Hi,
I hope someone will be able to help me here :-) i have postet this yesterday in the airframe design, maybe wrong categorie..
Since i'm not happy with the Stock frame setup (doesn't fit to my frame) i decided to start making my own Motor Layout.
here the frame
The Box in the middle is the APM and the CG.
here the defaults for the V-Frame
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
here my suggestion
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 61, 0.9272, 1);
add_motor(AP_MOTORS_MOT_2, -144, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -61, -0.9272, 4);
add_motor(AP_MOTORS_MOT_4, 144, -1.0000, 2);
is this correct ?
Thanks in advance !
Thomas
Replies
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 45, 0.72391, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.72391, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
or
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 61, 0.72391, 1);
add_motor(AP_MOTORS_MOT_2, -144, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -61, -0.72391, 4);
add_motor(AP_MOTORS_MOT_4, 144, -1.0000, 2);
the motor angles has more to do with the inertial of the frame in each direction versus the toque of the roll and pitch axis.
The most important thing you must do is make sure the CG is at the center of lift CL. Currently the code assumes this and it can't be adjusted. In this case it is 80mm further back than you have drawn your origin.
Instead of changing the angles in the AP_Motors library you can just change the Roll and Pitch Rate PID values. That will actually have the same effect.
As for the yaw factors, I'm less sure. If you get the number right then you won't notice any roll or pitch effect when you yaw. I actually don't know exactly how that yaw factor was calculated for the V. For that you'd need to ask Leonard Hall.
How did it fly? It looks like you did all of the math correctly.
nobody :-(
just tested it
Video