Hello guys !
I have noticed a strange effect when I have equipped my GAUI330x with a APM
In acro mode:
- no problem at low speed,
- Problem at high spped : it is difficult to maintain the Quad in fast translation:
it starts to climb and decelerate during fast cruise, a little bit like fixed pitch helicopters that mose up to auto-regulate upto stationnary attitude.
Questions :
=> Have you noticed this nose-up effect on your quad during fast translation ?
=> software or parameters evolution (to reinforce acro mode) :
- should I add something like Integrate part (acro used to be only proportionally driven by gyro) ,
- or should I add a little bit off accelerometer drift cancelation (like stable mode).
My idea is that Quad very slowy rotates to nose up due to speed,
and this is too slow to be detected as an error by the gyro loop in acro mode.
Any other idea ???
Thanks for your help,
Gilles
Replies
Read this to find out why this happens, and what Stanford did about it: http://www.stanford.edu/~haomiao/papers/ICRA09AeroEffects.pdf
Its an aerodynamics problem, not a sensor problem. You could 1) build shrouds around your props to reduce blade flapping, 2) add some feedforward or feedback control to compensate for these undesired nose-up, climb, and deceleration tendencies, or 3) Increase your Integral feedback gains to help somewhat.
- Roy
- Roy