I couldn't see Y4 setup in arducopter wiki. Is it possible to set up a Y4 with APM 2.0? ( Y4 is a tricopter with 4 motors and w/o servo)
Thanks and regards.
Zafer Turkeli
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I couldn't see Y4 setup in arducopter wiki. Is it possible to set up a Y4 with APM 2.0? ( Y4 is a tricopter with 4 motors and w/o servo)
Thanks and regards.
Zafer Turkeli
You need to be a member of diydrones to add comments!
Replies
Hey John,
Do you still fly your Y4? I'd like to test this out on a proper Y4 frame and would therefore like to try out your code
Would your patch still be working in the 3.1?
I have yet to set up the IDE to compile this so this is why I ask - I'm in the process of setting it up try myself but if you could update us with any videos or even more of your experience on the matter I'd like to work this into a usable frame for APM.
Additionally I have a working Multiwii Board that supports Y4, so I could also test out flight characteristics between the two for comparison
Hey John, so I've figured out what I needed to modify to get it flying - after testing a bunch of different parameters.
It has a big tendency to lean forward as you said it would.
This is my motor mix for it (having removed front YAW completely)
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, 0, 1);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, 0, 3);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); //mot 4 on y6a frame - must be bottom motor of Y4
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); //mot 6 on y6a frame - must be bottom motor of y4
Video of it flying - to keep it level I have to push back on the pitch in order to avoid too much forward drift.
https://www.youtube.com/watch?v=cYybCajUmZc
However I'd like to see if its possible to fix the forward pitching without playing with the CG, the way that multiwii does it.
Anyone have any ideas where to start?
Thanks for answering! I've already patched in all the changes you've made into 3.2rc4 however at the moment I'm just trying to make sure there isn't anything else I'm missing.
Did you ever ascertain what caused your crash?
thanks for letting me know - feeling pretty confident about what I've plugged in so far using the original set of changes you added plus some stuff I had to add and modify or that is missing to work in 3.2rc4.
I'm having a bit of trouble figuring out how the coax tail is supposed to react to YAW input, and the same goes for the front too motors. I remember reading a discussion on how Multiwii handles Y4 and about how there is some roll mixed in when yawing to compensate for a drop in altitude.
However:
I did a dry run with no props on to ensure everything is responding correctly to the controls.
I believe the motor mix code makes sense on paper and in practice (without props) seems to work too, however I'm not sure if the front two props are supposed to slow down or speed up or not when I yaw input.
I guess the only real test will be hover
Cheers for help so far
Hmm actually alot missing to get it fully flashable in 3.2, so plugging up all the holes now and will test later today
No, not for v-tail at all.
I like to know if Y4 set-up is possible with APM. People always talk about their tricopters' servo related "yaw" problems. With many other flight controllers Y4 set-ups are available. (May be it is already in AC, which I don't know yet :) )
This is the one I am talking about:
https://www.youtube.com/watch?v=O1aYpbSSRcY
think you are looking for v-tail not Y4??
http://diydrones.com/profiles/blogs/need-to-get-apm2-to-work-on-thi...