|Subject:||Re: [Paparazzi-devel] rotorcraft / throttle sensitivity / rate mode|
|Date:||Sun, 1 Jun 2014 12:44:06 +0200|
thanks for the nudge.
turns out the multistars don't do calibration , so i swapped them for
some other ESCs, now throttle is fine.
spent some time playing with the attitude params. horizontal is fine but
yaw behaviour irritates me.
- very weak response build-up to yaw stick and equally slow decay of
yaw response (still yawing on when stick is back to zero).
- thrust is diminished strongly during yaw
- during disarm (full yaw, throttle neutral) motors spin up and frame
tends to jump
i couldn't find any setting for PSI_[PID]GAIN where this would really go
i'm on git master and using essentially
 they seem to have worked quite well with a multiwii type system (for
which the tx travel is adjusted to precisely 1000-2000us).
Felix Ruess writes:
> Hi Oswald,
> this very much sounds like you either need to calibrate your ESCs and/or
> set up the min,neutral,max properly in your servo section.
> The neutral value should be the pulse length in us at which your ESCs turn
> the motors on, but at an acceptable idle speed. Min is off in that case and
> max is well, max...
> This has nothing to do with the gains or anything like that at this
> point... first you need to make sure that if you send the "neutral" value
> all motors will rotate at idle speed and reach their maximum speed at max
> and not before.
> I never use rate mode, but the ahrs (attitude estimation) should run as
> normal... and works as expected here...
> Can you provide some more details?
> Cheers, Felix
> On Tue, May 27, 2014 at 10:45 AM, Oswald Berthold <
> address@hidden> wrote:
>> dear list,
>> i am very glad finally having a real paparazzi system for work and
>> play. as you're already suspecting, i have some questions.
>> - quadrotor, X configuration
>> - lisa/m v2
>> - orange rx satellite
>> - turnigy multistar 20A ESCs
>> - git 82d414d8 .. (20140520)
>> throttle issue:
>> 1. arming starts the motors but i have to keep them alive by giving
>> some more throttle, otherwise some of them starve. igains are zero
>> for the attitude controller. i cannot raise "neutral" because of the
>> next subissue
>> 2. i have been able to make a first flight with my provisional PID
>> settings and throttle seems oversensitive. quad takes off with maybe
>> 20% of stick and it was quite a challenge to hover manually.
>> rate mode issue:
>> - when i alternatively configure rate mode for switch 1 manual, the PFD
>> doesn't work. is attitude estimation disabled in rate mode? also, in
>> messages i see that the phi/theta/psi ests are not updated.
>> regards and thanks for any feedback,
>> Paparazzi-devel mailing list
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