Built me a mini v-tail, using a 35x35 APM unit. APM is functioning as well as expected, and I'm even running it off a 3Dr power module.
Installed 3.2rc10, set frame to v-tail, and spooled it up in stabilise to just above idle in my hand to check stabilisation. Roll and Pitch work ok...but yaw just wants to spin. Turn it clockwise, and it wants to continue spinning clockwise. Turn it anti-clockwise, and it wants to continue turning anti-clockwise. It responds to yaw commands correctly, but then refuses to settle, and I think it wants to do massive oscillation in yaw.
I'm actually a bit afraid of doing a proper maiden, as I fear it will just get into a yaw feedback loop.
All calibrations done - accels, compass (scores well), radio etc.
Anyone else tried the v-tail code in 3.2? Did you have any issue in yaw?
Specs:
APM 2.6 (35x35) + NEO7 + 3DR PM + 433 telem (not fitted at the moment)
30' vtail mini frame
HK multistar 2150kv "baby beast" motors
5030" gemfans
3S
Usual 5.8 fpv stuff.
Replies
For those interested, I solved my spinning issue, and managed to get a baseline established. Autotune appears to run successfully...but my 1300mah pack runs out before it can complete! So it's old skool tuning on this one.
It will fly on factory settings, but you'll want to pump D up to 0.008.
Next steps will be optimisation of the basic three attitude commands, then look to optimise Loiter, which is a bit baggy. Alt hold is good, but I think 3S and 5030's are a bit underpowered for aggressive flight in alt hold.
The elusive Vtail, interested in your experience with the mini APM, any anomolies experienced?
Have done little with mine after I managed hurt me a bit, all better now, and it was my stupid mistake. The truss type rear v looks very ridged, have had to do allot to removed vibration, looks like the truss on yours may eliminated the rear vibration.
IMG_20140607_190122.jpg
Anomolies? Apart from the yaw issue? As far as I can tell, the APM is running just fine.
Did you have to tune up the yaw, or tune it down?