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Test Arducopter 2.0.34

Posted by patrice.rance on July 15, 2011 at 1:22am

Hi all !I build an y6 frame with alu and i tried to make it fly with 2.0.32 but it was completly not stable even when i tries to change the pid rate !!Finaly i ve decide to try the last 2.0.34 to see, and surprise my Y6 with 90 degree between front arms CAN fly !!!!I ve made a video yesterday so you CAN see the results.

2034, 90, arducopter, y6, degree

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Comments

Juampa July 15, 2011 at 7:45pm

Patrice what mode you were flying? Stable or acro?
patrice.rance July 15, 2011 at 3:43pm

thanks for this ! i will read it carefully but not Y6 description at first sight ? well i ll see.
Developer

Max Levine July 15, 2011 at 1:24pm

Here is the general info on motors mixing from Ardu Pirates... numbers in AC2.0 are the Sin and Cos in relation to CG.
patrice.rance July 15, 2011 at 9:15am

Thanks Max i Will try this modification of the code ? But Could You explain ( just to understand )
Why 90 degree ? Because the look is better !!! Looks like a tirex :)
Someone CAN explain Why it CAN Fly with the new pid of .34 ??
Sebastian Gralla July 15, 2011 at 4:53am

no need for change the code..

but why shouldn't it fly?
Developer

Max Levine July 15, 2011 at 4:10am

Looks jumpy :) Why 90° between front arms ?

For 90° you need to make changes in the code... If I'm not mistaking..

In motors_y6.pde change this:

int roll_out = (float)g.rc_1.pwm_out * .866;
int pitch_out = g.rc_2.pwm_out / 2;

TO

int roll_out = (float)g.rc_1.pwm_out * .707;
int pitch_out = g.rc_2.pwm_out * .707;
ThomasB July 15, 2011 at 4:06am

Nice construction,

which Motor/Prop combination you are using?