Hi all,
A video of loiter on my new quad. This is it's first flight.
https://www.youtube.com/watch?v=N5HcM277nhc&feature=youtu.be
Unfortunately, I ran into some issues with APM - it kept crashing. This happened 3 times - once at altitude while in stabilize, and twice when changing modes. I can tell it crashed, because it was unresponsive in MP or to the controller, needed a full reset when back on the ground.
Twice it RTL'ed correctly when it crashed, but when manually changing mode to RTL, it went mental, and crashed into the ground (soft mud and snow today, so only broken legs.
I'm running the APM, receiver etc from the 3DR power module, using a 2S 600mAh (ESC's and motors on seperate PDM with 2 x 4000mAH 6S). I'm using a DX8 + reciever + the telemetry modules. All modules are damped with moongel, and the APM is on a rubber mounted platform and moongelled.
In other news, it's a bit wobbly; particularly when start a maneuver - pitch, roll or yaw. It's also got a slight shimmy in loiter/hover. I'm running totally standard PID's etc.
I still need to balance the props it should be noted. I've also looked at calibrating the ESC's but my "beeps" don't match what's in the wiki! I'm using T-motor 30A Pro opto's, on T-motor MN3508-29's + t_motor 1450 props (i'm actually going to downside these).
Any tips from the community on:
- suggestions on PID's to tune out the wobbles. I've got prop balancing and downsizing (13") already to do.
- any suggestions why my APM is "crashing"?
Replies
OK, as way of an update, I took it out this evening, with a couple of modifications.
I changed the programs from Stablise - loiter - RTL to Stabilize - Alt hold - land. I also moved the Spektrum telemetry module away from the receiver (it was right next to it, on the end of the platform).
This is how it looks now:
I also moved a couple of prop mounts to be visually straighter; I'll need to get a spirit level to measure them more accurately though.
Result? 3 flights, no problems.
Still feels really twitchy, and the throttle is really hard to get a hover in stabilize - it wants to climb or fall. Alt Hold was buttery smooth, so probably just the newbie operator...:-) Motions still have a tiny wobble, so when I get the props balanced, and I still have a wobble, I'll think about doing some PID stuff. Which I'm dreading, I'll be honest.
Note: Yes, I know my servo cable ends are mess. They're off some ancient thing my brother used to fly! Some new ones on order, along with the prop balancer.