Have constructed an enclosed ‘H’ frame carbon/Kevlar quad with soft mount front and rear arms for vibration reduction. Initially yaw was awful as the arms tilted in the wrong direction and opposed any motor torque so I had to stiffen the mounts to prevent yaw reversal. Now I have reversed the motors in the code and the tilt actually helps the yaw. The mounts on the video are very soft, just to help demonstrate the movement but I think they were bottoming out.
Am quite pleased with the lack of vibration showing on the camera.
Apart from the motor reverse all parameters are completely stock. Will tweak them when I get some time.
Vince
Comments
how your passive thrust vectoring works ???
How do the motors sound so cool and quiet? Is it the isolation from the arm mounts? Or are they big heavy motors and they look like pretty low kv?
Very interesting Vince, you can definitely see the tilt aiding the Yaw.
But I do notice that there is a noticeable hysteresis lag in the whole system that could translate into lag in responsiveness in pitch and roll as well.
Manually that might not be much of a problem and might even be an advantage in smoothing things out.
My concern is that in the automatic modes it might be possible that the existing sense and response loops could end up fighting each other possibly resulting in oscillations or worse continuously increasing oscillations.
Just a thought, may not be a problem at all.
I will be very interested to see how it loiters.
Like I said before, you really make quick work of things. This is very intriguing work!
-
1
-
2
-
3
-
4
of 4 Next