CamCruiser reloaded - M4 + Quatos

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Re: CamCruiser reloaded - M4 + Quatos

Postby aBUGSworstnightmare » Wed Apr 15, 2015 10:02 am

chschmid wrote:Why do you have this motor numbered 5 when using CAN. I would use 4.

Yep, will fix it; it's way easier than. Since they are CANed I can do it over the bus (disconnecting the other 3 Prior doing it).
chschmid wrote:Motor 1 is front left CWMotor 2 is front right CCWMotor 3 is rear right CWMotor 4 (5) is rear left CCW


:oops: :oops: :oops: Well ... I think the solution is that simple, so imagine: There's a guy flashing ESC32V2 in his dark 'n cold basement. Having the AQlog Analysis window in mind, he starts from CAN ID 0, ending wit CAN ID 3. At some point in time he notices that ID 0 will not be detected since ID 1 is the fist valid CAN address. Because he's quite a busy (and sometimes lazy) guy he decides to only change ID 0 to ID 5 and leave the rest as is.
Well ... imagine what happens: there is the chance that my motor 1 has CAN ID 5 --> mixer table is scrap! F**k it! Will have to check this when back home in the evening.
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Re: CamCruiser reloaded - M4 + Quatos

Postby chschmid » Wed Apr 15, 2015 12:45 pm

Lets See.:D
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Re: CamCruiser reloaded - M4 + Quatos

Postby aBUGSworstnightmare » Thu Apr 16, 2015 5:54 am

:oops: :oops:
SHAME ON ME!
:oops: :oops:
O.K. guys, sorry for bothering you but I made a mistake in the mixer table! My actual mixer is
M5: Front left
M1: Front right
M2: Rear right
M3: Rear left

I will keep this until I finished testing and the craft is flying and then fix it.
I also made a more detailed description of the frame by splitting it into three sections.

Since I assume a quad-x frame, the asymmetrical frame will be split in three parts:
1.) aft part -> under battery. Because the rear arm mounting hardware is here I've made it heavier as the
center section -> 90g
2.) center section -> were the M4 flight controller is located. This will be treaded as qube with same dimensions
in x and y direction (thus assuming the COG sits in the middle of this frame section; as with a standard quad,
i.e. when using FCP-HL frame) -> 70g
3.) front part -> rest of the frame incl. camera mounting hardware, also includes total weight of top cover
-> 215g
Code: Select all
   <cube name="frame_aft" dimx="0.125" dimy="0.105" dimz="0.034" offsetx="+0.115" offsety="0" offsetz="0">90</cube>
            <cube name="frame_center" dimx="0.105" dimy="0.105" dimz="0.034" offsetx="0" offsety="0" offsetz="0">70</cube>
            <cube name="frame_front" dimx="0.170" dimy="0.105" dimz="0.034" offsetx="+0.1375" offsety="0" offsetz="0">215</cube>


Can you review these three lines of code please? From my understanding the offsets in Quatos tool define the distance from the crafts COG to the center of the respective mass body (individual mass COG), right?
I.e. the center frame is a square cube, 105x105mm wide with 34mm height. The offset for the aft frame section then calculates as:
aft section dimx/2 + center section dimx/2 = 125/2 + 105/2 = 115mm.

Please let me know if this is correct or not. Fixed the whole .xml file based on that assumption and now have only a small mmPitch offset remaining. Will further look in this later (weight of camera not considered atm, will also use LiPos with less weight and a little smaller later).

Joerg
Last edited by aBUGSworstnightmare on Thu Apr 16, 2015 6:10 am, edited 1 time in total.
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Re: CamCruiser reloaded - M4 + Quatos

Postby aBUGSworstnightmare » Thu Apr 16, 2015 6:09 am

LPR wrote:Joerg

On my second Quatos build I started with a Ladybird parameter file and I worked for weeks trying to find what was wrong.

The answer is to NEVER START WITH A LADYBIRD FILE.

I attached a parameter file from my first Quatos quad I built. The quad is similar to yours and flies very well.

If you use this parameter file and your XML file, A1 A2, throttle scale, flip, rotation and RC setup your quad might fly well also.

I compared this file to the Ladybird file and found a few parameters were quite different and that was my problem with my second Quatos quad.

Larry


Hi Larry,

yes, you're right! It's looking very similar to mine.
Will increase my PROP_K1 again to 14.5 (now 12) and start with AM2 12 and AM1 6.
Now that the motor mixing is right the quad should st least lift off.

Joerg
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Re: CamCruiser reloaded - M4 + Quatos

Postby LPR » Thu Apr 16, 2015 12:52 pm

Joerg

I should have yelled at you when I saw your first video that you must have your motor mix wrong or M4 rotation wrong. Guess how I know what's wrong. :oops: :oops: :oops: :oops:

Larry
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Re: CamCruiser reloaded - M4 + Quatos

Postby aBUGSworstnightmare » Thu Apr 16, 2015 7:28 pm

LPR wrote:Joerg

I should have yelled at you when I saw your first video that you must have your motor mix wrong or M4 rotation wrong. Guess how I know what's wrong. :oops: :oops: :oops: :oops:

Larry


Hey Larry,

we just wanted to point out to others what will happen if your mixer settings are wrong! It's for education and no fault :lol:

So, thank to all you guys for helping me out here! Successfully maidened this craft today :!: :!: . Still not tuned but at least it proved it can/will fly.
CamCruiser_1r0_quad-x_split frame.zip
Current .xml file and related craft parameters
(3.67 KiB) Downloaded 89 times

PROP_K1 and AM2 are still too high (at least I think so) --> will start with lower values when starting to tune it.
Will upload the .log files later and add the link here. Tips for tuning are more than welcome!

Video is/will be here (still uploading at the time of writing):

All manual in the beginning, switched to PH in the third flight attempt (@Christof: 1kEUR --> no guts no glory! Luckily no problems in PH; navigation parameters needs to be tuned since she is drifting)
Some comments on the video:
- increased PROP_K1 @ 1:20min --> reaction leads to to assume that it is too high (so dialed back again)
- switched to PH @ 2:16min
- back to manual at 2:34min --> throttle factor is wrong because craft is ascending
Unfortunately I will have to abandon the craft for some days now ... work is calling!
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Re: CamCruiser reloaded - M4 + Quatos

Postby aBUGSworstnightmare » Fri Apr 24, 2015 7:43 pm

Since opening the frame (4 screws on the top plate) to gain access to the M4 microUSB got a 'lil unpractical I decided to add a 'data pump nozzle' to it.
SANY0205.JPG
microUSB to miniUSB adapter cable

SANY0206.JPG
secured to the side with zip tie

It's now possible to access the uSD card data without opening the frame chassis.
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Re: CamCruiser reloaded - M4 + Quatos

Postby LPR » Fri Apr 24, 2015 8:20 pm

Joerg

I'm doing the same type of thing on my M4 quad for USB connection.

Using the knobs are the only way to tune while flying and I find that tuning while flying is the only good way to tune.

My method is to set the channels with the knobs to only move from -500 to 500. Then after you find a good setting for AM1 and AM2 I look at the position of the knob and find the percentage of change the knob has changed the parameter it's adjusting. Then I add or subtract that percentage to the parameter.

Larry
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Re: CamCruiser reloaded - M4 + Quatos

Postby aBUGSworstnightmare » Fri Apr 24, 2015 8:37 pm

Hi Larry,

since this was the first time flying it I did all 'dialing' on the ground. The log for what you cab see in the video is here https://www.dropbox.com/sh/bo70nhgekm4g ... Lt5za?dl=0

Will adjust the throttle factor first (better one should be 0.7669 instead of 0.7) first, then see what the Prop_K1 is (taking the dialed value into account already), reduce gain and then start to tune in flight. Will make a video of it; maybe I could make a nice educational video of it (at least if I know how to tune it).

As far as I know the Quatos values can be displayed in the Android app; will need to figure out.

How to analyze the xx-QUAT.log files???

Joerg
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Re: CamCruiser reloaded - M4 + Quatos

Postby aBUGSworstnightmare » Sat Apr 25, 2015 5:05 pm

Hi,

made the 2nd flight today. Quatos parameters were tuned in flight. Starting values were quite good, only little tuning needed. Will have to check the dialed parameters later.

Here's the video. What do you think? What to test or change?


Things I want to have changed (if possible):
- Sound of motors --> what to change to reduce the twitching?
- I like faster crafts --> I expect the QUATOS NAV PIDs will have to be changed, right? So, YAW needs to be faster and speed needs to be higher. Please give me some tips how to achieve.
- Changed Throttle Factor based on log from 1st flight. Since I changed L1_K1 a little by knob it needs to be readjusted.
- Anything else to look for???
Thanks all of you who helped to make it flying!
Next is to fly it in an open field, also with GoPro attached. One note on the video: used the FAIR P-Ion with the Nanotech data in the .xml-file --> it seems to adapt quite good to load/config changes 8-)
Will further work on the craft and post the final settings/config/ESC32 files etc. in one of the next posts for your reference.
Joerg
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