Comment by Björn Videnberg on September 2, 2011 at 10:33am

I asked the guys i in rcgroups about mwc thread about v-tail for that flightcontroller. Quad V-tail is working as far as I understand. 

Comment by Björn Videnberg on September 2, 2011 at 10:46am

I will follow you're blog, so pls update when things happens :=)

Comment by Mathew Wellington on September 2, 2011 at 2:19pm

here it is flying on ACM2 with a custom mix - tweaking required !

 

Comment by Björn Videnberg on September 2, 2011 at 2:56pm

Nice :=)

Comment by Mathew Wellington on September 6, 2011 at 2:01am

Ok, heres how i did the mix

 

I modified a Y6 mix, as it required not alot of work :)

first, define how much "authority" pitch and roll corrections have my mix has them at 100%, but in some cases you may want less

int roll_out =  g.rc_1.pwm_out;int pitch_out =  g.rc_2.pwm_out;

if i wanted for example to have pitch to have 80% authority the code would look like this

int pitch_out =  g.rc_2.pwm_out * .8 ;

second step is decide what motors will run from what channelfor me channel 1 = front motor pair, channel 2 = left motor pair, channel 3 = right motor pair, channel 4 = right rear motor(CW yaw) and channel 7= left rear motor (CCW yaw), channels 5 and 6 are skipped as they are used for camera control 

Now the mixes

in my example i have the front motors responding to throttle and pitch only, so the code looks like this

motor_out[CH_1]         =  g.rc_3.radio_out + pitch_out;

the left two motors are throttle and Roll only

motor_out[CH_2] =  g.rc_3.radio_out + roll_out;

the right two motors are throttle and roll also, but this time you need to correct for roll in the other direction, so we put a negative sign in front of the roll term

motor_out[CH_3] =  g.rc_3.radio_out - roll_out;

Ok, almost there!

the rear motors, individually controlled, take care of throttle, pitch (- this time) and Yaw
first - for throttle and pitch

motor_out[CH_7]         =  g.rc_3.radio_out - pitch_out;

motor_out[CH_4]         =  g.rc_3.radio_out - pitch_out;

and now for yaw

motor_out[CH_4]        -= g.rc_4.pwm_out;

 motor_out[CH_7]       += g.rc_4.pwm_out;

hope the above makes sense, remeber this isnt my work, i just bodged it around :)

Comment

 

Comment by Björn Videnberg on September 10, 2011 at 8:24am

Got it fully tweaked now? how is the mixing working?

Comment by Mathew Wellington on September 10, 2011 at 12:00pm

mixing works great

PID's are tuned, but still need refining when the camera mount and extra weight is added, hopefully today

Comment

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