Re: [Paparazzi-devel] Multirotor Flights

[Kadir ÇİMENCİ]

Hi Loic,

I see 3-4 meters of oscillations , yes i protect the whole imu with a foam , in laboratory i see the altitude value from the ins seems correct with error less than 30 -40 cm. Yesterday the altitude hold was great, and the copter was climbing/decreasing regularly and stopping at the desired altitude regulary, i will test it again tomorrow. By the way do you have any idea about using horizontal ins 'HFF' and 'GUIDANCE_H_APPROX_FORCE_BY_THRUST' ? They are closed in my project right now, i m not sure about using them ..

Thanks

Kadir

2014-02-27 20:05 GMT+02:00 Loic Drumettaz <address@hidden>:

Hi Kadir,

What amplitude are the altitude oscillations with wind? They should be less than 2 meters.
Did you protect the barometer with (permeable) foam?
Good luck with your next flights.
Loic

Le 27 févr. 2014 14:26, "Kadir ÇİMENCİ" <address@hidden> a écrit :

Hello everyone,

Yesterday i have  successfull flights with vertical hover and  rc climb modes in vertical modes. This morning the weather was windy a lot and i see great oscillations in vertical around the setpoint with the same vertical p,i,d parameters, i guess it can be caused by the pressure changes with strong wind, is this idea true ?

Secondly, i have flights with horizontal hover today they were really successful. My quad accomplished to stay at a point with errors of +/-1 meters approximately, against a little wind. Tomorrow i am planning to fly with navigation mode but i want to ask two questions.

1) Is it recommended to use 'GUIDANCE_H_APPROX_FORCE_BY_THRUST ' ? The idea behind of this seems very successful to me..

2) Is it recommended to use 'HFF' horizontal ins ? Is  there anyone who have flights with this filter? Right now i am using only 'VFF'  at INS subsystem.

Frame : Quad - Cross

Board : Lisa/m v2.0

Software : master

Parameters i use ;

Vertical P = 300

Vertical D = 30

Vertical I  = 20

Horizontal P = 50

Horizontal D = 50

Horizontal I  = 20

Horizantal A = 10

Ref_max_speed = 3 m/s

Ref_max_accel  = 2m/s^2

Max bank = 45 degree

2014-02-14 19:18 GMT+02:00 Loic Drumettaz <address@hidden>:

Hi Kadir,

The next step for you is then to be able to switch to hover mode. For this you need to calibrate the magnetometer and define the local magnetic field in your conf.
Also, before the first hover you should check that the magnetometer measurements are not corrupted with motors current magnetic field.  Actually these current are mainly generated by power wires, which must be twisted to reduce the magnetic field generated. Also, the magnetometers can be calibrated to compensate this. See mag current calibration on the wiki.

After the first successful hover, it should be quite easy to switch to nav using example airframe configs and flight plans.

For the nav, first you can take off in rc mode, and tune the horizontal guidance loops and reference generator by moving from a waypoint to another.
Then, the vertical nav (loops and reference generator) can be tuned by moving the waypoint altitude.
This is well documented on the wiki, maybe a step by step tuning page could be added...
After this, you should be able to perform autonomous take-off and landings.
Once there, do not hesitate to ask for more tips.
Loic

Le 14 févr. 2014 07:29, "Kadir ÇİMENCİ" <address@hidden> a écrit :

Hi Loic,

At this moment, i have flights with manual mode only with stabilization blocks they were all successful. And also i have tested the vertical navigational controller for altitude hold and climb modes. They were successful too. But i have no chance to test hovering and navigating horizontally. I am expecting the multirotor to fly between waypoints with straight lines and hover at some horizontal points. I had achieved that kinds of flights with Apm 2.5  4-5 months ago. I hope i can make it with paparazzi too because i believe paparazzi project have a stronger structure than the other open source projects. I am looking for someone who had achieved flights like this to encourage me :)  Thanks for the answer..

Kadir

2014-02-13 21:22 GMT+02:00 Noah Martin <address@hidden>:

Hi Loïc ,
Il faut qu il fasse une recette aussi.
On peut lui envoyer un log d une mission photogrammétrie  avec les coordonnées des waypoints associés ainisi que le bloc.
Walid

Le 13 févr. 2014 16:31, "Kadir ÇİMENCİ" <address@hidden> a écrit :

Hi ,

I need some help :) Im looking for someone to share experience with multirotor flights with paparazzi . It will be great if  i can find a flight data/log with waypoints autonomously. Thanks for any help in advance..

Kadir

2014-02-12 14:54 GMT+02:00 Kadir ÇİMENCİ <address@hidden>:

Hello everyone,

I have noticed that the feedbacks about the flights with multirotor frames are so weak. I cannot find any flight log/video/kml etc. except for some ardrone flights with paparazzi on youtube. I am preparing to my first flight with Paparazzi on LisaM v2.0 with a quadrotor but can't find any refernce flight. Can you please share with any flight experience with multirotors?

Thanks ,
Kadir

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