This was actually pretty non trivial.
I've just written up full documentation here: http://marc.merlins.org/perso/rc/post_2015-08-04_Using-Flaperons-With-Ardupilot.html
My X-UAV Talon should now be easier to land :)
You need to be a member of diydrones to add comments!
Comments
@Jesus A, unfortunately you were right. I got a severe crash after trying 100% flaperons. It could have been made to work, but it needs immediate pitch as a mix.
@Gary Mortimer I did feed pitch up right away, but that was late and caused enough stress on a ruddervator to rip it off and cause an uncontrollable crash :(
http://marc.merlins.org/perso/rc/post_2015-08-13_My-First-X-UAV-Tal...
Interestingly, even the takeoff on the 2nd video on that page, was dicey, I got an immediate stall of just one wing and severe roll which thankfully I was able to recover.
But flying a heavy plane diving to the ground with a missing ruddervator, I wasn't able to recover that :(
@Marc I know I don't auto land or take off I prefer to be in the loop and feel needed.
Thanks so much for explanation, I had tried flaperon several times without succes.
Gary, you can't feed pitch down to compensate for flaps if you're in an auto mode like CRUISE. The AP needs to be able to do this for you.
Jesus, adjusting PIDs isn't as simple as you say because the PIDs will be different with flaps up and flaps down, so you won't find one PID value that will work for both if the AP doesn't auto adjust when flaps are down.
Feeding in pitch is what your thumb is for ;-)
I dont think it is a bug.
It maybe as simple as increasing the I term of the PID and see how it works. If it still does not behave properly, then I would suspect that it wont no matter what you do
Actually before you file a bug, I would try flying in manual mode and have some adjustable pitch down when you add flaps (either as a mix, or test switch, or use the trim in a different flight mode).
See if pitch down when you add flaps fixes your problem in manual mode, and if so, we should then request support in ardupilot for auto modes.
Thanks for the warning.
Sounds like ardupilot may need a new flaps to to pitch mix, like this one:
http://plane.ardupilot.com/wiki/arduplane-parameters/#throttle_to_p...
Do you want to file a bug to request this?
The things is that I guessed that the autopilot would do its job maintaining the attitude while in FBWA. However it was not the case. Same happened in Stabilized.
I would think that 100% flaperon could make some harm, but not 40% or so which was what we tested.
Thanks Jesus. So you know that full flaps creates a pitch up and you need to mix elevator down to compensate, right?
Did you get pitch oscillation? It's possible you got too much nose up, and then saw a series of stall/unstalls.
My guess is that some elevator down would have fixed it, but if not, let me know.
-
1
-
2
-
3
of 3 Next