Thrust mode, closed loop (experimental)

[igor]

[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=plcp

Larry

[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.

[igor]

[mr_westie]

Nice work

If my 15" hex build needs more stability I will have to give this a go.

[igor]

[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

[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

[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

[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