"I'm quite happy with the way I have 2.9.1 running at the moment. And the rate control stuff is just a diversion. I really should be spending more time getting an actual camera up in the air...
If it wasn't for AVC, I'd be…"
Joly's Discussions
Freaky Phase angle on 450
Started this discussion. Last reply by Joly May 7. 17 Replies 0 Likes
My 450 has a wobble on the pitch axis, unless 42 degrees of H_PHANG is added. It appears as a rapid clockwise toiletbowl effect, which subsides as H_PHANG approaches 42 degrees. If H_PHANG exceeds 42…Continue
Arducopter - Trad Heli development
Started this discussion. Last reply by R_Lefebvre May 14. 53 Replies 0 Likes
This is a place for discussion, information, questions and answers related to the development of Arducopter for Trad Heli.Continue
Trad Heli FPV discussion
Started this discussion. Last reply by R_Lefebvre May 1. 47 Replies 0 Likes
Hey all, here is a place to post details and info of your FPV setups, questions, vids etc.My setup is as follows:Trex 450 PRO frame stretched to 480APM2.5 with UBLOX GPS and power moduleTarot DFC…Continue
Tags: arducopter, heli, helicopter, FPV
Fixing the gap with the APM 2.5+ side entry case
Started Mar 6 0 Replies 0 Likes
I got my APM last night, and I'm very impressed with this hardware as a whole. I did notice that there was a problem with the way the case looked. The case came cracked and the gap around the side of…Continue
Tags: side entry, apm, fix, gap, case
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Joly replied to Joly's discussion Arducopter - Trad Heli development"Man, all of that is totally understandable. Life happens to the best of us :)
I think until September my focus will be on getting the rate controller more refined. If that means switching to 50Hz in the interim so be it. Eventually Id like to give…"
DeveloperR_Lefebvre replied to Joly's discussion Arducopter - Trad Heli development
"Yeah, it's hard to say if we need to wait for PX4 to do Piro Comp and these other things. I suspect we might. We'd really have to do a time study.
I've also thought about slowing down the control output…"
Joly replied to Joly's discussion Arducopter - Trad Heli development"Another couple notes :)
As expected, in FPV, acro is much easier for control, especially in hard turns. No going back from here.
Now the need for piro comp is very evident. I wonder, do we need to wait for px4 to commit piro comp? I'm willing…"
Joly replied to Joly's discussion Arducopter - Trad Heli development"Yeah I changed it to be permanently in leaky, but I still had trouble getting rate gains to be as effective as with 2.9.1. They were higher with your code, but all wacky in acro mode only. When I inserted your BF code into 2.9.1 it was fine in…"
DeveloperR_Lefebvre replied to Joly's discussion Arducopter - Trad Heli development
"Of course I don't mind, this is what development is all about."
DeveloperR_Lefebvre replied to Joly's discussion Arducopter - Trad Heli development
"Which gains are you playing with? Rate P or FF?
I suspect that the FF is much too high for the Rate mode and it's pushing it too fast in Acro. I wonder if you can drop FF to basically zero, and crank up P?
I saw those exact same…"
DeveloperR_Lefebvre replied to Joly's discussion Arducopter - Trad Heli development
"1) Yeah, I have noticed that too. The ground detection seems to work perfect on the bench, but sometimes doesn't work at all in flight. I have not figured out why yet.
2) What you you mean you changed to leaky I? You…"
Joly replied to Joly's discussion Arducopter - Trad Heli development"I took the liberty of importing your BF code into my modified 2.9.1b to test with my params (hope you dont mind). It flies awesome!! Acro and Stab behave the same way, only Acro lets you do hectic flips. Just like its supposed to :>
Vids are…"
Joly replied to Joly's discussion Arducopter - Trad Heli development"To follow up on point 5, I had to decrease my pitch gains all the way down to get acro mode to fly remotely well. The advantage of this is that I managed to get the feel very nice after a whole day of testing, but it wasnt solid enough in the…"
Joly replied to Joly's discussion Arducopter - Trad Heli development"Thanks for the tip Rob, I got it running :)
Notes:
Almost tipped over because full i term stays on when on the ground (too much delay switching over to leaky)
Changed to leaky, and flies good
My rate_pitch_p gains are 10x higher on this code over…"
DeveloperR_Lefebvre replied to Joly's discussion Arducopter - Trad Heli development
"Ah yes, I think you downloaded the Master branch of my... branch. You need the 2.9 branch of my branch. Yeah, it's confusing but you'll get the hang of it.
The master branch of my branch has not been updated to trunk in a LONG…"
Joly replied to Joly's discussion Arducopter - Trad Heli development"This is confusing. Last time I downloaded your code I didn't need the HAL enabled. But for some reason yesterday it wouldn't compile without it.
Your firmware version normally says '2.9.1' but this time it was…"
DeveloperR_Lefebvre replied to Joly's discussion Arducopter - Trad Heli development
"Are you using the new 3DR-hacked version of Arduino for post-HAL?
My code is pre-HAL, and I'm using the official release of Arduino to compile."
Joly replied to Joly's discussion Arducopter - Trad Heli development"Rob I just tried to upload your code but its not working for me. I tried 2 times both uploaded ok but APM does not respond, it just sits there doing several gyro cals before giving up.
Settings were HAL board set to APM2.x, restarted arduino etc"
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