Hello, i just received my first apm2 board and am trying to tune it to fly in acro mode for fpv. My problem is when i send the quad in any direction it will start to pitch back the other way shortly after i gave it the command. If i send it forward it will pitch back about 10 to 15 feet and not continue forward like it should. I have tuned the rate p gains in pitch and roll so it gives a nice crisp response without much bounce back, still get the same reactions. Also it does not want to fly straight, this might be because my quad is a little off balance from side to side but the for aft cg is perfect. Does it need to be perfectly balanced to fly in acro mode?
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LTH,
There are 2 threads on RCG currently that track setups for CRIUS owners and now recently, RCT's AF (yes that's acronymed so google doesn't catch it).
What you're going to see is everyone on the Crius thread slowly move into that one...It'll be a trickle at first, but with some fun new developments - that's going to turn into a torrent before long. A lot of the folks flying Crius/MPNG are doing so to get their feet wet in Multirotors and in a package that will give them access to either multiwii or ardupilot. My feeling is that APM's 1 or 2 commits away from coming full circle on the flight modes.
There's still a place for the Crius board but that new AF is going to really cut into those sales. Now that Mwii's caught up with OSD and GPS functionality - there's not much a need to go whole hog with a Crius when you get any of the multiwii derivatives for half the price, and if someone really wants the full spectrum of autonomous flight stabilization, the AF's tasty at its current pricepoint (which just dropped in price today again for the package btw)
I fly all Crius at the moment, but I see it running into a problem with identity in the coming months.
Anyhoo - you may see 1 or 2 more (hundred) folks coming your way soon :)
I'm not sure if I'm posting right, but here goes...
I Fly Acro!!!!
I just received my APM2.5 board and am in the process of getting it set up...have a way to go thru the learning curve still. Anyway, I got the APM with the thought of mainly FPV, but I prefer Acro mode over Stabilize mode on my other controllers. I don't have big plans on doing a bunch of rolls and flips via FPV, but would like that capability should I choose to want to do it. I also like putting my frame in a FF pitch attitude, neutralize the sticks and let it maintain that attitude for flight...without it wanting to keep trying to level itself...that's what Stabilization mode is for.
Anyway, I will continue to ready my controller for testing. I'm one who would certainly like the 'full features and capabilities' of a normal Acro mode with the self leveling capabilities of Stabilize mode. So developers...yes, please provide that capability!!!
You Should Try The KK2 For a very Good Acro mode and Stabilize is there too ....The KK2 is just 29$ but a very reliable stabilization system...It may not be a lot of things but atleast does what it is supposed to better than many in its class of processing...I know I am not answering your question but apm Coders could have a look at the KK 2 code and I hope we get a better Acro mode soon..
Hi!
I just want to inform you that there is currently some movement in the PWM/ESC refreshrates area shown in this video:http://vimeo.com/56557351 . The ESC are currently under development by "Ronco" here: http://fpv-community.de/showthread.php?19033-quot-UltraESC-quot-bal....
Perhaps this is an info-update for all acro-lovers.
Cheers
Kraut Rob
Hi All,
My advice for great ACRO mode for FPV:
1. Set AXIS_ENABLE to 1. (this is a rate controlled Stabilized mode so no flips, max angle is 45 degrees)
2. Set the stabilized I terms to zero and tune using the Rate I terms. This is critical.
I would be very interested if people would try this out and give me feedback because I want to improve this further. We are making some foundational changes int the APM code to get ready for a much better and unrestricted ACRO.
The default ACRO mode is just a rate feedback only mode and that is why the aerodynamic forces tend to level the copter all the time. I believe that this is also responsible for the flip after forward flight problem (I believe this is made worse by using the stabilize I term because it is slower).
hi, hay i might be wrong here so please correctt me if i am , but if u dont have acro mode tuned right stabilise wont fly right
Hi!
I am also one of the acromode - lovers and i was a little disappointed with my apm2. Finally i cranked up the rate I to 0,35 and increased rate D a little. It still flies not so good in acro like my Multiwii quad or even my Blade mqx :). Still doesn't do a solid hold of the steered angle. Anyway it's ok now.
So long
Kraut Rob
thanks for the informative reply. I am going to switch my apm2 to a f450 frame and work on tuning. i will have to use another board for my fpv, thanks again for the reply.
I completely understand why you want to fly FPV using acro mode. Stabilize great for hovering and cruising around slowly but it quickly becomes limiting as the speed increases or you want to be a little more creative with the way you fly.
Unfortunately Acro is still a baby as far as development goes on the arm2. It is currently based only on the rate sensors with no feedback to maintain the attitude if you don't touch the sticks. This means that aerodynamic effects can rotate the copter in pitch and roll.
When I used acro (before I realized it's limitations) I found that the copter would quickly rotate back to a horizontal attitude when flying into the wind. This would happen if I was hit with a sudden gust of wind also. I came to the conclusion that this was the dihedral effect of the propellers. Basically the copter is trying to maintain zero airspeed.
I am currently putting together a fix for this problem but it is my first attempt at contributing to the code base so it won't be quick.
I have found something in the code that might partially fix the problem though. If you set AXIS_ENABLE to 1 the code does do basic attitude feedback for ACRO. I have not tried this out though so I would make sure that you are at altitude and have STABALISE handy.
On other word of warning. You can do 360 degree in roll but not in pitch. As the copter goes through vertical the yaw will kick in 100% to rotate the copter 180 degrees. This should be fixed relatively quickly though.
Jason is correct about the tuning. This should only improve things if there is a balance problem. I use this as a good starting point:
http://diydrones.com/profiles/blogs/arducopter-changing-from-pi-to-...
Basically these are problems that will get fixed but it takes time. I think the development team has focused on the UAV implementation (and they have done an excellent job) rather than the fly by wire aspect.
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