It seems after searching several sites that not many people are using a tricopter? and even less still with the new APM2.0? anyone got any advice, problems, PID settings that work well? mine is nearly there, RTL, Alt hold and Loiter seem to work o.k but only 70% of the time? when they dont work the copter just shoots off in a random direction until its nearly in the ground or out of controllable sight so I am a bit dubious to test it with waypoints e.t.c in case I never see it again? does the APM work better with other frames? any tips advice are very welcome...
Edit: After much studying all of the above problems were down to not understanding the code and how things work, I am pleased to say that I do now understand and have no issues with the board or software, and am glad to do things this way as I have learned alot and enjoyed the rewards..
I have changed the way front motor spins so now #1 is CW and #2 CCW but the tricopter acts like before, so now I'm sure it's not about the direction of spinning, I think there maybe the tricopter "thinks" I have all props CCW and it tries to correct by rotating a little the rear motor. Maybe I should change something in the settings so it knows I have 2CCW and one CW.
Here's the video, before and after changing the rotating direction of the front motors.
I made another video after the maiden night flying, here it is :
I still need to fix the yaw problem, it slowly rotates to the right while in the air. other than this I like how leveled it hovers, perfectly leveled. Nice :)
Now we have got all the other problems sorted out, have you still got the yaw problem?
The yaw problem is almost solved, here is a video I made this morning :
I'm going back to test it with a 6000mAh lipo and a 230 grams camera , a little heavy but I will see how it feels.
Looking good Ovidiu..
Altitude hold test with a higher payload. I liked how it keeped the altitude but there still are some issues with the yaw, I'm trying to find some scenes in the recorded video where the yaw did not moved corectely.
I'm wondering if I can join this conversation between the two of you Dean & Ovidiu? It looks like you've got a constructive dialog going.
Tonight I maidened my FPVManuals Delrin Tri with a new APM2. All in all it went pretty well. I've been flying it with a HobbyKing KK clone FC and the APM2 was worlds better. Stable mode worked well and altitude hold just rocked. But I too am having some Yaw issues. I'll make a video tomorrow to show what I'm seeing, but there are 2 main issues - first, when I roll left or right the yaw starts to wander clockwise and doesn't stop until I give it some reverse yaw. Second, when I do a hard yaw, after I return the stick to center the yaw kind of bounces back, maybe 15° is the opposite direction. It looks sort of like it hit something elastic. It doesn't make it unflyable, but it is irritating. I'm wondering if this is all somehow a magneto issue.
I also has serious issues with all things related to the GPS. It took over 25 minutes to acquire a GPS fix, even though I was in a huge field, totally clear, and my cell phone and car GPS had no problems finding satellites. Once it did find them, I tried Loiter and it was a bit dodgy. I probably tried it 15 times, and only once did it really stay inside a 30m or so circle. The other times it would usually drift backwards, regardless of what direction it was pointing. Sometimes very quickly. I let it go maybe 100 meters a few times, then had to stop it before I lost control. Winds were perfectly calm so I don't think that was an issue. I have big plans for scriptable waypoints so I'd love to get this working better.
Here are two pictures of my craft. I'll try to get some videos next time I fly.
Dean helped me too, my yaw problems are almost fixed but I did not had time to post some videos with the last reamaining problems, which are not very annoing, the tri is perfectly flyable now :)
I think he will give you some advices when he will be online, he was very kind with me and helped me tune some of the params.
About your GPS problem, that might be very annoing !!! in 25 minutes I'm already back from the field. I'm also finding the GPS very slow but I understand that this is mostly because it doesn't have a backup battery, so it retains the Almanac info.
I see you got the onboard GPS version, I chosed the other version with a separate GPS because I found that easier to position the GPS in perfect and unobstructed places. I read a post by and will paste it here, I will try to do that mod to see if it helps, but I don't know what you can do :( I have an average of 5 - 10 minutes untill I have GPS fix
Reply by Glenn M on Sunday
As an aside, I just put a 4x4cm square of blank pcb connected to ground underneath my mtk gps which is sitting right on the top plate of the tri above the APM, and now I get a 9+ sat gps fix in about 30 seconds vs waiting 5+ minutes for it to maybe get a lock or not before. I'm pretty sure this will vastly improve my loiter performance.
This sounds great .. 30 seconds .. even 1 - 2 minutes are ok for me.
I also wanted to ask guys how do I reset the home point, without turning the GPS off and ON again.