. I will post some photos and flights the next few day...
I am trying to tune my PIDS, and found your settings posted back in december, but there are more options now, and I am hoping I could talk you into posting current settings for your x8 setup? I know we are flying different motors etc, but I can usually tune if I have a good start point, any help would be much appreciated!
I would also like to see your PID settings and thanks for what you have allready post it has been a bunch of help with my X8
Hi Ian, here my parameters, good luck! :-)
I wait your photos!!! :P
Thank you for so generously sharing your expertise and insight on octo-copters!!
As you have flown both flat 8s and X8s which do you prefer in terms of performance, stability and endurance?
I like the co-axial design but they have been avoided in my 100% scale rotary world due to aerodynamic interference problems.
Migliori riguardi / Best regards, Enterprize
Hi Enterprize, flat octo is more stable, but cumbersome.
I am converting a X8 from a hoverfly setup.
The motor rotation directions are opposite to arducopter.
Is there anyway I can change a Yaw control setting so I do not have to rewire all my motors?
No, i'm sorry, you must swap two wire in your esc and swap all the props.
thanks for the quick reply