by afernan » Wed Apr 24, 2013 11:22 am
Issue FIXED (and understood)
I´m very happy to say that after months of analysis, testing and crashes I´ve understood this issue and so, it permited me to get a fix. Detalled explanation is inside the document attached with analysis details, plots and test demonstrations of fixing.
A short abstract is below:
The problem occurs due to a lack or loose of tilt control after reaching the CTR_MAX = 300pwm in a hard manoeuvre.
This is directly link to the mixing table used. When using 50% based table, the problem is increased since we need higher control levels, and so we reach the ctrl_max=300pwm earlier.
The issue has been solved doing two things (for my particular copter: light quad in X mode that showed big divergence issue):
1.- Using a mix table 80% based (instead of 50% from wiki)
2.- Increasing the CTRL_MAX = 400 (default =300)
Now I have a wonderful and fantastic machine that I can fly soft or hard without any divergence issue.
Hope this help and maybe can be added some sentence on wiki.
Angel
- Attachments
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analisis.zip
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