Motor clipping when using vertical altitude override
Posted: Mon Jun 29, 2015 6:05 pm
Hi all,
Don't know for sure if it's a Quatos problem, but the problem does not appear when using PID control. I've been looking into a problem I have when changing altitude in alt/pos hold (vertical altitude override).
When I change altitude very slowly motor output appears to be normal, but when I try to change altitude fast my motor output clips. You can hear it very well. When analyzing the data you can see that even when motor output is not clipping there are little spikes on the motor ouput signal with a periodicity of 0.2 s (every 40 measurements at 200 hz).
Has anybody seens this before? Is there something I can do about it?
I'm running an AQ 6 board (latest revision), with DIMU 1.1, KISS esc's and a special firmware version compiled by Menno to enable using Quatos. My quad weighs around 770 gr.
Three pictures showing the problem are attached.
Best regards,
Jan Willem
The Neherlands
Don't know for sure if it's a Quatos problem, but the problem does not appear when using PID control. I've been looking into a problem I have when changing altitude in alt/pos hold (vertical altitude override).
When I change altitude very slowly motor output appears to be normal, but when I try to change altitude fast my motor output clips. You can hear it very well. When analyzing the data you can see that even when motor output is not clipping there are little spikes on the motor ouput signal with a periodicity of 0.2 s (every 40 measurements at 200 hz).
Has anybody seens this before? Is there something I can do about it?
I'm running an AQ 6 board (latest revision), with DIMU 1.1, KISS esc's and a special firmware version compiled by Menno to enable using Quatos. My quad weighs around 770 gr.
Three pictures showing the problem are attached.
Best regards,
Jan Willem
The Neherlands