Re: Thrust mode, closed loop (experimental)
Posted:
Thu Nov 01, 2012 12:13 pm
by LPR
Igor
Great work. I'm very interested in
thrust control. This octo with angled motors could fly very well with ESC32 using
thrust mode and the AQ board with custom firmware.
https://www.youtube.com/watch?v=Hutm45D ... ature=plcpLarry
Re: Thrust mode, closed loop (experimental)
Posted:
Sun Nov 04, 2012 1:34 pm
by igor
In the firmware (11.11.2012, see also above) I postet here
viewtopic.php?f=26&t=1756 is also a lowpass on setpoints that might be helpful in closed loop
mode if yoh have troubles with noise on your setpoint.
Re: Thrust mode, closed loop (experimental)
Posted:
Mon Nov 12, 2012 10:18 pm
by mr_westie
Nice work
If my 15" hex build needs more stability I will have to give this a go.
Re: Thrust mode, closed loop (experimental)
Posted:
Mon Mar 17, 2014 10:20 am
by jy0933
just a quick clarification for fine tuning part.
generally. it is more of verification of calibrated P, right?
do I check only for overshoot/undercompensate with set rpm and stat. or even check with a tacho?
also, the 0.2-0.5 of P term you referred is a general range P will fall into. instead of manually change it for tuning
about current limiting. it is a must to ensure thrust mode to work well or?
thanks for your time
Re: Thrust mode, closed loop (experimental)
Posted:
Mon Jun 09, 2014 8:42 pm
by 摩天轮1111
excuse me ,i also do a lot of affort, but i still have some problem with the thrust mode ,"Make RPM changes via CLI, and check if it overshots or undercompensates. "is this ,can you more detail,how can i make rpmchange via cli,and what is CL1
Re: Thrust mode, closed loop (experimental)
Posted:
Mon Jun 09, 2014 9:06 pm
by chschmid
Cli is a Command Line Interface. Use putty and connect to ESC32 @ 230400 Baud.
Commands available are:
{"arm", "", cliFuncArm},
{"beep", "<frequency> <duration>", cliFuncBeep},
{"binary", "", cliFuncBinary},
{"bootloader", "", cliFuncBoot},
{"config", "[READ | WRITE | DEFAULT]", cliFuncConfig},
{"disarm", "", cliFuncDisarm},
{"duty", "<percent>", cliFuncDuty},
{"help", "", cliFuncHelp},
{"input", "[PWM | UART | I2C | CAN]", cliFuncInput},
{"mode", "[OPEN_LOOP | RPM | THRUST | SERVO]", cliFuncMode},
{"pos", "<degrees>", cliFuncPos},
{"pwm", "<microseconds>", cliFuncPwm},
{"rpm", "<target>", cliFuncRpm},
{"set", "LIST | [<PARAMETER> <value>]", cliFuncSet},
{"start", "", cliFuncStart},
{"status", "", cliFuncStatus},
{"stop", "", cliFuncStop},
{"telemetry", "<Hz>", cliFuncTelemetry},
{"version", "", cliFuncVer}
Cheers
Christof
Re: Thrust mode, closed loop (experimental)
Posted:
Tue Jun 10, 2014 2:51 am
by 摩天轮1111
thank you for your answer i mean i use qgc software to calibrate esc32,and i have already finish cl rpm mode and get CL1to CL5 and FF1 to FF2 parameter,the next i need calibrate cl thrust mode,but the problem i meet is how can i use the qgc to make the motor work at a speed that can be read from the qgc,only this can i measure the thrust of this speed。my problem is how can i set a speed ,i try the rpm set in the link esc32,but i get no effort,so i also wonder what the function of the rpm set in link esc32。 i hope you help and would very appreciate it