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ACM2 tricopter AUTO and ALT_HOLD test

Posted by hsucliff on June 29, 2011 at 10:30pm

3689414623?profile=original

3689414581?profile=original

ACM2-logs-2011-06-30.zip

ACM2-Tricopter-Config.param

ACM2-logs-2011-07-02.zip

I set the altitude to 18 - 28 meters high but it went to near 100 meters high,

I was a little nervous since I almost can't recognize how it's flying.

All I can do is trust ACM2, I have both sonar and compass on it.

I felt the throttle control response in ALT_HOLD mode is not sensitive enough.

I used the latest ACM2 code which was downloaded today.

Logs and config files are attached FYR.

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Comments

  • mc_don July 4, 2011 at 5:19am
    What's your prop wear? between CW and CCW
    setting frame model who you wear?
    I'm trying to 3c as well. but there is a choice of frame "Options: [x, +, v]"
    which should I choose?
    please explain
    thanks
  • Developer
    Jason Short July 3, 2011 at 11:41pm

    Cliff, 

    If you add a WP to head home or command to RTL at the end of the mission that would be great to see. Thanks.

    Grab the latest 2.0.33

    Jason

  • hsucliff July 2, 2011 at 4:05pm

    No problem, I'm happy to help testing and enjoying it actually.

    Just let me know what I can do about the test, I might not have much time to dig into the code.

    Here comes the vedio.

  • Developer
    Jason Short July 2, 2011 at 10:30am

    Testing new Loiter values thanks to your logs! 

    Jason

  • Hungchin Wang July 1, 2011 at 11:42pm

    @ hsucliff,  You do a great job!


    I met  hsucliff many years ago~   I am also interesting in his ACM2  so we meet again today.
    About  today's waypoints flight,  I also feel ths altitude control is OK  but GPS_Position_Hold need more improvement.
    By the way, 
    Here is the  aerial panorama of  test site which I used MK to make it.
    http://www.360cities.net/image/guang-fu-bridge-park-panchiao#424.54...


    Cheer,

    板橋 光復橋飛場 360 Panorama | 360Cities
    360° panorama photo from Taipei by Hung-Chin Wang. 720 degree fullscreen Aerial panorama of Guang-Fu Bridge Park, Banqiao Dist., New Taipe...
  • Developer
    Jason Short July 1, 2011 at 10:17pm

    Cliff, 

    Thanks for the data! I think I can tune this to be even better thanks to your log. 

    The last part is your copter loitering at the last waypoint. Put a WP at home and you should be good.

    Alt hold accuracy looked great.

    Jason

     

    3692232415?profile=original3692232577?profile=original

  • 3D Robotics
    Chris Anderson July 1, 2011 at 7:41pm
    hsucliff: thanks for the flight report. Sounds like we're making progress. Can you repost that log file? It didn't come through.
  • hsucliff July 1, 2011 at 6:41pm

    Tested with 2.0.31 this morning, the result is better, but the sonar ALT HOLD seemed still not good, logs file attached.

    My Tricopter seemed loiter arround waypoint 3 (last waypoint) before going back to home position.

    Shouldn't it loiter after backing home position? I eventually turned to RTL mode to call it back.

    I Will post video later.

  • mc_don July 1, 2011 at 10:11am

    whether it was safe in auto mode did on quadcopter?

    for ver 2.0.31?

  • hsucliff June 30, 2011 at 10:09pm

    OK. Thanks.

    Probably would have my tomorrow morning time to test again in Taipei.

    -Cliff

This reply was deleted.