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PID settings for TBS Disco (2.9.1.)

Posted by Markus Horeld on April 3, 2013 at 10:28pm

These are the PID settings for my TBS Discovery. I am using a special version of Arducopter 2.9.1. made for the "spider shaped" Disco frame. Maiden Video here: http://youtu.be/N1_pTub-H4Y. Exact angles and information here: http://fpvlab.com/forums/showthread.php?9469-APM-2.X-with-TBS-DISCOVERY&p=223141&viewfull=1#post223141

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Tags: apm, discovery, pid, tbs, settings
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Comments

  • Markus Horeld April 26, 2013 at 9:06pm

    @basshead: Yes.

    @Wagner: Any new information about the "V frame" setting? (I am still using my "TBS Disco" firmware with the special angles setting (as you have seen here http://youtu.be/N1_pTub-H4Y) and I am quite happy with it.)

  • basshead April 26, 2013 at 1:20pm

    Are these with 900kv motors and 9x5 graupners?

  • Wagner Sartori Junior April 11, 2013 at 7:42am

    yup:

    Wagner,

         Leonard Hall came up with the yaw factors which are what you see below.  I'm not sure exactly how he calculated them.

         When you're setting up the motors, there are 3 factors that must be defined.  One for each of roll, pitch and yaw.  The add_motor call just takes an angle in degrees clockwise from straight ahead and calculates the roll and pitch factors.  Then you just need to provide the yaw factor.  If you want more control over the mixing you can use this call which gives you the extra ability to set the roll and pitch factors directly which will work better for an asymmetric frame.

    add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t testing_order)

    -Randy

    now, we have to find this Leonard Hall and talk to him.

  • Markus Horeld April 11, 2013 at 5:40am

    Did you get an answer?

  • Wagner Sartori Junior April 9, 2013 at 5:22pm

    just sent the PM to Randy, waiting for an answer.

  • Wagner Sartori Junior April 4, 2013 at 10:01pm

    I added Randy(rmackay9) as a friend, let me see if he accept it and I'll send him a PM.

  • Wagner Sartori Junior April 4, 2013 at 9:58pm

    I browsed but didn't find anything. I would like to know the formulas to get that magic motor mixing number. We have the angles already, but the motor power is a problem.

  • Markus Horeld April 4, 2013 at 9:51pm

    Yes, it's part of the 2.9.1b Arducopter as I saw yesterday. But I don't understand it :(

    Do you? Is there a documentation or discussion about it somwhere on diydrones?

  • Wagner Sartori Junior April 4, 2013 at 9:38pm

    did you see this commit: https://github.com/diydrones/ardupilot/commit/739e3c2b9a868b513fd62...

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