Error in PID QGC

[plexus]

Hi,
I want to add a TX video on my frame. It is at 18,5cm on the left side of the body. When i enter values in the quatos configuration ("offsety=0.18) " and I am trying to insert it in the Mixing Motors of the QGC I get an error.
I tried others values in different sections (Lipo, body, camera) offsety left or right , changing the sign that is always an error resulting.

Where is the mistake ?
thanks.
Alain

[plexus]

Hi,
Anyone to explain my problem ?
At that time I cannot use an offset Y +or- for my config in the mixing table.


alain

[JussiH]

Something is wrong, thats for sure.

Pls post the XML file and the full output. And tell us which version of the quatos tool was used to calc the profile.

You have the TX cube defined 18 cm to the right of the origin with a mass of 80 grams. That should create a right side imbalance (that side is heavier), that should show up as as higher roll thrust numbers...

But instead it looks to me like the Quatos tool perceived that the TX cube was 18 cm behind the origin - in which case the result is correct and more pitch thrust is beeing allowed on the rear motors to compensate for a tail-heavy craft.


Bill, Srinath, Max:

This looks oddly familiar.....NED on craft and ENU in quatostool? The output is inconsistant with the XML, so something is going on....can you take a look, pls.

Thanks

Jussi

[plexus]

Hi Jussih
I dont understand but may be an error in the values ???
If you could see in the attached file the XML.
I use the converter inside the QGC 1.6.1.
Same problem with dos command or quatostool on line.

Thanks
Alain

essai.xml

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essai.txt

(5.53 KiB) Downloaded 756 times

[JussiH]

Yes, you have the VTX off to the left side of the craft. That is what you defined by setting offsety = 0.18

In case you have such inbalance, you will get a similar result, because Quatos compensates to give the motors on the heavy side of the craft more thrust to deal with it. Its perfectly normal.

The problem is that in your case it should produce a roll offset and not a pitch offset.

Its probably just a mismatch somewhere and I am sure it will be cleared up pretty fast. Could be as simple as mmPitch and mmRoll values beeing swapped in QGC, far as I can tell...more competent people in these matters are probably looking at it now.

[Kisssys]

Seems like I brought up the moment issue a couple of month's ago when Adam was playing with the long tail boom.

[plexus]

Thanks for the explanation. I hope the chiefs will solve the problem in a short time.

Alain

[drone-controls]

The bug in power distribution for non-symmetric frames has been corrected. We expect the revision will be available in a day or two.

[plexus]

hi drone-controles,

Thanks very much, I see you are very reactiv.

Alain

[Max]

Updated quatosTool is now available. This fixes the mass offset axis errors reported here.

CLI versions at ftp://ftp.autoquad.org/3/334693_22529/utilities/ , online version at http://www.drone-controls.com/index.cfm ... s-tool.htm , or update to new QGC 1.6.2 (viewtopic.php?f=23&t=4361).

Sorry it took a while to get this out!

-Max