Got a new little test AQ up and running while my Y6 is "in the shop." Mission: firmware development/testing/debugging rig. Test pilot on-board -- meet Hairy!
Getting it dialed in -- it's pretty close now, almost ready to fly some missions.Quad X, ~55cm, ~52oz AUW with 4Ah 3S LiPo (40oz w/out battery), KDA 22-15 motors, flashed HK Blue ESCs, 10x4.7 APC props, FrSky D8R-XP Rx (PPM), ~12min. flight time.
Motor mix is +/- 100 on all slots. NOT like the quad X example given in the docs. Had to turn Tilt Rate D down to 5180 otherwise it had a hard time maintaining a steady altitude in manual modes -- it was very steady on roll/tilt just "jumpy" on the vertical axis. Adjusted Factor Throttle to match the setup (.55 in my case), but in alt. hold it would still oscillate up/down with high frequency and increasing amplitude, until I turned Nav Speed I down (currently at 1.8 but I think that's a bit low because it is loosing some altitude while in horizontal motion). So far tuning has been minor and easy.
- IMGP2431.jpg (487.79 KiB) Viewed 5945 times
From the flight logs I spotted a yaw imbalance (wasn't noticeable in flight), then found a motor that was a bit out of horizontal, which fixed that problem (love those logs!). Flying very smooth now. Hopefully I can get a video of it soon. You can tell how good the position hold is because I managed to get a bunch of pictures of it by myself, even at night.
Won't be much of a camera hauler, at least not with the current setup, although I'd like to set up some kinda small/light gimbal on it. The frame base is a Talon v2 from HK... yeah I know...
but it's actually not a bad little frame and I salvaged it from a local friend who bought it on a whim but had no use for it. It also has a plate from a Talon hexa on there, and of course the CD case. The worst part of the frame would be the motor mounts, which will take exactly one light impact to bend, but I got 6 spares and when those are gone I'm sure I can figure something else out... The wheels add some cushion and height, and prevent the "claws" from catching in the ground. I could see a better LG setup in the future though.- IMGP2372.jpg (519.75 KiB) Viewed 5945 times
Jury is still out on the AQ mounting system with the rubber standoffs... There are almost no Z vibrations, but the X and Y aren't as good (OK but not great, although I don't have much to compare to)... will try a hard mount to compare. I also tried it with the AQ below the Rx shelf, but that didn't seem to make any difference. Some kind of weight on the AQ board would probably help, but having a hard time coming up with something that I have or could make here with basic tools.
Cheers,
-Max
- This is Hairy on drugs... LOL
