Hi,
question : why arducopter doesn’t manage the throttle curve ?
thanks
Hi,
question : why arducopter doesn’t manage the throttle curve ?
thanks
Up until now, we’ve mostly only thought about flying electric helis with built-in governors. However, I am now working on an internal throttle curve mode, and an internal governor with tachometer feedback.
I would love to have some input from people on how they would like this to work.
I ma quite a newbee in APM, I have only setup a multicopter. I have study the setup for a traditional heli but not actually perform the setting. I have setup 2 helli with a flybarless controler. So excuse me if I tell mistakes.
From my point of view, i would be very interested to have the same kind of features than a Flybarless controler boards.
What I think is missing in the arducopter for a traditional helli is :
thanks a lot for your job
Benoit
Rob, I think having a governor in the code would be useful if it was proactive. If I am not mistaken our current ESC governors are just reactive because there is no gain control coming out of the APM/ Pixhawk. I run a Castle Edge controller in governor mode with the gain set fairly low. The problem is its just sensing motor speed and not the collective pitch. I have a wire that’s meant to hook into a FBL controller to change the gain but I don’t think the code supports it. It would help a little to have a governor that not only monitored motor/rotor speed but also collective output. If the collective was changing a lot the gain would be higher or if hovering or moving about slowly the gain would be lower. Make sense ? Does a throttle curve based on ground speed make sense. I run a 1550 headspeed on a 550 that weighs about 9 1/2 Lbs. If I get it moving fast, 15m/s, it doesn’t stop as fast as I would like it to. Just my thoughts.
Regards,
David R. Boulanger
Benoit, you can actually mount the APM or Pixhawk in any orientation you want. There’s a parameter for that. On my Trex 500, it is mounted sideways. On most of my others, upside-down.
On your second point, we do have an “Acro” mode that can be set up to behave exactly as a flybarless controller. The only thing missing is the ability to run the ESC in manual mode with pass-through from the transmitter. It seems to me the majority of people are using an ESC governor, so I don’t see a lot of need to offer a feature like this.
David:
Last week I took the first step to having an internal governor. I created an RSC mode which creates a simple 2-point collective-throttle curve within Arducopter. This will give open-loop control of a throttle.
The next step will be to add tachometer input. I’m not sure if we can add a direct tachometer input, so I plan instead to use an Arduino Pro Mini to measure the rotor speed, and then talk to Arducopter over I2C. That will then allow an internal governor with a PID. But it will also feature collective feed-forward, which is what you want.
You talk about gain in a few places, and I think you are using the term incorrectly. Gain is typically the P-term of a PID. I don’t think you’d be changing that in flight the way you talk. You would typically be using a load feedforward to help. That load is the collective, so the collective feed-forward is what you want.
Sounds Good
Regards,
David R. Boulanger