but you had it working before? any parameter changes? I have no ideas
I thought it worked, because just on the missionplanners tuning window it looked like pitch would work correctly. That was now the first real start attempt (without parameter change).
Hello Rolf, Peter, I am also interested to build very efficient tricopter Vtol. How is it going?? Can you make it fly well?? Any update about the hover test? How about transition to Fbwa mode? Regards.
Hi Tony,
the plane is ready for maiden flight. But unfortunately, we still have not found out the error, why Peters STITL simulation works fine and uploaded to the pixhwak pitch control is faulty.
Rolf
Sorry if I am wrong, is the error only the Pitch control?? I can not open the vimeo video, so I don’t understand if you can do hover in stabilize mode?? Is the pitch control error occured in the coding or on the parameter??
I have got my hands on a tricopter, I will try this out for real and see If I can get to the bottom of whats going on.
Hello Rolf, Peter any update on this experiment?? I also want to try…
Hi Tony,
i hope to have time next week to systematically tackle the causes of this failure again.
Hello Rolf, good to hear from you. I hope Tridge will help. Good luck…
Hey guys, is there any update on this progress? I’m interested in building a similar rig setup. On mine however, I want to add a seperate lift motor at the CG which rotates for forward flight and keep the forward motor (rudder) fixed.
I have changed back to the normal firmware and set negative P for pitch. That does not produce a somersault. Yaw I still have to adjust correctly, because vectored yaw unfortunately does not work. A tilt mechanism must also be repaired.
Thanks Rolf. How did you adjust for yaw?
Anyone else try this configuration?
Today the first short hover flights with unchanged firmware were successful. Everything with standard parameters, except of course the Q_A_RAT_PIT Parameters with negative P:
Q_A_RAT_PIT_D,0
Q_A_RAT_PIT_FF,0
Q_A_RAT_PIT_FILT,10
Q_A_RAT_PIT_I,0
Q_A_RAT_PIT_IMAX,0.5
Q_A_RAT_PIT_P,-0.2
Next will be hovering with mounted wings.
Today we have successfully “hovered” the first tests with mounted wings. Because of the relatively strong wind for TRI-VTOLS we have not hovered higher.
Rolf
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Today we tried the first forwardtransition. Unfortunately, the nose rears up during tranistion.We have to find out the cause for it yet.
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Also our second transition attempt failed. Walter and I suspect that the rear engines are fighting against the single front engine. After all, QHover works fine.
Rolf
Tricopter_QuadPlane_2.param (16.4 KB)
Hi guys
I have tried setting up a basic tricopter in reverse using the Quadplane code. I have played around with pitch values to get it flying level.
Q_A_RAT_PIT_D,0
Q_A_RAT_PIT_FF,0
Q_A_RAT_PIT_FILT,10
Q_A_RAT_PIT_I,0
Q_A_RAT_PIT_IMAX,0.5
Q_A_RAT_PIT_P,-0.25
In short, takes off normally but when i place pitch input it seems to diverge further away from intended course for/aft. I even tried reversing other pitch values which didn’t help either. I have attached the last param file.
Roll seems to be fine. Yaw seems like it works but can’t stay airborne long enough to know for sure.
Any suggestions?
thanks
M.
Your Q - Pitch values are basically like ours (only Q_A_RAT_PIT_P negative)
Did you try to reverse the rc pitch input ?
We will try next forward-transtion with a more powerfull front motor
Rolf
Yep tried reverse TX pitch input and made control worse off. So should all PTCH2SRV_x parameters be negative as well?
I find that as the tricopter starts to diverge (gust input or just me), the control loop is driving it toward instability and when I tried to correct, the instability is corrected slightly, however when I let go of pitch control, the PID seems to drive it back towards instability again (non level flight).
Sorry confused by this.
No, only the Q_A_RAT_PIT_P .
Which firmware do you use ? We use regular 3.9.9 (we will update to 3.9.10) and not those firmware modified by Peter.