looks great!
I’m trying to work out which flight log that video corresponds to.
ahh, I think it may be 19.BIN. Yes, that looks like a nicely stable flight in QSTABILIZE.
The attitude tracking looks really good. It is definately suffering from a couple of bugs that have been fixed in master.
just wait a couple of hours and then load the “latest” firmware with control-Q in MissionPlanner. The fix is building now.
Now that I’ve found that log where its flying well, I have to adjust my recommended tuning. It’s actually tracking really well. Just adding the output servo saturation bug fix will help a lot, and raise Q_A_RAT_PIT_IMAX to 1 will probably help a lot.
I suspect that if you lower Q_TAILSIT_VHGAIN as I suggested earlier then you’ll have to also raise Q_A_RAT_PIT_* gains, and maybe Q_A_RAT_YAW_* gains too. But just fly again with the saturation output fix first, as really its flying well, so make small adjustments and see how it goes.
I’m really happy its flying. Yipee!
Great, Thanks,
I put bigger rudders on but that made for single point contact on the t/e and yaws around a bit on t/o I think I will go back to the smaller rudders and add a challange to code,stright wing yaw control in ff. would love to remove the rudders
@tilt I’ve had a bit more of a look, and I see what the issue is with takeoff. You needed really high Q_TAILSIT_VHGAIN to get the motors pointing up. If you instead set Q_A_RAT_PIT_IMAX higher that would get them pointing up, but I think it may flip over as it doesn’t de-saturate the integrator fast enough.
So for now what you’re doing with setting Q_TAILSIT_VHGAIN really high and the other gains low is the best approach until we fix it to handle this better.
I’ll discuss with Leonard soon
@tilt Leonard and I discussed it, and we think we have a solution, but its a bit late for me here. We’ll code it up tomorrow. We’ve reproduced the problem in the simulator.
Night!
@tilt I’ve built a version of the code for pixracer with a fix for angling the motors straight up on takeoff. It should help a lot.
I’ve put a binary for pixracer for you to test here: http://uav.tridgell.net/RickYonika/plane-vectored-takeoff-fix.px4
You should be able to use it with the same gains you successfully used before. It will just add extra vectoring when at large pitch errors (like when on the ground).
great, good luck with the flight!
The PR with the change is here:
I think the same idea could help with non-vectored tailsitters too, to give them more pitch authority without integrator windup. If it works for you I’ll experiment with trying it for normal tailsitters - maybe @kd0aij can try on his stryker
@tilt one more thing - I notice you are hovering at about 70% throttle. If you want to try QHOVER or QLOITER then you should set Q_M_THST_HOVER=0.7 so that it gets the right hover throttle without it having to learn it. It will make for better takeoffs in QHOVER.
I’ve also been testing QLAND in tailsitters, and I think there is a bug for tailsitters. So you’ll probably find that automatic landing doesn’t work yet.
I had a quick look, and the output doesn’t look strange to me. The yaw kicks in the first time when the board is rotated in yaw, and its trying to rotate back. Then it sees yaw input from RC channel 4, and again yaws a lot.
If you still find it strange then ping me on hangouts and I’ll do a shared screen and I’ll have a look over your shoulder.
Cheers, Tridge
first column is your old values from 19.BIN, 2nd column is new values from 23.bin. New ones are very strange. Do you remember what you did to get the new values? Pin values and volt_mult look strange.
Hi, batt volt and amp were way off on mission planner so I looked at the paramiters 3300 was wrong ajusted to 2200,and clicked to px4 on board type but I am not running current and volts thru the power module because it’s to high a voltage 25V just running the bec to get 5.3v to the board,the airplane was not moved when the yaw went to full, it was in my hand .it did it twice so if you want i’ll do it again tomorrow and let you know if it happens again, it was a suprise the first time it happened…there is a 12v bec then down to 5.3v from the power module
