https://www.youtube.com/watch?v=rAs0-IU4PrU
Sharing my APM 2.5 performing Loiter 360 panoramic aerial video without gimbals and image stabiliser apply.Recorded on gopro 1080hd then converted to 720 for faster upload.Fr my opinion this board is really stable and i never had a chance to perform like this with APM1 2560. Most of the new board will be test with a diy quadcopter before shifting it to diy octo and look like its convincing enough to do it.
Congrats to the developers!
Type:Quadcopter
Board: APM 2.5 - with tuned parameters
Total weight with Gopro & 5000mah 3s zippy compact lipo-1.6kg
Dimension 460mmx460mm motor to motor
Props: 10x4.5
30AESC & 750kv d2830 brushless motors
Fly time:12mins with alarm set to 3.6
GPS-Ublox 60
Below is the parameter list for this setup:
ACRO_P,4.5
AHRS_GPS_GAIN,0
AHRS_GPS_USE,1
AHRS_RP_P,0.1
AHRS_YAW_P,0.1
ALT_HOLD_RTL,400
AMP_PER_VOLT,27.32
APPROACH_ALT,200
AUTO_LAND,5000
AUTO_SLEW,30
AXIS_ENABLE,0
AXIS_P,0.02
BATT_CAPACITY,1760
BATT_MONITOR,0
CAM_TRIGG_TYPE,0
CH7_OPT,5
COMPASS_AUTODEC,1
COMPASS_DEC,0
COMPASS_LEARN,0
COMPASS_OFS_X,27.981
COMPASS_OFS_Y,11.636
COMPASS_OFS_Z,104.554
COMPASS_USE,1
ESC,0
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,5
FLTMODE3,7
FLTMODE4,2
FLTMODE5,6
FLTMODE6,0
FRAME,1
HLD_LAT_I,0
HLD_LAT_IMAX,3000
HLD_LAT_P,0.17
HLD_LON_I,0
HLD_LON_IMAX,3000
HLD_LON_P,0.17
IMU_PRODUCT_ID,88
INPUT_VOLTS,5
LED_MODE,9
LIM_ALT_MAX,0
LIM_ALT_MIN,0
LIM_ALT_ON,0
LIM_ALT_REQ,0
LIM_CHANNEL,0
LIM_DEBUG,0
LIM_ENABLED,0
LIM_FNC_ON,0
LIM_FNC_RAD,0
LIM_FNC_REQ,0
LIM_FNC_SMPL,0
LIM_FNC_TOT,0
LIM_GPSLCK_ON,0
LIM_GPSLCK_REQ,0
LIM_RECMODE,0
LIM_REQUIRED,0
LIM_SAFETIME,0
LOG_BITMASK,382
LOG_LASTFILE,0
LOITER_LAT_D,0.4
LOITER_LAT_I,0.025
LOITER_LAT_IMAX,3000
LOITER_LAT_P,2.8
LOITER_LON_D,0.4
LOITER_LON_I,0.025
LOITER_LON_IMAX,3000
LOITER_LON_P,2.8
LOW_VOLT,9.6
MAG_ENABLE,1
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_CONTROL_X,0
MNT_CONTROL_Y,0
MNT_CONTROL_Z,0
MNT_JSTICK_SPD,0
MNT_MODE,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MOT_TB_RATIO,1
NAV_LAT_D,0
NAV_LAT_I,0.15
NAV_LAT_IMAX,1800
NAV_LAT_P,2.6
NAV_LON_D,0
NAV_LON_I,0.15
NAV_LON_IMAX,1800
NAV_LON_P,2.6
OF_PIT_D,0.12
OF_PIT_I,3.2
OF_PIT_IMAX,400
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,3.2
OF_RLL_IMAX,400
OF_RLL_P,2.5
RATE_PIT_D,0.004
RATE_PIT_I,0
RATE_PIT_IMAX,500
RATE_PIT_P,0.15
RATE_RLL_D,0.004
RATE_RLL_I,0
RATE_RLL_IMAX,500
RATE_RLL_P,0.15
RATE_YAW_D,0
RATE_YAW_I,0.02
RATE_YAW_IMAX,800
RATE_YAW_P,0.25
RC_SPEED,490
RC1_DZ,30
RC1_MAX,1676
RC1_MIN,1358
RC1_REV,1
RC1_TRIM,1513
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC2_DZ,30
RC2_MAX,1678
RC2_MIN,1358
RC2_REV,1
RC2_TRIM,1518
RC3_DZ,30
RC3_MAX,1919
RC3_MIN,1117
RC3_REV,1
RC3_TRIM,1120
RC4_DZ,40
RC4_MAX,1758
RC4_MIN,1278
RC4_REV,1
RC4_TRIM,1517
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1757
RC5_MIN,1288
RC5_REV,1
RC5_TRIM,1754
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1918
RC6_MIN,1117
RC6_REV,1
RC6_TRIM,1118
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1916
RC7_MIN,1120
RC7_REV,1
RC7_TRIM,1121
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1499
RC8_MIN,1498
RC8_REV,1
RC8_TRIM,1498
SERIAL3_BAUD,57
SIMPLE,20
SONAR_ENABLE,0
SONAR_TYPE,0
SR0_EXT_STAT,0
SR0_EXTRA1,0
SR0_EXTRA2,0
SR0_EXTRA3,0
SR0_PARAMS,50
SR0_POSITION,0
SR0_RAW_CTRL,0
SR0_RAW_SENS,0
SR0_RC_CHAN,0
SR3_EXT_STAT,0
SR3_EXTRA1,0
SR3_EXTRA2,0
SR3_EXTRA3,0
SR3_PARAMS,0
SR3_POSITION,0
SR3_RAW_CTRL,0
SR3_RAW_SENS,0
SR3_RC_CHAN,0
STAB_D,0
STAB_D_S,0.5
STB_PIT_I,0.05
STB_PIT_IMAX,800
STB_PIT_P,4.8
STB_RLL_I,0.05
STB_RLL_IMAX,800
STB_RLL_P,4.8
STB_YAW_I,0.02
STB_YAW_IMAX,800
STB_YAW_P,7
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,119
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
THR_ALT_I,0.04
THR_ALT_IMAX,300
THR_ALT_P,0.5
THR_FAILSAFE,1
THR_FS_ACTION,2
THR_FS_VALUE,975
THR_MAX,1000
THR_MIN,130
THR_RATE_D,0
THR_RATE_I,0.03
THR_RATE_IMAX,300
THR_RATE_P,0.5
TILT,54
TOY_RATE,1
TRIM_THROTTLE,646
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
VOLT_DIVIDER,3.56
WP_INDEX,0
WP_LOITER_RAD,6
WP_MODE,0
WP_MUST_INDEX,0
WP_RADIUS,4
WP_SPEED_MAX,300
WP_TOTAL,7
XTRK_GAIN_SC,0.2
Tags:
Very nice and stable setup.
Could you please tell me how do you yaw your quad?
Are you using the Circle mode to yaw automatic, or are you using the yaw(rudder) control manual?
I was trying myself the Circle mode, but is rotating too fast for me, do you know which PID to adjust to make a slow rotation like in your video?
criro1999, I use the Tx rudder (manual) to yaw the quad for the 360 panoramic. On CIRCLE mode going to fast, try to adjust the m/s value at the bottom of Nav WP panel.The default value is 5.0. Reduce to 3.0 or 2.5 to your comfort speed.
Really nice stability!. Well done!
Thanks for reply.
When you said: "Fly time:12mins with alarm set to 3.6".
Is that alarm 3.6 volt per cell? (10.8v per 3S Lipo?).
Right. I set the alarm at 3.6v per cell on 3S Lipo
eh...i's a little afraid, but i wanna take some photos for my panorama software. I have used it for 2 years, it's a easy to use and professional panorama software which fits the new learners best. It not only can teach you how to stitch photos to panoramic photos but also can make 360 panorama and 3d panorama with this photo stitching software, believe me, you will be surprised after you use it.
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