Pb with octo coax with quatos (Solved)

The new control algorithm for AutoQuad flight controllers.

Re: Pb with octo coax with quatos

Postby plexus » Mon Mar 16, 2015 10:06 am

Hi,
Thanks to take time.
I send to you all the elements /
Firm R445 quatos.
X8 coaxial In X.

Thrust Robbe Roxxy 2827-35: Computed with the "lady bird XML file" in the wiki.
thrustCalc.xls
(21 KiB) Downloaded 215 times

xml file:
monx8joebar.xml
(1.33 KiB) Downloaded 209 times

params file on board:
PARAMSX8 X.txt
(15.27 KiB) Downloaded 198 times


Alain
plexus
 
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Re: Pb with octo coax with quatos

Postby drone-controls » Mon Mar 16, 2015 11:55 am

Hi Alain

The xls file clearly says the following
A1 -0.0108174649 USE THIS ONLY!!!!
A2 1.25863695800767E-005 USE THIS ONLY!!!!
On lines 44 and 45.

You have used intermediate values on lines 41 and 42.
That's the reason why the thrust was so off.
Since you have logged data only up-to 6600 RPM, I think you should set max RPM as 6500

So you must say
MOT_VALUE2T_A1 -0.010817f
MOT_VALUE2T_A2 1.2586e-05f
MOT_VALUE_SCAL 6500

On ALL the esc, be sure to set
PWM_RPM_SCALE 6500

Please make sure these changes are done and all the esc32 are calibrated with right parameters and in Closed Loop RPM mode.
Recheck your wiring is as per your sketch.
drone-controls
 
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Re: Pb with octo coax with quatos

Postby plexus » Mon Mar 16, 2015 5:14 pm

Hi,
All you said has been checked, but dont work.
calibration redo in CL RPM.
My config:

I used that xml filefrom JoebarC adapted to my X8 in X.

A big question: Is A= port 1 (as in QGC)
B port 5
c port 2
D port 6...
portpidquatos.jpg

monx8joebar.xml
(1.33 KiB) Downloaded 183 times

And for the final , you have never seen a motor log like this one . :mrgreen:
002-AQL.LOG
(2.63 MiB) Downloaded 189 times

Alain
plexus
 
Posts: 534
Joined: Tue Jul 03, 2012 3:30 pm
Location: South of France

Re: Pb with octo coax with quatos

Postby drone-controls » Mon Mar 16, 2015 7:48 pm

plexus wrote:Hi,
All you said has been checked, but dont work.
calibration redo in CL RPM.
My config:

I used that xml filefrom JoebarC adapted to my X8 in X.

A big question: Is A= port 1 (as in QGC)
B port 5
c port 2
D port 6...
portpidquatos.jpg

monx8joebar.xml

And for the final , you have never seen a motor log like this one . :mrgreen:
002-AQL.LOG

Alain


In your previous sketch A =1, B =2 etc. Now have you changed the port numbers?
Whatever port numbers you use in your craft must be the same as in the xml and the parameters that are generated.
drone-controls
 
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Re: Pb with octo coax with quatos

Postby drone-controls » Tue Mar 17, 2015 8:18 am

Hi Alain

Attached is an xml from a working X8 with Quatos for you to modify.
Please use this craft geometry
port 1-Left Front Top, CW
port 2-Left Front Btm, CCW

port 3-Right Front Top, CCW
port 4-Right Front Btm, CW

port 5-Right Behind Top, CW
port 6-Right Behind Btm, CCW

port 7-Left Behind Top, CCW
port 8-Left Behind Btm, CW

In the xml, you will find a number 0.18738, you must replace it with .707* (your arm length).
Be careful with the signs and maintain them!
Use online quatosTool to generate all your params.
Use the right values of A1, A2, SCALE that you determined earlier.
Do not use QGC to generate power distribution for Quatos.

This combo has worked for others and will work on your craft too.
Attachments
quatos_X8.xml
(1.51 KiB) Downloaded 173 times
drone-controls
 
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Re: Pb with octo coax with quatos

Postby plexus » Tue Mar 17, 2015 11:30 am

Hi Drone_controls,
Bingo, it fly very well.
All done as you said.
The mistake was in the signs and order of the ports. That was difficult to me to get the winning combination !!!
Many thanks again for your support.
Alain. :D
plexus
 
Posts: 534
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Location: South of France

Re: Pb with octo coax with quatos

Postby drone-controls » Wed Mar 18, 2015 6:55 am

plexus wrote:Hi Drone_controls,
Bingo, it fly very well.
All done as you said.
The mistake was in the signs and order of the ports. That was difficult to me to get the winning combination !!!
Many thanks again for your support.
Alain. :D


Great!
Do post a nice aerial video. We would love to see it.
In a few months from now, we plan to have a competition to judge the best aerial video taken with Quatos. Winner can get a commercial license valid for craft upto 10Kg
drone-controls
 
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Re: Pb with octo coax with quatos (Solved)

Postby plexus » Wed Mar 18, 2015 12:15 pm

Ok and thanks for the info. But my gopro vib too much to made a good video.
But why not !
Alain
plexus
 
Posts: 534
Joined: Tue Jul 03, 2012 3:30 pm
Location: South of France

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