Finally got my Y6 together. I am running rctimer 2830/14 750kv motors, 30A esc, 10x4.7 props on 4s 5000maH lipos. Will get higher pitch props for the lower motors soon. Here's a video of some portions of the maiden. Still on default PID. I see it needs some fine tuning, but it's flyable on default settings.

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Comment by Daniel Gru on July 4, 2011 at 3:42am

Great, very motivating...
I am testing my APM-Hardware on a selfbuilt quad, then i amswitching to my Y6, hopefully end of the week.

Which firmware version were you running?

Which flightmodes have you tested? Only stabilze or loiter as well?

Regards

Daniel

Comment by Kevin Vertucio on July 4, 2011 at 4:00am
Daniel, I am running 2.0.31 on it. I tested ALT_HOLD and STABILIZE mostly. I did switch into LOITER at one point, but the Y6 dropped like a rock the instant I hit the switch. Luckily I was able to get back into STABILIZE and punch the throttle do climb out—it was pretty close. I have some footage that I will append to this post.
Comment by Daniel Gru on July 4, 2011 at 4:09am

You know you have to have your throttle stick at hover point when switching to Loiter, because it uses the momentary stick position as the defined throttle for holding hight..
Can it be that you had your throttle stick very low, when you switched into loiter?


Regards

Daniel

Comment by Kevin Vertucio on July 4, 2011 at 4:35am

Hmm. It's possible, but I don't think I was below hover. I was at about mid-stick. Here's a clip of it going from alt_hold to loiter.

 


Developer
Comment by Max Levine on July 4, 2011 at 4:58am
@Kevin
It looks grate, very stable. On 4S lipo, you can lower 'P' a bit, to 4.5~4.8.
Also there is top/bottom motors speed ratio tuning, default is 92%(speed) on Top motors, you can use CH6 'knob' on your radio to fine tune it.

In APM_Config.h

change

#define CHANNEL_6_TUNING CH6_NONE

to

#define CHANNEL_6_TUNING CH6_Y6_SCALING

and you can tune the top motor speed in 80%-100% window..

What is the motor to centre distance on your frame ?

and also stay away from soft props, they will vibrate...
Comment by Kevin Vertucio on July 4, 2011 at 5:07am
@max thanks for the tuning tips. I will give those a shot today. I didn't know fine tuning the top/bottom motors. Since this is available for tuning, I guess I do not need to have higher pitch props on lower motors? The motor->center distance is ~32cm. I am using APC 10x4.7 right now, but I haven't balanced them yet.

Developer
Comment by Max Levine on July 4, 2011 at 5:18am
"I guess I do not need to have higher pitch props on lower motors?"
The top/bottom ratio tuning is exactly for that, so you use same pitch props :)

APCs are fine, Jdrones's 'Composite' 10X4.5 are good too... 'black plastic' are too soft.
Can you share some photos of your frame ?
Comment by Kevin Vertucio on July 4, 2011 at 5:50am

Max,

 

I am guess I should stay away from those black props. I used to use them on my quad because they were cheap and didn't chip when I crashed. I had these APCs laying around as spares from the quad projet so I just installed them on this frame.

 

Here are some photos of the frame. http://flic.kr/s/aHsjvnNWwm

 

Here's some photos of the frame. http://flic.kr/s/aHsjvnNWwm


Developer
Comment by Max Levine on July 4, 2011 at 6:02am
Fancy :) where did you get it ?
Comment by Kevin Vertucio on July 4, 2011 at 6:07am
Whoops, completely forgot to add that. I bought the frame from rc-carbon.com. It's nice frame. I would have liked a little better "finish" on the arms, but it's functional and seems to be structurally sound regardless of the imperfections. Overall I am happy with it.

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