I've got some stable parameters for a hobbying sk-450 frame ntm 26-28a motors and blueseries 30amp esc to share!
I did it! I've got a perfect rock solid loiter even in 13mph gust winds! My 2200 lipo apparently only gets me 3 minute stable flights. Sure the motors will spin and I can fly for the next 2 minutes, but yaw, pitch and roll would drift. The first 3 minutes are perfect! I ordered a larger 6000ma Lipo pack.
I'm thinking if it's a calm wind I'll get @ 15 minutes, If it's windy I'll get @ 10 minutes.
Here's the parameters I used:
ACRO_P,4.5
AHRS_YAW_P,0.2
ALT_HOLD_RTL,0
AMP_PER_VOLT,27.32
APPROACH_ALT,0
AUTO_LAND,20000
AUTO_SLEW,30
AXIS_ENABLE,0
AXIS_P,0.02
BATT_CAPACITY,2200
BATT_MONITOR,0
CAM_P_DZ,0
CAM_P_G,1
CAM_P_MAX,1900
CAM_P_MIN,1100
CAM_P_REV,1
CAM_P_TRIM,1500
CAM_R_DZ,0
CAM_R_G,1
CAM_R_MAX,1900
CAM_R_MIN,1100
CAM_R_REV,1
CAM_R_TRIM,1500
CH7_OPT,7
COMPASS_AUTODEC,0
COMPASS_DEC,-0.252
COMPASS_LEARN,1
COMPASS_OFS_X,-126.633
COMPASS_OFS_Y,37.978
COMPASS_OFS_Z,-193.855
COMPASS_USE,1
ESC,0
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,0
FLTMODE3,6
FLTMODE4,9
FLTMODE5,0
FLTMODE6,5
FRAME,1
HLD_LAT_I,0
HLD_LAT_IMAX,3000
HLD_LAT_P,0.47
HLD_LON_I,0
HLD_LON_IMAX,3000
HLD_LON_P,0.47
IMU_PRODUCT_ID,88
INPUT_VOLTS,5
LED_MODE,9
LOG_BITMASK,0
LOG_LASTFILE,0
LOITER_LAT_D,0.4
LOITER_LAT_I,0.08
LOITER_LAT_IMAX,3000
LOITER_LAT_P,2.5
LOITER_LON_D,0.4
LOITER_LON_I,0.08
LOITER_LON_IMAX,3000
LOITER_LON_P,2.5
LOW_VOLT,9.6
MAG_ENABLE,1
MOT_TB_RATIO,1
NAV_LAT_D,0
NAV_LAT_I,0.2
NAV_LAT_IMAX,3000
NAV_LAT_P,3
NAV_LON_D,0
NAV_LON_I,0.2
NAV_LON_IMAX,3000
NAV_LON_P,3
OF_PIT_D,0.12
OF_PIT_I,3.2
OF_PIT_IMAX,400
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,3.2
OF_RLL_IMAX,400
OF_RLL_P,2.5
RATE_PIT_D,0.004
RATE_PIT_I,0
RATE_PIT_IMAX,500
RATE_PIT_P,0.09
RATE_RLL_D,0.004
RATE_RLL_I,0
RATE_RLL_IMAX,500
RATE_RLL_P,0.09
RATE_YAW_D,0
RATE_YAW_I,0
RATE_YAW_IMAX,5000
RATE_YAW_P,0.15
RC_SPEED,490
RC1_DZ,30
RC1_MAX,1973
RC1_MIN,1173
RC1_REV,-1
RC1_TRIM,1578
RC2_DZ,30
RC2_MAX,1973
RC2_MIN,1171
RC2_REV,-1
RC2_TRIM,1574
RC3_DZ,30
RC3_MAX,2015
RC3_MIN,1114
RC3_REV,1
RC3_TRIM,1362
RC4_DZ,40
RC4_MAX,1848
RC4_MIN,1048
RC4_REV,1
RC4_TRIM,1450
RC5_DZ,0
RC5_MAX,1914
RC5_MIN,1109
RC5_REV,1
RC5_TRIM,1114
RC6_DZ,0
RC6_MAX,1913
RC6_MIN,1109
RC6_REV,1
RC6_TRIM,1113
RC7_DZ,0
RC7_MAX,1500
RC7_MIN,1499
RC7_REV,1
RC7_TRIM,1500
RC8_DZ,0
RC8_MAX,1500
RC8_MIN,1499
RC8_REV,1
RC8_TRIM,1500
RETRO_LOITER,0
RTL_LAND,1
SERIAL3_BAUD,57
SIMPLE,1
SONAR_ENABLE,1
SONAR_TYPE,1
SR0_EXT_STAT,0
SR0_EXTRA1,0
SR0_EXTRA2,0
SR0_EXTRA3,0
SR0_PARAMS,50
SR0_POSITION,0
SR0_RAW_CTRL,0
SR0_RAW_SENS,0
SR0_RC_CHAN,0
SR3_EXT_STAT,0
SR3_EXTRA1,0
SR3_EXTRA2,0
SR3_EXTRA3,0
SR3_PARAMS,0
SR3_POSITION,0
SR3_RAW_CTRL,0
SR3_RAW_SENS,0
SR3_RC_CHAN,0
STAB_D,0
STAB_D_S,0.5
STB_PIT_I,0.1
STB_PIT_IMAX,4000
STB_PIT_P,4.5
STB_RLL_I,0.1
STB_RLL_IMAX,4000
STB_RLL_P,4.5
STB_YAW_I,0.01
STB_YAW_IMAX,800
STB_YAW_P,7
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,118
SYSID_SW_TYPE,10
SYSID_THISMAV,1
THR_ALT_I,0.007
THR_ALT_IMAX,300
THR_ALT_P,0.5
THR_FAILSAFE,0
THR_FS_ACTION,2
THR_FS_VALUE,975
THR_MAX,1000
THR_MIN,0
THR_RATE_D,0.02
THR_RATE_I,0
THR_RATE_IMAX,300
THR_RATE_P,0.2
TRIM_THROTTLE,411
TUNE,0
TUNE_HIGH,0
TUNE_LOW,0
VOLT_DIVIDER,3.56
WP_INDEX,0
WP_LOITER_RAD,10
WP_MODE,0
WP_MUST_INDEX,0
WP_RADIUS,100
WP_SPEED_MAX,600
WP_TOTAL,1
XTRK_GAIN_SC,1
Replies to This Discussion
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Permalink Reply by Jerry Normandin on -
I used a little dab on the threads of every screw. It was either risking the spider cracks or loosing the copter due to screws falling mid flight. The screws were torqued down tight. I used the Blue which is removeable. And I didn't goop it on. I swirled each screw in a little pool of locktite.
My frame consists of 3 G10 center decks with 4 fiberglass arms sticking out, 4 G10 motor mounts. The screws that mount each motor also have loctite.
I had to. I had the screws and bolts torqued down. motors got loose enough to move, I lost several screws that fastened a few of the arms to the deck. Locktite made sense to me.
So far no spider cracks, and I do take some hard landings.
My frame is different. all the screw connections are metal to metal, including the fiberblass arms. There are metal threads pressed into the bolt holes.
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ModeratorPermalink Reply by Sgt Ric on -
Sounds good...I didn't know about your metal to metal.
I hope I didn't get too preachy?
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ModeratorPermalink Reply by Sgt Ric on -
Locktite is great for prop nuts and other metal to metal installations, but not for screw-frame installations!
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Permalink Reply by Jerry Normandin on
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No Problem. I'm a noobie when it comes to the APM based drones. But I've been building R/C models since I was a kid. I just mounted my landing gear with camera mount today. I'm not flying with a camera yet.
I need to test this landing gear out, I'll dummy up a payload somehow and test.
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Permalink Reply by Derick Delica on -
i'll be trying these values,
im new with quads and I can't get mine to fly stable.
i also have the same frame, can you post some pics of your quad?
or better yet some video. hope others will post their configuration and
parameters as well, this will help those who have similar setup to have
something to start with...cheers!
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Permalink Reply by Jerry Normandin on
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Sure. Here's a video taken before I installed the landing gear:
http://www.youtube.com/watch?v=BFqFfGDITd0
Here's a photo taken before I added landing gear:
Here's a photo after I added the landing gear:
A GoPro camera is going to mount on the lower mount.
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