define FRAME_CONFIG BI_FRAME
Verify if you have AP_MotorsBi.cpp and AP_MotorsBi.h
I am not continuing this project any more, Could not stabilise the bird."
"Hi Robert, i'm back in business with new ESCs and 4S batteries. Now I have enough power.
I noticed a strange behavior of the two servos. The amplitude of their movement is right, I mean ~ +/- 45 degrees until the throttle stick is at minimum. They…"
"I need some help analising logs. Please see the attached screen capture. Is a 50 Hz log, only attitude enabled. What represents the values in the last two columns? There are connected to Throttle? Thanks.50Hz_log.JPG2012-10-28 13-37 8.log"
"I want to point one thing connected to this discussion. ( Sorry for my english, I am not a native english speaker) .
A year ago me too was totally new to RC an APM stuff. I read a lot of posts here, maybe houndreds of hours, trying to learn. I…"
"Wow! <20mm is great (<100 is enough) if it is possible to implement in a small equipment like APM. Now we are speaking about meters. Recalc rate is limited by the controller's clock (APM) ? Good luck in your work."
"As I know topographists are using GPS and they have accuracy less then 1 cm. Last year I had an opportunity to see this with my eyes, making land measurements. What is the reason we have accuracy at meter level? It is the antenna? The GPS signal is…"
"Robert, The output of ch_1 and ch_2 (motors) is limited to ~1800. Where can I find the parameter which does this limitation?
I need at least 1900 for liftoff. Maybee 100 is enough for stabilisation. "
"Robert, I made two short videos (uploaded to Dropbox). It's a run without APM, only Rx with a PWM mixer to drive the two motors at low speed, <.200rpm. The takoff speed is ~270rpm. Try to observe the wobbling of the frame. I focused in the zone…"
"Robert, please do not missunderstand my intentions. The ideea is not to push you. I am happy that now I have the library and I can make some tests and maybe some small "contributions". I try to transmit as much information as I can about those…"
"Is there any rule of PID tuning dependant of the mass and dimensions of a copter?
I mean something like biger distance between motors needs greater/smaller P values or havier copter needs greater/smaller P values. The same question for Stab_P and…"
I made some mods to the code. Please look at it.
In Dropbox you will find a new video with the last test.
The next step is to add yaw mixing to ch3 and ch4 (the servos).
Please help me out with…"
"For me uploading is some kind of lottery.
Soldering problem excluded. APM1 fully assambled, using Arduino 1.0.1.
Sometimes success after 2-3 restarts sometimes success with first shut.
It is some timing problem after connecting the FTDI cable or…"
"Amazing... <0.1g !?
But I see a wire there that meaning no energy source on board. Let's admit it will be 1g with the energy source.
My question is how much weight will add the feedback controller (the APM like stuff). How small can be a flight…"