Attitude stabilizing at an angle
Posted 31 May 2012 - 04:18 PM
Posted 31 May 2012 - 04:59 PM
The way CopterControl works and basically all flybarless controllers is that an input is a command to roll or pitch at a certain rate, so using trim will command the aircraft to roll / pitch continuously and won't help you, at least that is my understanding (but I could be wrong). What it appears you need is exactly what I need for the roll offset but on elevator and both these are missing right now. They should not be too hard to add but it would help if you are a developer as they are not yet high on the priority list.
Also would it be a problem if during the autogyro mode I have the collective preset to a slight negative angle?
I'd do that on the radio, which I think is what you mean, so no, not problem or ill effect, in fact CopterControl cares little about the collective and it is passed through to the mixer as is. All the mixer does is CCPM mixing if you even require this.
Posted 31 May 2012 - 06:22 PM
Posted 31 May 2012 - 06:42 PM
Posted 31 May 2012 - 07:31 PM
Aren't both these requirements addressed by massaging the pitch/roll bias?
Yes I believe so, we already have an options to "rotate" the board currently but this needs a slight extension so it can be selected per flight mode and I am not sure if the board needs a reset for it to take effect?
I would only need that offset about half of the time and then the other half with the offset taken off.
I need the same thing, the level off-set for hover would cause major issues in things like 3D or inverted, for me it is a great beginner feature and should enable a heli to hover in one almost spot once tuned well, if we simply just leveled a heli like we do a quad, it would quickly move away to the left fairly quickly as the tail rotor pushed it quite a lot (well the left for most helis).
Just looking at the general scope of all the hardware, and I'm completly guessing here, if implemented I would need pipextreme and the cc board to complete this if I wanted the settings to change in flight, right?
No need for a PipX, the CopterControl can do all you need. How I would set this up is to set the CopterControl flight mode to channel 5, then on your radio link the gyro gain to the TX flight mode (Normal, Idle 1, Idle 2), most TXs can do this. So when you switch flight mode on the TX, CopterControl will change mode also. Basically just as gain can be changed on a remote gain controlled gyro but rather than gain you are changing flight mode on the CopterControl.
90% of what you need is there, there are two bits missing in the firmware / GCS:
1. Board rotation that can be changed dynamically - I think right now it needs a reboot (not 100% on this)
2. Make board rotation a set-able parameter per attitude mode. Will need the UAVObjects for this and a bit of code.
So if I am following your requirements as well as I think I am, CopterControl could do exactly what you need and has most of the pieces already there but has a a few bits missing currently.
I also need to say what you are making sounds really fantastic, I would love to see CopterControl used to make it happen and while the core devs will let me lose on the GCS with some supervision, there is no way they will let me touch the firmware, to be honest this is a good thing
There are actually other things that could need this board rotation per mode feature as well, for example a biplane quad that does VTOL and then switches to horizontal flight, Paparazzi did one of these a few years back:
Posted 31 May 2012 - 09:58 PM
So what you're thinking Dankers is that flight-mode, which currently describes the modes (rate,att,axis,etc) for yaw/pitch/roll, would have an additional option which is r/p/y rotation and to adjust for little right roll you'd dial in a couple degrees of board rotation. Gyrocopter mode, say fm3 on his transmitter would dial in some pitch rotation to fool cc into maintaining that attitude. Sound about right?
Posted 01 June 2012 - 02:23 AM
dankers: I thought this was going to be more complicated than that. It sounds like coptercontrol is like eepe to the 9x firmware, being able to execute complex mixes with a switch. I am starting to really like this already great system. And thank you, I would like to see this board in my system as well. Before I get a chance to obtain one I will probably get some lower grade gyro systems and test each component separately. Plus I also look forward to the revolution, sounds like really great stuff and possibly a way to really get a controlled test to see if I can get longer endurance with my system as opposed to either straight heli or straight autogyro.
Posted 24 June 2012 - 07:20 PM
Posted 24 June 2012 - 07:37 PM
I'm just curious MikeL but have you made any headway?
No, I'm afraid not, but I haven't forgotten about it either.
We're thrashing to get a release candidate ready for cc3d availability, right after that rolls out we'll have more cycles to devote to pushing the envelope a little further out.
Posted 24 June 2012 - 07:53 PM
Posted 24 June 2012 - 09:13 PM
Thanks for the update MikeL. Good luck to the release
Thanks. I started a code review topic on this so we can get it in the mix, look for something soon as we can.
Posted 24 June 2012 - 10:22 PM
Posted 27 June 2012 - 09:42 AM
use a servo to tilt the board 15 degrees when you flick a switch on the transmitter
Posted 27 June 2012 - 04:32 PM
Posted 29 June 2012 - 06:57 PM
you could run it off channel 5 (flight mode) with a y lead
Lol did not think of that one. Too bad I don't have any more room on my rx for that or else I would try that.
Posted 30 June 2012 - 12:52 AM
So really all you need is a field that says "add bias" and have that be triggered by a switch. Of course, you can also do this in TX with the trim. (Again, in attitude mode. In rate mode, trim would be Bad, but rate mode makes no sense for the kind of flight behavior you're requesting.)
Posted 30 June 2012 - 01:34 AM
Posted 30 June 2012 - 05:33 AM
P.S. I see you're in Lex. Next time I'm back home, we'll have to do a mini fly-in.
Posted 30 June 2012 - 02:57 PM
Posted 01 July 2012 - 07:57 AM