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Joe Gordon replied to David Pulvermacher's discussion Frame oscillations with 4S in ArduCopter User Group
"Have you tuned the PIDs for the higher voltage?
By increasing voltage you essentially increase the gain of the system.
So you can go into oscillations due to the gain now being too high.
If you tune for 4s you will probably be fine.
This is not a un…"
Dec 18, 2015
Joe Gordon replied to Wayne Jones's discussion Custom Uneven Motor Mixing
"Latest rendition with labels added to all three sheets. 
Some corrections to coupling checks that I somehow messed up 
I am trying to figure out whether the yaw should be normalized to the highest yaw value or the highest overall value.  I think pro…"
Nov 3, 2015
Joe Gordon replied to Wayne Jones's discussion Custom Uneven Motor Mixing
"Use this file   Found same reversal of sign in Oct and Hex sheets.
Now changed.
Also put the S octo input into sheet and comes out with no coupling solution."
Oct 31, 2015
Joe Gordon replied to Wayne Jones's discussion Custom Uneven Motor Mixing
"I have added  the Rotor Layout for the quad to the workbook I have been modifying.
I made a change to the torque factors as the pitch and roll were inverted in sign and for the calculation I needed them to reflect normalized motor coordinates.
The m…"
Oct 31, 2015
Joe Gordon replied to Wayne Jones's discussion Custom Uneven Motor Mixing
"I have added an octocopter sheet and it is working well. I need to add code generator for 2 added motors.
Matrix calculations now happen automatically once add in is loaded in Excel.
Made some changes to the graphic copter display to dynamically upd…"
Oct 30, 2015
Joe Gordon replied to Randy's discussion Copter-3.3 beta testing
"I have the same issue with the incorrect PM reading when USB is connected.  It does not affect the in flight reading as long as calibration is done after arming the safety switch but I think this may be causing some users problems since they may not…"
Oct 28, 2015
Joe Gordon replied to Randy's discussion Copter-3.3 beta testing
"The compass will definitely be affected by a main battery power lead passing close to it.  This will generate a magnetic field whenever there is current and the close proximity will affect the field around the compass.  Small differences in placemen…"
Oct 28, 2015
Joe Gordon replied to Randy's discussion Copter-3.3 beta testing
"I am not using SK or BLHeli in this copter.  I m using Castle ESC with their multirotor software.
I have never had any sync issues with these. Have used the Castles on many multicopters and low 
KV heli motors.  I have had a couple of cases with SK…"
Oct 28, 2015
Joe Gordon replied to Randy's discussion Copter-3.3 beta testing
"Randy,
I went ahead and made a custom anti-vibration mount for the Pixhawk as well as did some reduction in the servo wire leads by removing redundant grounds etc.
The clipping was happening during high motor output and I was concerned that in a sit…"
Oct 27, 2015
Joe Gordon replied to Wayne Jones's discussion Custom Uneven Motor Mixing
"Forrest,
I have worked on the the calculations a bit and done some cross checks.
I have added a Excel add in to allow me to use the Moore-Penrose Pseudo Inverse method to calculate the motor command factors for non symmetrical copters (also works fo…"
Oct 25, 2015
Joe Gordon replied to Aussie in AZ's discussion 1 battery vs 2 batteries that equal the same mah?
"I have less voltage sag at the toward end? (correct me if I am wrong)


For same bat type and total capacity should not be different on voltage SAG.




Question 1
In one sentence, please state your most basic answer and why.  (ie. 1 is better becau…"
Oct 25, 2015
Joe Gordon replied to Aussie in AZ's discussion 1 battery vs 2 batteries that equal the same mah?
"Harry and martin,
I'll jump in one more time.  battery capacity in parallel is additive.  This is very basic principle of electronics.  
Electric car battery packs are made this way with many sub units collected in a array of series and parallel pac…"
Oct 24, 2015
Joe Gordon replied to Randy's discussion Copter-3.3 beta testing
"I have been running for a few days with no issues.
Have about 8 flights and about 2 hours flight time with no issues."
Oct 24, 2015
Joe Gordon replied to Wayne Jones's discussion Custom Uneven Motor Mixing
"Here are a couple of pics of the copter.  The  Excel file has the coordinates in the U tab.

I may not have been clear in what I meant by equal length arms in opposite rotation.  Each set of arms front, middle and rear arms are equidistant from the…"
Oct 22, 2015
Joe Gordon replied to Randy's discussion Copter-3.3 beta testing
"Attached are graphs of accels for IMU 1 and 2 and vibration which I believe reflects IMU2 the LMS303D.  This is a 3DR Pixhawk
The accel readings for the Z axis show considerably higher amplitude on IMU2.  It appears the difference is noise / vibrati…"
Oct 21, 2015
Joe Gordon replied to Randy's discussion Copter-3.3 beta testing
"Not too much to show.  I am measuring at the power module input solder points.  Using a multimeter to measure voltage.  The power module is mounted in a copter.  Components are stock 3DR with exception of the power module BEC not being used.  "
Oct 18, 2015
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