M4 tries to make backflip

Info and discussion about the autonomous Micro FC, suitable for nanos, micros and mini multirotors

Re: M4 tries to make backflip

Postby valintinr » Sun Nov 06, 2016 11:09 am

Ok so seems bird flys pretty stable, no oscilatiions or something else. I have a dumb question - is it possible to configure to position hold without GPS? I mean vehicle drifting in manual mode and I assume this OK but could this behaviour possible at least to reduce?
Another dumb question - in Quatos mode I can't take off more than 10cm, I wrote xml (Quatos Airframe Geometry) and some parametres grabbed from Ladybird frame. I even can't imagine what can cause this.
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Re: M4 tries to make backflip

Postby LPR » Mon Nov 07, 2016 4:20 pm

A quadcopter will drift with the wind unless you have a GPS or GNSS receiver being used. Some copters have a camera system that gives them the ability to have some control that allows their craft to move like a GPS controlled aircraft.

I think you might find that if you use the complete parameter file of ladybird that you will be able to fly fairly well. After you are flying then try modifying the parameter using your XML parameters.

Larry
Last edited by LPR on Fri Nov 11, 2016 1:31 am, edited 1 time in total.
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Re: M4 tries to make backflip

Postby valintinr » Mon Nov 07, 2016 6:45 pm

LPR wrote:A quadcopter will drift with the wind unless you have a GPS or GNSS receiver being used. Some copters have a camera system that gives them the ability to have some control that allows their craft to move like a GPS controlled aircraft.

I fly indoor so I assume GPS would not work.

LPR wrote:I think you might find that if you use the complete parameter file of ladybird that you will be able to fly fairly well. After you are flying then try modifying the parameter using your XLML parameters.
Larry

Ok, I try this soon.
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Re: M4 tries to make backflip

Postby valintinr » Mon Nov 07, 2016 8:05 pm

I made some short videos. Im pretty sure that I messed up something but I cant figure out what excatly.
I did as you suggested - defaulted all settings and load ladybird V2 params, then configure radio. Nothing else changed. Also tried to load XML but bird become oscillating very fast, I think I need to lower AM1 and AM2 params and doublecheck XML definitions.
QUATOS - https://files.tangram.biz/index.php/s/zQAZIK8LoHeVeD7
QUATOS PARAMS - https://files.tangram.biz/index.php/s/bRbJcc8t3huxf7S
PID - https://files.tangram.biz/index.php/s/6Lkgbs0uTVl5wpt
In PID mode instant accident but It shows that bird can take off any altitude. In Quatos mode I cant take off more than 10-20 cm.
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Re: M4 tries to make backflip

Postby valintinr » Thu Nov 10, 2016 9:58 am

valintinr wrote:I made some short videos. Im pretty sure that I messed up something but I cant figure out what excatly.
I did as you suggested - defaulted all settings and load ladybird V2 params, then configure radio. Nothing else changed. Also tried to load XML but bird become oscillating very fast, I think I need to lower AM1 and AM2 params and doublecheck XML definitions.
QUATOS - https://files.tangram.biz/index.php/s/zQAZIK8LoHeVeD7
QUATOS PARAMS - https://files.tangram.biz/index.php/s/bRbJcc8t3huxf7S
PID - https://files.tangram.biz/index.php/s/6Lkgbs0uTVl5wpt
In PID mode instant accident but It shows that bird can take off any altitude. In Quatos mode I cant take off more than 10-20 cm.

So any suggestions?
My main issues - why autoquad could not take off more than 10-20? I assume I can tune for stable hovering w/o GPS.
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Re: M4 tries to make backflip

Postby valintinr » Thu Nov 10, 2016 8:31 pm

I recalculated all frame dimensions and upload them to FC also enabled Quatos. This time much more stable hovering (lower drifting but still far away from perfect) with small oscillations but again can't take of more than 20cm.
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Re: M4 tries to make backflip

Postby bluuu » Thu Nov 10, 2016 8:59 pm

Did you set valid motor parameters ?
Mean:
MOT_VALUE2T_A1
MOT_VALUE2T_A2

For better performance you must play with AM1 and AM2
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Re: M4 tries to make backflip

Postby valintinr » Thu Nov 10, 2016 9:14 pm

bluuu wrote:Did you set valid motor parameters ?
Mean:
MOT_VALUE2T_A1
MOT_VALUE2T_A2

Yep, I grabbed them from ladybird.

bluuu wrote:For better performance you must play with AM1 and AM2

Already did and now they looks like -10 and -25 and no oscillations now but still strange hovering. I'll show soon. Still trying to figure out and tune.
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Re: M4 tries to make backflip

Postby valintinr » Thu Nov 10, 2016 9:44 pm

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Re: M4 tries to make backflip

Postby Max » Fri Nov 11, 2016 3:23 pm

How much does the little quad weigh? 100% throttle should normally put it through the ceiling... :)

-Max
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