Hi,
I've made some test with
the quad fixed on a table. With 43% throttle, i have the following
results:
|
GYROMETER
|
|
|
|
|
|
voie
|
min
|
max
|
moy
|
stdev
|
|
p
|
-15.1073
|
20.6046
|
0.99363
|
6.3917
|
|
q
|
-12.3935
|
11.5403
|
-0.69831
|
4.3985
|
|
r
|
-36.1035
|
48.0075
|
1.7297
|
16.4202
|
|
ACCELEROMETER
|
|
|
|
|
voie
|
min
|
max
|
moy
|
stdev
|
|
ax
|
-13.6587
|
10.9194
|
0.15068
|
4.3117
|
|
ay
|
-8.347
|
6.8557
|
-0.16339
|
2.8296
|
|
az
|
-15.4049
|
-2.4464
|
-9.7606
|
2.1168
|
|
MAGNETOMETER
|
|
|
|
|
voie
|
min
|
max
|
moy
|
stdev
|
|
mx
|
-0.94291
|
-0.7847
|
-0.86101
|
0.032067
|
|
my
|
0.092289
|
0.19825
|
0.14064
|
0.020364
|
|
mz
|
0.146
|
0.44435
|
0.27401
|
0.05397
|
I don't know if this test
is relevant, since the landing gear does introduce additionnal
vibrations. Nevertheless, i find it easier to compare different damping
arrangements.
I'll try to balance the
motor/propeller and the rubber screws on the IMU. Is it also efficient
to add some mass on the IMU, in order to lower the natural frequency?
I've checked that the motor and frame are well fixed and stiff enough.
Can anyone confirm my
guess that the issues I had with RC climb mode comes from vibrations ?
(see my previous message)
Thanks
Loïc
Hi,
a
vibration level of 20% full scale of the rate sensor is normal.
The
best way is to damp vibrations and to balance the propeller together
with with the motor rotors.
You
can try rubber screws like on this page: https://www.mikrocontroller.com/index.php?main_page=index&cPath=77&zenid=f3cc9c70489e257d4d4e04552f0e1343
If
the damping is to soft the quadcopter will became unstable.
Is
your motor mounting, your frame, wiring and the PCBs fix?
Can
you sense the vibrations with your hands if you hold the quadcopter?
Heinrich
Warmers
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