Hexa build project

[leopold1]

[chschmid]

Very nice setup. I wish you all the best for your maiden - and make sure you have the mixing table right. Check the threads on that. I went with the 100% per axis thesis and my copter flies well.

Best
Christof

[leopold1]

Thx Christof.
This is the mix table I'm using.

Throttle Pitch Roll Yaw Motorposition
100 100 100 -100 Front Left
100 0 75 100 Left
100 -100 100 -100 Rear Left
100 100 -100 100 Front Right
100 0 -75 -100 Right
100 -100 -100 100 Rear Right

Do you have a straight link to the suggested one?

[chschmid]

There was a very long thread about that and people have different opinions. I use this table for X config. IMHO just make sure you have 100 per axis. eg 100 roll, 100 tilt (pitch). The System std params work with that. Basicaly you can use any mix, but you have to adjust some PID's.

[Throttle]
Motor1=100
Motor2=100
Motor3=100
Motor8=100
Motor9=100
Motor10=100

[Pitch]
Motor1=-50
Motor3=50
Motor8=-50
Motor10=50

[Roll]
Motor1=25
Motor2=50
Motor3=25
Motor8=-25
Motor9=-50
Motor10=-25

[Yaw]
Motor1=-100
Motor2=100
Motor3=-100
Motor8=100
Motor9=-100
Motor10=100


Best
Christof

[leopold1]

Thx,
I think that your motor 1 starts at the front left and then continious CCW?

[leopold1]

I've found this from MAX

Hexa X
+100.0000 +100.0000 +50.0000 +100.0000
+100.0000 +100.0000 -50.0000 -100.0000
+100.0000 +0.0000 -100.0000 +100.0000
+100.0000 -100.0000 -50.0000 -100.0000
+100.0000 -100.0000 +50.0000 +100.0000
+100.0000 +0.0000 +100.0000 -100.0000

But just to be clear, the first line is the left front motor? And the second line the left motor? or is it the other way round?

[LPR]

Leopold

If you would like to use default PID settings the motor mix you need to use has to have the attitude control numbers add up to 100 or less. If you use 33 and 66 instead of 50 and 100 you'll find the only PID you need to change is Tilt Rate D.
I like to lower D till the copter oscillates a little and then try RLH. I then raise D till I get a little overshoot.
If you want to use the 50, 100 motor mix you need to lower Tilt angle P.
Read this link.

viewtopic.php?f=36&t=2117&start=10

Larry

[Max]

[Jdmagoo]

This is coming along really nicely you're done a great job so far!

I wonder if the esc32 would fit the way you have mounted your ESC's?

[leopold1]

Meanwhile ....