AutoQuad winter 2014 new products used in X8

Post your build logs here

Re: AutoQuad winter 2014 new products used in X8

Postby Astudillo » Sun Dec 14, 2014 6:50 pm

Hi Menno,
Really nice build!!
How are they rubber standoffs/dampers on the AQ7 working out? I always thought the best way to mount a AQ is on ridged standoffs. Or is that no problem with Quatos anymore?

Cheers,
Ray
Astudillo
 
Posts: 139
Joined: Thu Apr 25, 2013 8:23 am
Location: Amsterdam, The Netherlands

Re: AutoQuad winter 2014 new products used in X8

Postby joebar.rc » Mon Dec 15, 2014 6:52 am

The idea behind rigid standoffs is that flexible standoffs could cause indirect control or even a delayed response of the imu.
But I have always used flexible standoffs, what attitude controller does not matter. But the rubber is quite stiff and I see not difference in control between rigid or my flexible.

Menno
joebar.rc
 
Posts: 1084
Joined: Fri Jun 22, 2012 8:59 am
Location: The netherlands

Re: AutoQuad winter 2014 new products used in X8

Postby afernan » Mon Dec 15, 2014 8:04 am

@Menno:

congratullations, really a nice machine!

could you please post some logs to see the vibration levels?. I´m trying to build a database with many succesfull builds in order to writte a simple manual for designers that optimize the vibration levels. IMHO this is a major topic not yet clearly solved (at least for me)

Also what are the arms made? (tube dimensions, mass on top)

Thanks

Angel
afernan
 
Posts: 1214
Joined: Sat Jul 07, 2012 5:24 pm
Location: Madrid, Spain

Re: AutoQuad winter 2014 new products used in X8

Postby joebar.rc » Mon Dec 15, 2014 11:28 am

afernan wrote:@Menno:

congratullations, really a nice machine!

could you please post some logs to see the vibration levels?. I´m trying to build a database with many succesfull builds in order to writte a simple manual for designers that optimize the vibration levels. IMHO this is a major topic not yet clearly solved (at least for me)

Also what are the arms made? (tube dimensions, mass on top)

Thanks

Angel


Yes, I'm not at home right now so once I can I'll make a log.
The arms are 33cm carbon 16mm 1.5mm wall thickness. (Flyduino 16mm tubes).
An empty arm weighs 38 grams, total weight arm+2xmotors+mounts+props 200 grams. The motors are mounted at 31.5cm
joebar.rc
 
Posts: 1084
Joined: Fri Jun 22, 2012 8:59 am
Location: The netherlands

Re: AutoQuad winter 2014 new products used in X8

Postby Jdmagoo » Thu Jan 01, 2015 8:32 am

This is awesome work Menno!!!

Cant wait to see these products hit the stores soon. I have a question regarding the frame, where did you get the centre plates and the black mesh that is placed between them from? Looks awesome

Well done
Jdmagoo
 
Posts: 484
Joined: Sun Feb 17, 2013 8:35 am

Re: AutoQuad winter 2014 new products used in X8

Postby joebar.rc » Thu Jan 01, 2015 1:34 pm

Hi James,

Centre plates: piece of GFK material ($10 ebay) , a pencil and a dremel powertool :). The mesh I got from witespy readytoflyquads shop when I purchased a STorM32 gimbal controller, $7 and you receive a 30x30cm piece.

Next version:

P1000713.JPG


This is how I pictured it.. the m4v2 using CAN for everything to the AQPDB - ESC32.
joebar.rc
 
Posts: 1084
Joined: Fri Jun 22, 2012 8:59 am
Location: The netherlands

Re: AutoQuad winter 2014 new products used in X8

Postby plexus » Thu Mar 12, 2015 9:12 pm

Hi. menno,
Have you tried it with quatos, because mine dont fly !
See my post about quatos.
http://forum.autoquad.org/viewtopic.php?f=48&t=4380&p=31490#p31490
Alain
Last edited by plexus on Fri Mar 13, 2015 9:32 am, edited 2 times in total.
plexus
 
Posts: 535
Joined: Tue Jul 03, 2012 3:30 pm
Location: South of France

Re: AutoQuad winter 2014 new products used in X8

Postby joebar.rc » Fri Mar 13, 2015 7:38 am

plexus wrote:Hi. menno,
Have you tried it with quatos, because mine dont fly !
See my post about quatos.
Alain


Absolutely, have to look for your post but quatos is used..
joebar.rc
 
Posts: 1084
Joined: Fri Jun 22, 2012 8:59 am
Location: The netherlands

Re: AutoQuad winter 2014 new products used in X8

Postby plexus » Fri Mar 13, 2015 9:00 am

Hi menno,
Could you give me your parameters on board and your xml file to see what is wrong on mine.
Thanks

Alain
plexus
 
Posts: 535
Joined: Tue Jul 03, 2012 3:30 pm
Location: South of France

Re: AutoQuad winter 2014 new products used in X8

Postby joebar.rc » Fri Mar 13, 2015 5:39 pm

plexus wrote:Hi menno,
Could you give me your parameters on board and your xml file to see what is wrong on mine.
Thanks

Alain


I'm not at home so I cant download the actual params. I can however give the config I use. The params are in that config.

The XML file I used, dont know if the current tool already supports an x8 quatos config. If not you have to do it like me, calculate the distance using sqrt 2.0/2.0 * actual motor to center distance.

Code: Select all
<?xml version="1.0"?>
<!--   Distances in meters
 Wieghts in grams
 +1 == CW rotation
 -1 == CCW rotation
 
 X8 Frame + autoquad + gps + esc32's + landinggear
 
 Axis matrix signs
     
           +Y
            |
            |
 -X  - - - - - - +X
           |
           |
         - Y
-->
<l1_configuration>
   <craft id="x8" config="custom" motors="8">
      <geometry>
         <!--                         yaw rotation     port #                  x ax,   y ax -->
         <motor rotation="+1" port="1">-0.2368,0.2368</motor> <!--  sqrt 2.0/2.0 * motor distance is 0.2368 -->
         <motor rotation="-1" port="5">-0.2368,0.2368</motor>

         <motor rotation="-1" port="2">0.2368,0.2368</motor>
         <motor rotation="+1" port="6">0.2368,0.2368</motor>
         
         <motor rotation="+1" port="3">0.2368,-0.2368</motor>
         <motor rotation="-1" port="7">0.2368,-0.2368</motor>
         
         <motor rotation="-1" port="4">-0.2368,-0.2368</motor>
         <motor rotation="+1" port="8">-0.2368,-0.2368</motor>
      </geometry>
      <distance>
         <motor>0.33</motor>
         <esc>0.06</esc>
      </distance>
      <mass>
         <motor>100</motor>   // 2 x t-motor 2212 + prop + adapters + mounts
         <esc>10</esc>      // 2 x esc32
         <arm>19</arm>      // fake: only 4 arms but need to trick the tool, so only half the weight per arm (carbon arm + cabling inside arm)
         <cube name="centerplates" dimx="0.160" dimy="0.160" dimz="0.035" offsetx="0" offsety="0" offsetz="0.0">535</cube> //only the center without arms/motors/props
         <cube name="controller" dimx="0.05" dimy="0.06" dimz="0.003" offsetx="0" offsety="0" offsetz="-0.03">30</cube> //flightcontroller
         <cube name="lipo" dimx="0.07" dimy="0.14" dimz="0.03" offsetx="+0.0" offsety="0.00" offsetz="+0.06">530</cube> // 4S 5000 lipo attached to back of gimbal
         <cube name="gear_leg_l" dimx="0.02" dimy="0.02" dimz="0.25" offsetx="0.0" offsety="0.00" offsetz="+0.05">45</cube> // Landing gear leg left
         <cube name="gear_leg_r" dimx="0.02" dimy="0.02" dimz="0.25" offsetx="0.0" offsety="0.00" offsetz="+0.05">45</cube> // Landing gear leg right
         <!-- <cube name="GoPro gimbal" dimx="0.125" dimy="0.125" dimz="0.10" offsetx="0.0" offsety="0.00" offsetz="+0.145">300</cube> // Gopro gimbal and gopro camera -->
         <cube name="GPS shield" dimx="0.06" dimy="0.06" dimz="0.02" offsetx="0.0" offsety="0.00" offsetz="-0.03">50</cube> // GPS Hood
         <cube name="Large gimbal" dimx="0.125" dimy="0.125" dimz="0.10" offsetx="0.0" offsety="0.00" offsetz="+0.145">700</cube> // Large gimbal and compact camera
         <!--
         <cube name="Hood" dimx="0.14" dimy="0.14" dimz="0.05" offsetx="0.0" offsety="0.00" offsetz="+0.07">70</cube> // FCP protection hood(cap)
         -->
      </mass>
   </craft>
</l1_configuration>



Config;

Code: Select all
//Quatos controller specifics
#define DEFAULT_QUATOS_AM1             -7.7f    // AM1 adjusts how much rate is used to correct attitude angle errors. A more negative values ask for higher correction rates for small angle errors. The number must always be negative
#define DEFAULT_QUATOS_AM2             -10.4f   // AM2 adjusts how hard the controller pushes (in terms of thrust) to achieve the required rate. A more negative value will demand higher thrusts to achieve the desired rate. Always negative
#define DEFAULT_QUATOS_PROP_K1          11.4f   // less torque = increase prop_k1
#define DEFAULT_QUATOS_M_TLT_RT         1.0f    // rads/s the maximum tilt rate allowed
#define DEFAULT_QUATOS_M_YAW_RT         3.0f    // rads/s the maximum yaw rate allowed
#define DEFAULT_QUATOS_MAX_OUT          6.0f    // total moment demand allowed (n_a + n_b) the maximum moment demand (maximum force used to achieve the desired rate) allowed (the maximum thrust allowed to achieve the calculated required rates)
#define DEFAULT_QUATOS_QUAT_TAU         0.06f   // This controls over all smoothness moving from one attitude to another. Smaller is faster, increase if you think it is to strict.

#define DEFAULT_QUATOS_L1_ASP          -10.0f
#define DEFAULT_QUATOS_L1_K1            8.3f    //15.4f    // 18.6f L1_K1 is the K1 adaptation gain. The larger the number, the faster L1 adapts to meet errors that exist.
#define DEFAULT_QUATOS_AM1_KNOB         8.0f    //DEFAULT_RADIO_AUX7_CH
#define DEFAULT_QUATOS_AM2_KNOB         9.0f    //DEFAULT_RADIO_AUX8_CH
#define DEFAULT_QUATOS_K1_KNOB          0.0f    //DEFAULT_RADIO_AUX3_CH
#define DEFAULT_QUATOS_PT_KNOB          0.0f    //DEFAULT_RADIO_AUX4_CH   // prop torque

// Large 1kg gimbal
#define DEFAULT_QUATOS_J_ROLL     0.097736
#define DEFAULT_QUATOS_J_PITCH    0.0892995
#define DEFAULT_QUATOS_J_YAW     0.161896

// GoPro gimbal
//#define DEFAULT_QUATOS_J_ROLL   0.0874317
//#define DEFAULT_QUATOS_J_PITCH   0.0789952
//#define DEFAULT_QUATOS_J_YAW   0.148454

#define DEFAULT_QUATOS_MM_R01   +0.236800
#define DEFAULT_QUATOS_MM_P01   +0.236800
#define DEFAULT_QUATOS_MM_Y01   -1.000000

#define DEFAULT_QUATOS_MM_R02   -0.236800
#define DEFAULT_QUATOS_MM_P02   +0.236800
#define DEFAULT_QUATOS_MM_Y02   +1.000000

#define DEFAULT_QUATOS_MM_R03   -0.236800
#define DEFAULT_QUATOS_MM_P03   -0.236800
#define DEFAULT_QUATOS_MM_Y03   -1.000000

#define DEFAULT_QUATOS_MM_R04   +0.236800
#define DEFAULT_QUATOS_MM_P04   -0.236800
#define DEFAULT_QUATOS_MM_Y04   +1.000000

#define DEFAULT_QUATOS_MM_R05   +0.236800
#define DEFAULT_QUATOS_MM_P05   +0.236800
#define DEFAULT_QUATOS_MM_Y05   +1.000000

#define DEFAULT_QUATOS_MM_R06   -0.236800
#define DEFAULT_QUATOS_MM_P06   +0.236800
#define DEFAULT_QUATOS_MM_Y06   -1.000000

#define DEFAULT_QUATOS_MM_R07   -0.236800
#define DEFAULT_QUATOS_MM_P07   -0.236800
#define DEFAULT_QUATOS_MM_Y07   +1.000000

#define DEFAULT_QUATOS_MM_R08   +0.236800
#define DEFAULT_QUATOS_MM_P08   -0.236800
#define DEFAULT_QUATOS_MM_Y08   -1.000000

#define DEFAULT_QUATOS_MM_R09   +0.000000
#define DEFAULT_QUATOS_MM_P09   +0.000000
#define DEFAULT_QUATOS_MM_Y09   +0.000000
#define DEFAULT_QUATOS_MM_R10   +0.000000
#define DEFAULT_QUATOS_MM_P10   +0.000000
#define DEFAULT_QUATOS_MM_Y10   +0.000000
#define DEFAULT_QUATOS_MM_R11   +0.000000
#define DEFAULT_QUATOS_MM_P11   +0.000000
#define DEFAULT_QUATOS_MM_Y11   +0.000000
#define DEFAULT_QUATOS_MM_R12   +0.000000
#define DEFAULT_QUATOS_MM_P12   +0.000000
#define DEFAULT_QUATOS_MM_Y12   +0.000000
#define DEFAULT_QUATOS_MM_R13   +0.000000
#define DEFAULT_QUATOS_MM_P13   +0.000000
#define DEFAULT_QUATOS_MM_Y13   +0.000000
#define DEFAULT_QUATOS_MM_R14   +0.000000
#define DEFAULT_QUATOS_MM_P14   +0.000000
#define DEFAULT_QUATOS_MM_Y14   +0.000000
#define DEFAULT_QUATOS_MM_R15   +0.000000
#define DEFAULT_QUATOS_MM_P15   +0.000000
#define DEFAULT_QUATOS_MM_Y15   +0.000000
#define DEFAULT_QUATOS_MM_R16   +0.000000
#define DEFAULT_QUATOS_MM_P16   +0.000000
#define DEFAULT_QUATOS_MM_Y16   +0.000000

#define DEFAULT_MOT_CANL       255         //4095        //  1 - 16
#define DEFAULT_MOT_CANH       0           // 17 - 32
#define DEFAULT_MOT_FRAME       0           // used as hint for frame config GUI
#define DEFAULT_MOT_ARM             965
#define DEFAULT_MOT_MIN             900
#define DEFAULT_MOT_START           1050
#define DEFAULT_MOT_MAX             1950
// Quatos thrust params
#define DEFAULT_MOT_VALUE2T_A1      -0.0199f     // T2R_A1 & T2R_A2 are from your thrust to rpm graph (the calculated a & b coefficients.)
#define DEFAULT_MOT_VALUE2T_A2      2.0063e-5f
#define DEFAULT_MOT_VALUE_SCAL      8500.0f
#define DEFAULT_MOT_ESC_CALI        0
#define DEFAULT_MOT_ESC_TYPE        0         // ESC Type; 0=standard, 1=onboard_m4, 2=ESC32

// x8 - 70% motor output instead of 50% per motor
#define DEFAULT_MOT_PWRD_01_T   +1.000000
#define DEFAULT_MOT_PWRD_01_P   +0.633446
#define DEFAULT_MOT_PWRD_01_R   +0.633446
#define DEFAULT_MOT_PWRD_01_Y   -0.125000

#define DEFAULT_MOT_PWRD_02_T   +1.000000
#define DEFAULT_MOT_PWRD_02_P   +0.633446
#define DEFAULT_MOT_PWRD_02_R   -0.633446
#define DEFAULT_MOT_PWRD_02_Y   +0.125000

#define DEFAULT_MOT_PWRD_03_T   +1.000000
#define DEFAULT_MOT_PWRD_03_P   -0.633446
#define DEFAULT_MOT_PWRD_03_R   -0.633446
#define DEFAULT_MOT_PWRD_03_Y   -0.125000

#define DEFAULT_MOT_PWRD_04_T   +1.000000
#define DEFAULT_MOT_PWRD_04_P   -0.633446
#define DEFAULT_MOT_PWRD_04_R   +0.633446
#define DEFAULT_MOT_PWRD_04_Y   +0.125000

#define DEFAULT_MOT_PWRD_05_T   +1.000000
#define DEFAULT_MOT_PWRD_05_P   +0.633446
#define DEFAULT_MOT_PWRD_05_R   +0.633446
#define DEFAULT_MOT_PWRD_05_Y   +0.125000

#define DEFAULT_MOT_PWRD_06_T   +1.000000
#define DEFAULT_MOT_PWRD_06_P   +0.633446
#define DEFAULT_MOT_PWRD_06_R   -0.633446
#define DEFAULT_MOT_PWRD_06_Y   -0.125000

#define DEFAULT_MOT_PWRD_07_T   +1.000000
#define DEFAULT_MOT_PWRD_07_P   -0.633446
#define DEFAULT_MOT_PWRD_07_R   -0.633446
#define DEFAULT_MOT_PWRD_07_Y   +0.125000

#define DEFAULT_MOT_PWRD_08_T   +1.000000
#define DEFAULT_MOT_PWRD_08_P   -0.633446
#define DEFAULT_MOT_PWRD_08_R   +0.633446
#define DEFAULT_MOT_PWRD_08_Y   -0.125000
joebar.rc
 
Posts: 1084
Joined: Fri Jun 22, 2012 8:59 am
Location: The netherlands

PreviousNext

Return to Build Logs

Who is online

Users browsing this forum: No registered users and 2 guests

cron