Wobbles with Quatos and Jordana frame

The new control algorithm for AutoQuad flight controllers.

Wobbles with Quatos and Jordana frame

Postby Astudillo » Fri Jul 08, 2016 4:40 pm

Hey guys's

I have some trouble with my new setup.
I built a Rosewhite jordana frame with AQ6 Dimu with the 1923 firmware, KDE3510-700kv motors and 14" T-motor props, Esc32v3's on 4S(6600mah). I also installed a flyduino basecam32 gimbal controller above the AQ6.
Here are a few photo's of the machine.
IMG_1274.jpg

IMG_1276.jpg

IMG_1278.jpg


I calibrated the esc32's with the 14" props
esc32-4s-14%22.txt
(559 Bytes) Downloaded 185 times

And did a full thrust measurement.
thrustCalcKDE715-4s-14%22.xls
(24 KiB) Downloaded 188 times

I made a XML of my quad
Horus4.2 jordana 4S lipo.xml
(1.64 KiB) Downloaded 159 times

And it looks like it should
3dmodel.jpg


I started out with these values
quatossettings.jpg
quatossettings.jpg (55.35 KiB) Viewed 5061 times


As you can see in the youtube video, its not really flyable.


As you can see in the video i played with AM1 and AM2 and L1_K1.
Lowering the AM1&AM2 helped a bit, but the controle is really sloppy and it still oscillates. i went as low as AM1=2 and AM2=4 but that didn't do much. I also lowered the L1_K1 as low as 5, but i did not notice any difference below L1_K1=10.

So i started to look at the acc's in the log for crazy vibrations.
Well there not as clean as Angels logs, but not really bad right?
acc.jpg


So i'm a little in the dark here what could be the problem, can you guys maybe look at my files and log? I'm certainly missing something.

Cheers,

Ray

010-AQL.LOG
(3.17 MiB) Downloaded 200 times
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Re: Wobbles with Quatos and Jordana frame

Postby plexus » Sat Jul 09, 2016 9:14 am

Hi Ray,
I am not a specialist but have you control your motor + propeller balancing.

On my hexa (2Kg) with Tmotors 2216-12 and 10x5 propeller, I had that problem at hight frequency and I solved by tuning the correction rate (-5), thrust rate (-7), prop torque (12), overall gain (14).
test one by one .
My firm is aq fw7.1 exp rev 449 b1852 hw 6.1
Last edited by plexus on Sat Jul 09, 2016 1:48 pm, edited 1 time in total.
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Re: Wobbles with Quatos and Jordana frame

Postby LPR » Sat Jul 09, 2016 1:22 pm

Ray

I tried 1923 FW on two of my quads and found they did not fly well compared to 1897 FW, using the same parameters.

Your video reminded me of how my 5 kg large quad flew with 1923 FW. My 1.5 kg quad flew better but still not great with 1923 FW.

With my ladybird quad, 1923 FW works great.

Larry
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Re: Wobbles with Quatos and Jordana frame

Postby Astudillo » Mon Jul 11, 2016 4:47 pm

Hi Plexus and Larry,

thanks for the input!

I changed the firmware back tot 1897, and if flew quite stable with the default settings. Weird thing is the AQ registers quite a bit more vibrations then with the 1923 firmware(and so does my camera unfortunately)but flies more stable.I suspect that K1_L1 is responsible for that. Ill report back on that.

Cheers,

Ray
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Re: Wobbles with Quatos and Jordana frame

Postby LPR » Mon Jul 11, 2016 5:10 pm

Ray

I wish that 1923 FW worked so I could have some of its nice features.

I really like the "Rosewhite jordana frame".

You might have to tune a little differently because of the frame's vibration isolation between the battery, camera and FC and the rest of the frame.

Hope you can get it flying really well with Quatos.

You might want to ask Tilman for AQ parameters for PID control.

Larry
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Re: Wobbles with Quatos and Jordana frame

Postby Astudillo » Mon Jul 11, 2016 10:24 pm

Hi Larry,

Yes i really love the frame, its very well designed. I also tried a cleanflight FC with 24A kiss escs,to see if it could be a problem with frequency coupling of the arm and motors, or if it was something with the AQ/Esc32 Quatos setup. The cleanflight setup flew decent and i didn't get vibrations in the camera footage. So then i remounted the AQ hardware, to try further. How would you approach the different tuning for this frame? The FC is hard mounted on the frame by the way.

Cheers,

Ray
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Re: Wobbles with Quatos and Jordana frame

Postby LPR » Tue Jul 12, 2016 1:49 am

Ray

I was able to see a "Rosewhite jordana frame" last summer and I believed Tilman mounted the AQ FC on the subframe with the camera and battery. I remember being quite surprised by his mounting position.

You might want to ask him what works best.

Larry
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Re: Wobbles with Quatos and Jordana frame

Postby Patscherpofel » Sun Aug 28, 2016 1:06 pm

hi ray
did you find out more on this topic
I have the same problem, Jordana flys fine on a non AQ FC...but an m4 does not
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Re: Wobbles with Quatos and Jordana frame

Postby Patscherpofel » Sun Aug 28, 2016 1:11 pm

I tried PID controller on 1923FW
btw...I can not find 1897
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Re: Wobbles with Quatos and Jordana frame

Postby sandmen » Mon Aug 29, 2016 7:54 am

I can not imaging that the Fw makes any difference on the "wobble"

Gesendet von meinem A0001 mit Tapatalk
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