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Re: Autoquad 6 Q&A

PostPosted: Sun Jan 04, 2015 3:11 pm
by ade
Please explain some questions about autoquad stability on hexacopters.

1. Behavior with 1 broken motor
2. Behavior with 1 broken prop

I've seen video with redundancy test on octocopter. Autoquad flies great. And what about hexacopters?

Re: Autoquad 6 Q&A

PostPosted: Thu Jan 15, 2015 10:17 am
by Chris
Hi AQ-Friends,
maybe my post is a little bit off topic but I don´t know were to write else.
I ordered the Autoquad 6 with Dimu, 6 ESC32 with CAN and a GPS-Shield in december from Jussi.
Everything came pretty quick just the GPS shield was missing.
On the delivery note it says "GPS-Shield in Backorder will send later"
Since two weeks I try now to get any information about the delivery date for the shield,
but till now I don´nt got any reply of my emails.
As well I need a invoice for my order asap for my tax office.
Does anybody know how to contact them quickly (telephone number, skype etc.).
Best regards
Chris

Re: Autoquad 6 Q&A

PostPosted: Fri Jan 16, 2015 10:04 am
by plexus
ade wrote:Please explain some questions about autoquad stability on hexacopters.

1. Behavior with 1 broken motor
2. Behavior with 1 broken prop

I've seen video with redundancy test on octocopter. Autoquad flies great. And what about hexacopters?


Hi Ade,
With the hexa, if one motor stop or props broken , the hexa flip and crash, no possible to rescue it.
Anyway with quatos it flies.
https://www.youtube.com/watch?v=tj8v3DTaDnI

Alain

Re: Autoquad 6 Q&A

PostPosted: Thu Mar 05, 2015 1:57 am
by r0sewhite
plexus wrote:With the hexa, if one motor stop or props broken , the hexa flip and crash, no possible to rescue it.
Anyway with quatos it flies.


As long as the thrust/weight ratio is good, the COG is not too wrong and PIDs are tuned correctly, the hexa won't crash. This is no unique characteristic of Quatos.

The difference is only that a hexa with one lost prop is usually not fully controllable anymore. Depending on which prop is lost/broken, either a pitch- or a roll-command will automatically lead to a yaw-action as well as a yaw-command will lead to either a pitch- or roll-action. This behaviour makes a hexa pretty unstable.

What Quatos does is giving the hexa more stability which helps much to keep the copter under control. Another solution is to (automatically) switch to headfree/carefree mode so that yaw actions become irrelevant for controlling the copter. In some cases stability will even be improved by letting the copter rotate quickly around its yaw axis.

Re: Autoquad 6 Q&A

PostPosted: Thu Mar 05, 2015 7:50 pm
by plexus
hi rosewhite,
I tested my hexa with differents motors and It was impossible to take off without crash the hexa. It flip immediatly. But with quatos it can take off but with yaw.
Anyway I not tested the headfree. May be a good thing.
Alain

Re: Autoquad 6 Q&A

PostPosted: Fri Mar 06, 2015 1:40 am
by r0sewhite
Hi Alain,

I have tested it so far on a Rubina Hexa and a Tamara Hexa with MultiWii 2.1 (quite old version), Naze32 with Baseflight, Quanton with Taulabs and AQ6 with PID. If the same copter flipped with PID but flies with Quatos, it only tells me that your PIDs were way off of what they could have been.

A Yaw drift is acceptable under such conditions. At least it is better to keep level stable with the remaining motors than heading.