by afernan » Mon Feb 18, 2013 11:57 am
@Larry:
thanx for the video. Yes, I had a quad configuration pretty close the same you have: ECS32, RCT5010 motors with 15x5 carbon prop´s (although the weight was much lower: 800gr without batt). In this video you can see how it performs in RTH and PH against the instability : .
I´ve been testing a lot this weeked this problem in a new "heavy dutty" platform with thicker arms to protect it about crashes.
I can summary my experiences up to know as follow:
- this problems affects much more to lighter copters (< 1Kg w/o batt)
- this problem happens ONLY when flying agresivelly (much more than in lpr video)
- Divergence in PH or RTL are easyly controlled reducing "nav" parameters as described in my video
- Divergence in pure manual mode at "high horizontal speed >> stick release" I DON´T know how to eliminate today. It improves a bit by reducing:
- tilt_rate_D = 5000
- control_Pitch/Roll = 0.04 (this limit the max angle in flight, bud it´s superseed with the divergence, shoing angles up to 90º)
- (tilt_angle_P, I, D : don´t affect significantly)
But I can´t eliminate nor understand the behaviour of the code, really. There is a first overshooling that should not happen based in the limitations of the parameters.
For the moment I need to fly with a "LOU" (in aeronautical "Limitation Of Use"): "don´t release your stick suddenly if you fly at high speed"
Angel
Last edited by
afernan on Mon Feb 18, 2013 3:04 pm, edited 1 time in total.