This is a discussion to focus the feedback and support of ardupilot on the PixRacer board from AUAV.co.
We believe that all teething problems encountered are now resolved and so we recommend people load Copter-3.3.4 which is available for all multicopters through the Mission Planner's (and other GCS's) Install Firmware screens. Note that because regular Pixhawks are still on Copter-3.3.3 the install icon may show Copter-3.3.3 but rest assured, Copter-3.3.4 will be installed (you can check the version by looking at the very top of the Mission Planner).
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I've pushed another update for brave testers to try. It will be in the autobuild in a couple of hours.
The new update makes the following changes:
I would appreciate some test reports!
If you have previously tried MOT_PWM_TYPE=2 and it didn't work then please try it again with this change.
@Tridge,
All fine with the new updates. No (visual) problems with MOT_PWM_TYPE=2.
However, my copter is much to sluggish for some aggressive flight tests (I almost crashed it) and there is too much wind at the moment for autotuning.
I have a 2min log with IMU_FAST as proposed by Randy enabled if someone is interested. Let us know if we should enable anything else to log for further tests.
the ones you should lower are the rate gains, not the angle gains. The key gains that would cause oscillation are and ATC_RAT_RLL_{P,I,D} and ATC_RAT_PIT_{P,I,D}
Ideally you'd do an autotune and let it sort out good gains. Otherwise it would be worth having a read of the tuning docs.
Oh, Andrew, I lowered
ATC_ANG_PIT_P and ATC_ANG_RLL_P to 2
should I move it back to 4.5 and start adjusting down the others you mentioned
ATC_RAT_PIT_P and ATC_RAT_RLL_P to 0.05
I just assumed it was because my quad was so small I needed it lower.
Guess I did it wrong too :-(
I will go re-read the docs and do an autotune this weekend then,
Hi Edgar,
Yeh, you should drop all your ATC_RAT_XXXXXX by 3/4. That should be a good start.
Okay, its flying great, but anything to make it better ;)
I tried acro but noticed it does not flip and has way too much leveling, really I dont want any leveling.
Would simply turning the ACRO_TRAINER to 0 allow it to flip in both roll and pitch and maintain the angle?
yes, That will do it :)
@Thomas,
Do you have a safety switch connected? Did you press it so its not flashing? Previous builds didn't honour the safety switch.
If its still not working with the safety switch then please try setting BRD_SAFETYENBALE=0 and see if it then works for you.
Cheers, Tridge
Hi all, been away for some time, my pix racer has just turned up so will be following this thread. Very impressed with the board, will hopefully be trying this on a traditional helicopter and when the next one arrives on a HK Go Discover.
malc
HI guys, its great to see the development to continue even given serious financial cut backs! There is one frame which is supported by AC, but which we cannot run pixRacer on- it is a Tricopter - yes the humble tricopter. Why- because tail servo is located on ch7 output, May I propose to move onto ch3 which is currently available. Thank you!
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