Kev's Quadworld flight thread

[KevG]

Well I got outside for a blast, the quad needs tuning and could be a touch more locked in I think so will be doing the tuning when I get a reply for which calculator to use for the latest cc3d firmware,

Anyway here is the onboard ride, no editing just raw footage

http://youtu.be/Tgx92sGlMrI

[Lee]

What setting s are you using Kev?
Looked really good. No wagging in that hard climb out.
Just a slow wobble which can be dialled out with a higher I gain on the roll axis by the look of it.

[KevG]

I will post up settings later lee

[cml001]

Nice Kev!

[KevG]

here you go Lee, where do you think i need to go, this is like voodoo to me mate.

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[KevG]

Thanks Clay, new world for me this is,

[danhampson]

looks pretty good Kev.

[Graham Lawrie]

Looking a lot steadier than mine Kev:)

[cml001]

Yeah.. Keep post'n... Imma keep read'n... I'll need help with mine soon.. Once I get this nitro done I'll start work on the mini quad. Hopefully I'll be giving the maiden within the next 2 weeks and can get to it.

[Lee]

I would try raising the I gain on roll. Everything else looks good at the moment.
Maybe that will change when you start flying around at speed. For now it looks good.

[KevG]

Thanks Lee, will try that.

Have you tried doing the UOP method then use the calculator to get your values,

[danhampson]

I've tried that method kev it worked pretty well (it got a bit wobbly in gusty conditions), I did a couple of test flights on Saturday, I'm uploading a video to youtube now. I'll post the link once it's uploaded.

[danhampson]

heres the link to my flight video using this method http://rc-hangout.com/forum/viewtopic.p ... =120#p8206 , the post includes links to the thread over at OP, a link to the current calc (beta version) and of course the video

[KevG]

Thanks Dan yours looked pretty stable to me, I think though I am going to raise the i gain slightly as Lee advised first then see how it behaves, before I try the other way,

[danhampson]

While I was reading the thread on OP I found that for the calculator the I gain ratio is on 1.5 x the P gain which would account for the wobble in my flight video other than the wobbles it felt good.

[KevG]

Well just upped the I gain from 0.00264 to 0.00354 and no wobble which is great,

But guys can someone explain the difference between the flight modes,

Attitude
Rate
Axis lock
Ratitude
Wish I could find this info easier,

[KevG]

Found the info I was after, in the end took me a while though


Manual: No stabilization on this axis. Cannot be selected for VTOL aircraft.

Rate:
OpenPilot will aim for a target rate of turn around the axis (axial rotation about the axis). This target rate of is defined by the manual control (transmitter stick angle). When the manual control is neutral, OpenPilot will steer towards zero rate of turn (will stop rotating and hold the current angle).
E.g. on a multi-rotor, in "rate mode", the angle of the pitch/roll (elevator/aileron) sticks determines the rate of change of the pitch and roll axis. If you let go and return to a neutral position, the multi-rotor will keep flying in that (possibly inverted) orientation (angle). It's up to the pilot to return the craft to level, so it behaves like a "real" aircraft.

Attitude:
OpenPilot will aim for a target attitude (bank angle). This target is defined by the manual control (transmitter stick angle). When the manual control is neutral, OpenPilot will steer towards level flight.
For example, on a multi-rotor, in "attitude mode", the angle of the pitch/roll (elevator/aileron) sticks directly determines the set point (bank angle) for the pitch and the roll axis of the vehicle. If you return the stick to a neutral position the multi-rotor would level and drift to a halt in level hover.

AxisLock:
This is essentially Rate mode, that when disturbed (as by e.g. air turbulence or vehicle configuration imperfections) tries harder and longer to return the aircraft orientation (angle) to where it should be. This mode is very good for use on a copter yaw axis. Like Rate mode, where it should be does not necessarily mean level. OpenPilot will try to keep the total amount of rotation on the selected axis on 0 when the stick is not touched. When OpenPilot detects e.g. 5 degrees of undesired/uncommanded rotation, it will try and undo that. Axis lock essentially grabs the current position of the axis when you let go of the stick and tries to stay there.

WeakLeveling:
Weak leveling is basically rate mode with a slow component to make the attitude go towards zero. In weak leveling your aircraft slowly drifts back to level - sort of rate mode with an assist. Note that it's not recommended for yaw because it basically will turn your nose facing forward again.

Acro+:
A flight mode that mixes Rate with manual actuator outputs. It allows the pilot to go from very modest rates to full on madness. It does this by bypassing the gyro for rotation during stronger stick deflections and applies manual output signals to the ESCs. Read more about it here.

VirtualBar:
This mode is released in the upcoming firmware, for helis it can be compared to a standard flybarless controller and for multi-rotors a much more aggressive roll and flip rate can be achieved. More information can be found here.

Ratitude Mode:
Ratitude Mode is an OpenPilot implementation of Multi Wii Horizon Mode that is like Attitude mode for small stick angles and is like Rate mode for large stick angles.

[Lee]

Once you are happy flying it around In attitude, switch it to Rattitude.
I use that and Rate mode.

[KevG]

Yeah Lee, that's where I think I was heading,

Mode 1 attitude
Mode 2 ratitude
Mode 3 rate

[KevG]

Well had two batteries tonight and have come to the conclusion it needs to be tuned properly so i will give the tx pid tuning a go, might try on Friday,

Was getting like a shimmy when piro ing from a stationary position,

Will upload an onboard video tomorrow when I am on my work PC,