Motor Output Configuration

The new control algorithm for AutoQuad flight controllers.

Motor Output Configuration

Postby Astudillo » Tue Apr 28, 2015 11:49 pm

Hey Guy's

I measured up my hexacopter geometry, made a XML and inserted it in the online quatostool.

I took a look at the motor output numbers, and the mmPitch and mmRoll aren't adding up.
001.png

Is this ok/normal with a quatos configuration?

Or is there maybe something wrong in the XML file i made?
Code: Select all
<?xml version="1.0" encoding="UTF-8"?>
<!--   Distances in meters
   Wieghts in grams
   +1 == CW rotation
   -1 == CCW rotation
-->
<quatos_configuration>
  <craft config="hex_x" id="Horus6">
    <ports>
      <port rotation="+1">1</port>

      <port rotation="-1">2</port>

      <port rotation="+1">3</port>

      <port rotation="-1">4</port>

      <port rotation="+1">5</port>

      <port rotation="-1">6</port>
    </ports>

    <distance>
      <motor>0.325</motor>
    </distance>

    <mass>
      <motor>167</motor>

      <arm>74</arm>

      <esc>0.0</esc>
     <cube dimx="0.0635" dimy="0.0508" dimz="0.024" name="AQ6"
      offsetx="0" offsety="0" offsetz="-0.35">37.92</cube>

     <cube dimx="0.04725" dimy="0.025" dimz="0.0142" name="Futaba RX"
      offsetx="-0.128" offsety="-0.15" offsetz="0.0115">19.32</cube>

     <cube dimx="0.0817" dimy="0.0255" dimz="0.013" name="3dr radio"
      offsetx="0.08" offsety="0" offsetz="-0.0195">25.8</cube>

     <cube dimx="0.22" dimy="0.24" dimz="0.0015" name="Frameplate top"
      offsetx="0" offsety="0" offsetz="-0.01225">67.48</cube>

     <cube dimx="0.22" dimy="0.24" dimz="0.0015" name="Frameplate bottom"
      offsetx="0" offsety="0" offsetz="0.01225">59.1</cube>

     <cube dimx="0.222" dimy="0.115" dimz="0.024" name="Esc plate"
      offsetx="0" offsety="0" offsetz="0.025">386</cube>

     <cube dimx="0.07267" dimy="0.1" dimz="0.002" name="AQ plate"
      offsetx="0" offsety="0" offsetz="-0.022">24.7</cube>

     <cube dimx="0.0975" dimy="0.0975" dimz="0.0235" name="GPS unit"
      offsetx="0" offsety="0" offsetz="-0.06975">52.94</cube>

     <cube dimx="0.0055" dimy="0.0055" dimz="0.035" name="GPS rod 1"
      offsetx="0.025" offsety="-0.0436" offsetz="-0.0405">6.54</cube>

     <cube dimx="0.0055" dimy="0.0055" dimz="0.035" name="GPS rod 2"
      offsetx="0.025" offsety="0.0436" offsetz="-0.0405">6.54</cube>

     <cube dimx="0.0055" dimy="0.0055" dimz="0.035" name="GPS rod 3"
      offsetx="-0.025" offsety="-0.0436" offsetz="-0.0405">6.54</cube>

     <cube dimx="0.0055" dimy="0.0055" dimz="0.035" name="GPS rod 4"
      offsetx="-0.025" offsety="0.0436" offsetz="-0.0405">6.54</cube>

     <cube dimx="0.22" dimy="0.22" dimz="0.09" name="Platic hood"
      offsetx="0" offsety="0" offsetz="-0.058">38.66</cube>

     <cube dimx="0.015" dimy="0.04" dimz="0.015" name="Hood hinge"
      offsetx="0.081" offsety="0" offsetz="-0.0195">9.62</cube>

     <cube dimx="0.0" dimy="0.0" dimz="0.0" name="Hood lock"
      offsetx="-0.081" offsety="0" offsetz="-0.0195">5.16</cube>

     <cube dimx="0.05" dimy="0.03" dimz="0.104" name="Retract right"
      offsetx="0" offsety="0.074" offsetz="0.0765">130</cube>

     <cube dimx="0.05" dimy="0.03" dimz="0.104" name="Retract left"
      offsetx="0" offsety="-0.074" offsetz="-0.0765">130</cube>

     <cube dimx="0.025" dimy="0.256" dimz="0.025" name="Leg Right"
      offsetx="0" offsety="0.215" offsetz="0.028">48</cube>

     <cube dimx="0.025" dimy="0.256" dimz="0.025" name="Leg Left"
      offsetx="0" offsety="-0.215" offsetz="0.028">48</cube>

     <cube dimx="0.51" dimy="0.016" dimz="0.016" name="Foot Right"
      offsetx="0" offsety="0.35" offsetz="0.028">53.3</cube>

     <cube dimx="0.51" dimy="0.016" dimz="0.016" name="Foot Left"
      offsetx="0" offsety="-0.35" offsetz="0.028">53.3</cube>

     <cube dimx="0.167" dimy="0.118" dimz="0.002" name="Accu Packs"
      offsetx="0" offsety="0" offsetz="0.065">2120</cube>

     <cube dimx="0.12" dimy="0.1" dimz="0.14" name="Gimbal"
      offsetx="0" offsety="0" offsetz="0.097">386</cube>

     <cube dimx="0.222" dimy="0.115" dimz="0.002" name="Battery plate"
      offsetx="0" offsety="0" offsetz="0.09">146</cube>

    </mass>
  </craft>
</quatos_configuration>

Cheers,
Ray
Astudillo
 
Posts: 139
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Location: Amsterdam, The Netherlands

Re: Motor Output Configuration

Postby aBUGSworstnightmare » Wed Apr 29, 2015 2:05 am

Hi Ray,
I have the same with my asymmetrical quad. Should be no problem since it's not an error (although shown in red).
Joerg
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Re: Motor Output Configuration

Postby fred_fr » Sun May 03, 2015 10:14 pm

hi


I have make a program to view quados XML file configuration. Could you confirm your hexacopter see like this :

Image


fred_fr
fred
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Re: Motor Output Configuration

Postby Astudillo » Mon May 04, 2015 12:27 am

Hi fred_fr,

with exception of the small blue red and green blocks its looks quite similar.

hexa.png


That's a really awesome job! can we try the program you made?
Astudillo
 
Posts: 139
Joined: Thu Apr 25, 2013 8:23 am
Location: Amsterdam, The Netherlands

Re: Motor Output Configuration

Postby Max » Mon May 04, 2015 3:43 am

Very nice, Fred! Now we need something to go the other way, from a 3D file... ;)

-Max
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Re: Motor Output Configuration

Postby fred_fr » Mon May 04, 2015 11:31 am

Astudillo wrote:Hi fred_fr,

with exception of the small blue red and green blocks its looks quite similar.


That's a really awesome job! can we try the program you made?


Blue block position seems due to poor OffsetZ = -0.35 parameter in the xml file for AQ6 cube. AQ6 card is 35 cm above QUAD ?


<cube dimx="0.0635" dimy="0.0508" dimz="0.024" name="AQ6" offsetx="0" offsety="0" offsetz="-0.35">37.92</cube>

fred
fred
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Re: Motor Output Configuration

Postby plexus » Mon May 04, 2015 1:48 pm

Hi Fred
See my xml file:
X8dronecontrolgopro.xml
(1.65 KiB) Downloaded 295 times


Alain
plexus
 
Posts: 534
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Location: South of France

Re: Motor Output Configuration

Postby Astudillo » Mon May 04, 2015 2:40 pm

Hi Fred,

That is indeed incorrect, it should have been 0.035. Your program would be good sanity check on the xml data!
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Posts: 139
Joined: Thu Apr 25, 2013 8:23 am
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