Servers by jDrones

Dual-motor tailsitters

(tridge) #341

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

(tridge) #342

I noticed your battery parameters have become corrupted in the new log

BATT_CAPACITY       3300.0000    2200.0000
BATT_CURR_PIN          3.0000     101.0000
BATT_SERIAL_NUM                    -1.0000
BATT_VOLT_MULT        10.1010       1.0000
BATT_VOLT_PIN          2.0000     100.0000
BATT_VOLT_TIMER                    10.0000

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.

( research air) #343

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

(tridge) #344

ok, I suspect it may have been a yaw adjustment by the EKF, perhaps it changed what magnetometer it was using, or the plane was close to some metal?

( research air) #345

may have been close to big milling machine and lath i’l keep away tomorrow

(tridge) #346

thanks. Note that it is trying to do heading-hold, not just zero yaw rate. So it will try to move back if it thinks it has yawed.

( research air) #347

ok, got it, hope thats it

(Rolf) #348


We would like to use normal servos for tilt mechanics. If we set SERVOnn_MIN to 800 and SERVOnn_MAX to 2200 we thus can reach about 120° tiltangle (90° up / 30°down). Can we also use vectored tailsitter functions ?

Regards Rolf

(lorbass) #349

It’s working perfect. Thanks Tridge

Still waiting for the Props from HK

(tridge) #350

It will work now, but it won’t be optimal, as it will be asymmetric in the throws. I am planning on adding parameters so that the code knows the angles, and can map outputs onto asymmetric throws correctly. That should make setups like these fly better.

( research air) #351

Hi, Tridge …just to let you know is been rain here and not so good for the rest of the week ?
and all systems go…

(Mark Whitehorn) #353

Finally performed good forward and back transitions with the Stryker. KMZ file:

Stryker log50 KMZ

This is what they look like in Google Earth:

How to configure a flying wing without ELEVON_OUTPUT?
(tridge) #354

What did you have setup for RC failsafe?

(tridge) #355

@tilt I saw your new flight here:

looks like we’re making progress!
I’d like to get the DF log if possible. Then we can adjust yaw and pitch sensitivity.
Next steps would be QHOVER and QLOITER to check alt-hold and position hold. After that we can start doing transitions to forward fllght.
I’ll be very interested to see what the current draw is like in forward flight. For CanberraUAV OBC2018 we want to create a vectored tailsitter that can fly at 28m/s (56 knots) for an hour. To do that we’ll need a much lower drag setup, probably more like a fast glider wing. We’re thinking we may extend the motor booms out the back to hold an elevator for forward flight, to allow us to use a higher aspect ratio wing.
Cheers, Tridge

(lorbass) #356

Thats exactly the target of my “dream” of the future.
This man has experience in building wings for long endurance.
Here the report of a mission to protect animals in a park.
I don’t know if he speaks English, but if interrested I will contact him for you.

(tridge) #357

they don’t look like fast flying wings though. The key difference with what we want to do is we want to fly at between 25m/s and 28m/s with low current draw. That is why we’re looking at fast glider wings.

( research air) #358

google drive
sent[quote=“tridge, post:355, topic:15302”]
I’ll be very interested to see what the current draw is like in forward flight.
[/quote]new high voltage power module on the way, so it will be in logs, also will logs record a/s with a/s sensor? i’d be suprised if illusion see’s 56 knots

I think it;s doable,super light,super clean,high voltage ,18650 batterys,right now I see 1/3 energy in ff over hover with most of my designs, none of them clean.[quote=“tridge, post:355, topic:15302”]

We’re thinking we may extend the motor booms out the back to hold an elevator for forward flight, to allow us to use a higher aspect ratio wing.
I have one of those in the works, 2m wing, i’l send a pic.i have to put it back together, disassembled to work on

( research air) #359

thinking about your project ,efficient cruise motor/motors/lift assist, will most likely be needed.
my long term project… gen.,starter,diesel or gas engine,cruise prop assembly, in a small TVBS
my bigest concern is efficiency and vibration, the rest is easy( need funding .gov ?)

( research air) #360

tailsitter retracts extended tail TVBS

(tridge) #361

great, the 27.BIN where you did logs of takeoffs and landings was particularly useful.
The tuning is pretty good, but I think you can lower Q_A_RAT_PIT_IMAX. The I buildup is what is causing it to overshoot a bit in pitch on takeoff. I’d start by dropping pitch IMAX to 0.2.
I also noticing that you are guiding the takeoff a bit with the pitch stick. If we get it perfectly tuned then you should be able to just raise the throttle and do nothing else for a perfect takeoff. We’ll need that for automatic takeoff. Next time you fly, can you try some takeoffs without any control except throttle?
For automatic landing we’ll need some extra code to make it lean forward so it ends up on its belly and not on its back. I haven’t started on that yet.
Once you’ve tried QHOVER in flight, it would also be good to try some QHOVER takeoffs, and then some QLOITER takeoffs. That will take us closer to full automation. I think QHOVER takeoffs will work, but probably won’t be as smooth at first as your QSTABILIZE takeoffs. We’ll need to tweak things a bit once I see some logs from initial QHOVER takeoffs.
Then for QLOITER takeoffs I suspect that the attempt to position hold during the takeoff could make it spin around as it catches one corner of the wing. We will probably need some code to make it not try and hold position until it has reached vertical, or reached some minimum height.
Great progress though! I’m really looking forward to seeing it transition!