OK, in summary I have a TBS discovery and I want to do a better job of setting up its odd angle arms to work with the APM.  I feel like understand this would also be great for testing and adding new platforms like a spider Octa, hexa V, etc.

I've made pictures because I feel they can better convey information.  Basically, I've found the angles on my non-pure X frame (not 45* spacing) from the horizontal and vertical lines.  I tried do a simple edit of these values (see picture 3), but it didn't see very stable over the normal X with the same PID settings.


I also looked at how the Octa V is setup, and I'm thinking that is the best way to tackle this problem, but I don't quite understand how I might map these values out for this setup.  Who wrote the V code?  Could they share any insight?

Here is the normal X frame, and the rough Roll/Pitch factor that gets applied after the add_motor function by my calculations. 

3690974422?profile=original

I then looked at the Octa V and saw how it skipped the add motor function and just wrote raw roll/pitch factors.  I mapped them here to try to better understand how their placement would change my offset X.

 3690974001?profile=original

So can I get away with my angle changes running add_motors, or do I need to find out what the real roll/pitch factors for this offset should be?

 

3690974443?profile=original

Edit: Updated pictures.

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Hi Josh,

    check this out, ardupirates motor mixing.

    I wrote this when I made the V mixing for the arducopter/ardupirates, hope it helps.

    Dani

  • Finally got some arms, here's what I'm getting for angles on the TBS discovery:

    3692554030?profile=originalI'll be trying out 62/-133/-62/133 see how it goes, not until some more parts are in though

  • How do you mean it flew badly ? Did it respond to roll/pitch correctly ?

    Also, where did you get the raw values ? Here's what I'm getting for these angles (67.5 -120 -67.5 120)

    #1 -0.9   0.4

    #2  0.9  -0.5

    #3  0.9   0.4

    #4  -0.9 -0.5

    rounded up at one decimal

    but if you measured correctly then the correct in-code angles for 2 & 4 should be more like 127.5 , -127.5

  • I did some more testing yesterday;  putting the add_motor_raw function works just fine.  I started out just emulating the X quad setup to get a baseline, and this worked as well.   I will flight test the configuration in the last picture today.  It felt like it had more forward pitch correction which is what I wanted.

    I still am looking for any information on how one might find these raw values so we can write code for Octa spiders, Hexa V's, or other crazy designs.  Anyone? 

  • I just did more flying on the correct angle offset config, and it does not fly well.  The pure X setup feels much better than the correct angle setup, and I believe this is because the "pure" setups are made to be symmetrical in nature.

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @chr1sa: Donkeycar 4.4 released with tons of new features, including path learning (useful with GPS outdoors), better Web and Lidar supp…
Nov 27
DIY Robocars via Twitter
RT @NXP: We are already biting our nails in anticipation of the #NXPCupEMEA challenge! 😉 Did you know there are great cash prizes to be won…
Nov 24
DIY Robocars via Twitter
RT @gclue_akira: レースまであと3日。今回のコースは激ムズかも。あと一歩 #jetracer https://t.co/GKcEjImQ3t
Nov 24
DIY Robocars via Twitter
UC Berkeley's DIY robocar program https://roar.berkeley.edu/
Nov 24
DIY Robocars via Twitter
RT @chr1sa: The next @DIYRobocars autonomous car race at @circuitlaunch will be on Sat, Dec 10. Thrills, spills and a Brazilian BBQ. Fun…
Nov 24
DIY Robocars via Twitter
RT @arthiak_tc: Donkey car platform ... Still training uses behavioral cloning #TCXpo #diyrobocar @OttawaAVGroup https://t.co/PHBYwlFlnE
Nov 20
DIY Robocars via Twitter
RT @emurmur77: Points for style. @donkeycar racing in @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/Y2hMyj1…
Nov 20
DIY Robocars via Twitter
RT @SmallpixelCar: Going to @diyrobocars race at @UCSDJacobs https://t.co/Rrf9vDJ8TJ
Nov 8
DIY Robocars via Twitter
RT @SmallpixelCar: Race @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/kK686Hb9Ej
Nov 8
DIY Robocars via Twitter
RT @PiWarsRobotics: Presenting: the Hacky Racers Robotic Racing Series in collaboration with #PiWars. Find out more and register your inter…
Oct 23
DIY Robocars via Twitter
RT @Hacky_Racers: There will be three classes at this event: A4, A2, and Hacky Racer! A4 and A2 are based around UK paper sizing and existi…
Oct 23
DIY Robocars via Twitter
Oct 23
DIY Robocars via Twitter
Oct 19
DIY Robocars via Twitter
Oct 18
DIY Robocars via Twitter
RT @NeaveEng: Calling all UK based folks interested in @diyrobocars, @f1tenth, @donkey_car, and similar robot racing competitions! @hacky_r…
Oct 13
DIY Robocars via Twitter
RT @araffin2: 🏎️ After hours of video editing, I'm happy to share a best of my Twitch videos on learning to race with RL. 🏎️ Each part is…
Oct 13
More…