"Solved the servo issue by increasing Stab_P to 10. Today I had succesfull liftoff ... it's hard to be pilot and operator in the same time. There are three short videos in the Dropbox. The bird had some damages at the end of the third…"
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Ryan McNeil's Discussions
New ground rover project
Started Oct 16, 2012 0 Replies 0 Likes
Hi allI have been on the forum for a little while and I am currently building a Bicopter using the APM2.5(at this stage I am just having some coding checked for errors) and have decided due to my…Continue
APM2 stabilizing a bi-copter
Started this discussion. Last reply by Francisc Bereczky Nov 3, 2012. 47 Replies 0 Likes
Hi allI have had a look over the pages at the APM2 and have seen the various setups you can select for it but what I was wondering although it is not listed would it be able to somehow stabilize a…Continue
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Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"Hi Robert, i'm back in business with new ESCs and 4S batteries. Now I have enough power.
I noticed a strange behavior of the two servos. The amplitude of their movement is right, I mean ~ +/- 45 degrees until the throttle stick is at minimum.…"
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"I changed THR_MAX in MP to 950, saved parameters and reboot but nothing changed. Maximal output is 1800. Input from Rx is 1950. Looked in the code but the only thing I found is in APM_RC_APM1.h line 5
#define MAX_PULSEWIDTH 2100
This can not be…"
Ryan McNeil posted a discussionNew ground rover project
Hi allI have been on the forum for a little while and I am currently building a Bicopter using the APM2.5(at this stage I am just having some coding checked for errors) and have decided due to my current location on the edge of the cairngorms in Scotland that I would build a ground rover. This is just for a bit of fun to start off with and probably will develop with time and I want to see where I can get with it. Hopefully it will be a bit easier to try than getting a Bicopter flying. I plan on…See More
DeveloperR_Lefebvre replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter
"No, there's a parameter called "Thr_Max". You should see it in the parameter list in Mission Planner. I bet it's set to 800 . Change it to maybe 900 or 950.
I think you're too close to the limit on power,…"
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"You mean
#define AP_MOTORS_DEFAULT_MAX_THROTTLE 850 in AP_Motors.h line 31?
In the case of Bi/TriCopters the "control overhead" can be smaller than for Quad/Hex/Octo because we need this only for roll/pith control (not yaw too).…"
DeveloperR_Lefebvre replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter
"Try THR_MAX.
But this is a bit of an issue, because Throttle Max is set that way for good reason on everything other than TradHeli. You need to leave some "control overhead", otherwise you won't have any thrust left for…"
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"Robert, The output of ch_1 and ch_2 (motors) is limited to ~1800. Where can I find the parameter which does this limitation?
I need at least 1900 for liftoff. Maybee 100 is enough for stabilisation. "
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"Robert, I made two short videos (uploaded to Dropbox). It's a run without APM, only Rx with a PWM mixer to drive the two motors at low speed, <.200rpm. The takoff speed is ~270rpm. Try to observe the wobbling of the frame. I focused in the…"
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"All the patches are in the two files attached to my last replay. They are what I compiled and uploaded to the APM. I have the project in Visual Studio 2010. Every time I make some changes I will send them to you. But we're done only after the…"
DeveloperR_Lefebvre replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter
"This actually works really well, I think. I sort of laid things out, and you are skilled enough to see where the deficiencies are. If you want to send me these patches, I can put them in my clone. When we're done, I'll…"
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"Robert, please do not missunderstand my intentions. The ideea is not to push you. I am happy that now I have the library and I can make some tests and maybe some small "contributions". I try to transmit as much information as I…"
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"Nothing tested yet on the copter. There is some work to do (mainly by Robert) until I will make those tests.
Until now I uploaded the modified code to APM1 and followed the behavior in the Planner."
Ryan McNeil replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"you seem to be making some progress with this Francisc. Have you ran it up on your bicopter yet in simulation. I must start reading and looking more into this."
DeveloperR_Lefebvre replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter
"Francisc, I'll do what I can to help. Really busy with lots of things though. We'll get this, it will just take some time."
Francisc Bereczky replied to Ryan McNeil's discussion APM2 stabilizing a bi-copter"Hi Robert,
I made some mods to the code. Please look at it.
In Dropbox you will find a new video with the last test.
The next step is to add yaw mixing to ch3 and ch4 (the servos).
Please help me out with this. "
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