Post by: muchzill4 on December 16, 2015, 03:55:20 pm
I've been trying a bit of acro+ recently and it's quite fun to fly.
I was wondering if a similar effect could be achieved by setting Rate mode response and Max rate limit to say 1800deg/s and having some expo on both axes. Would that even work as expected (can you set the limits to high and are they respected? - it seems to be set to 800 max in the basic pane)
Post by: ernstock on December 16, 2015, 08:37:40 pm
It's my (beginner) understanding that the rate mode is the "same" for flying in rate or acro.
The acro factor adjusts how happy the multi rotor is to flip / roll ( poss it disconnects gyros?) .
Have recently adjusted the throttle curve on my tx so that I have less travel of throttle stick - it's like cheap 4s !
What rates do you have set in yr acro settings / what do you fly ?
Cheers
Post by: muchzill4 on December 16, 2015, 09:56:38 pm
Rate mode response:
Roll = Pitch = 500
Yaw = 600
Max rate limit:
Roll = Pitch = 500
Yaw = 600
Acro+:
Roll Factor = Pitch Factor = 40
---
I'm wondering if you can make your quad hyper sensitive with very high rate response / limit, but dampen the sensitivity with some expo. Tried browsing the codebase (with my vague understanding of it all), but did not find any hard limits on the response. I hope some devs can reply. :)
Post by: f5soh on December 16, 2015, 10:12:06 pm
Around stick center quad react like a normal rate and when you put stick around limits the quad go to manual. Acro+ do not have any rate limitation with full stick, the only stuff that limit is hardware / motors / props.
If you want more "manual weight" with sticks, increase Acro+ factor.
Post by: muchzill4 on December 16, 2015, 10:25:08 pm
1. Assuming I'd like to use rate without acro+, but have the ability to do some crazy rolls - is there a rate response limit of any kind or is that limited by the hardware too? Basic tab does not allow me to go further than 800deg/s, however I can set it to some crazy values in advanced. Is that respected?
2. Is there a way to control when acro+ kicks in? Like with rattitude mode transition?
Post by: f5soh on December 16, 2015, 10:26:53 pm
Rattitude is Rate + Attitude, you can also reduce the rattitude mode transition (80 default) to 30 so you only get attitude mode when sticks are around center.
Post by: muchzill4 on December 16, 2015, 10:34:49 pm
Post by: f5soh on December 16, 2015, 10:37:01 pm
Mode transition. Is there a similar setting for the acro+ mode?
Acro+ factor, from Rate mode to Manual mode
Post by: muchzill4 on December 16, 2015, 10:58:12 pm
(http://i.imgur.com/SqU5Pvu.png)
For acro+, factors apparently set the manual control blending. There's nothing there about the stick deflection. Is it hardcoded to some arbitrary value (% of stick deflection)?
(http://i.imgur.com/lGf4daN.png)
@f5soh - I promise this is my last question. :P
Post by: f5soh on December 16, 2015, 11:46:09 pm
Post by: ernstock on December 17, 2015, 08:33:10 pm
I fly a 220 frame with a 3s battery.I'm flying a 250 , fpv ,
Rate mode response:
Roll = Pitch = 500
Yaw = 600
Max rate limit:
Roll = Pitch = 500
Yaw = 600
Acro+:
Roll Factor = Pitch Factor = 40
---
Roll and pitch 360
Yaw 500
Acro 55
These settings are with zero expo.
-does make it a bit twitchy but it's what works for me.
Even managed a bit of inverted free fall and recovery today !
( I think this is where 4s and beefier motors comes into play - 4s is not just about faster speeds , is it also about faster recovery ?)
Post by: TheOtherCliff on December 18, 2015, 10:37:47 pm
In theory, it would be about the same to have a very high Rate mode rate with Expo and to use Acro+ with a lower Rate mode rate. Acro+ has an additional piece of code in it though. When spinning fast, and you release the stick, Acro+ zeros the 'I' term accumulator which allows it to stop more quickly.
Be aware that the default setting for max gyro sensor is 2000 degrees per second. If you ever go faster than that, you have confused it so that it doesn't know which way is up any more. That means that if you quickly change to Attitude mode, it may still be confused and it will not be level, perhaps even completely upside down. Also any gimbal you have will not be level (if it survived the 2100 degrees per second :) ). Rattitude and GPS modes require Attitude mode, so they are affected as well.
Post by: muchzill4 on December 19, 2015, 05:55:53 pm
So I've tried setting Rate mode response to something above the basic slider 800 max value. I did set it to 900 on both roll and pitch, but on the save and reconnect the pitch value went back to 800deg/s. Seems that only roll accepted the value of 900. Is there a reason for that?
Post by: TheOtherCliff on December 19, 2015, 08:31:56 pm
You can set the values in System -> Settings -> StabilizationSettingsBank1 (or 2 or 3) -> ManualRate/MaximumRate
MaximumRate is the limit for everything
ManualRate is the Rate mode Rate
After changing the value, highlight the value and press the red up arrow at the top of the screen to save permanently.
Post by: muchzill4 on December 19, 2015, 10:55:14 pm
Thanks for that - helped to investigate a bit further.
I'm able to set 900deg/s on both roll and pitch, but after reconnect the advanced tab does a "soft" reset of the pitch field to 800deg/s.
By soft reset I mean that the value in System -> Settings still shows 900deg/s, so the value shown in advanced tab is not true.
This however is a bit problematic, because after I press save in the advanced tab it sets pitch to whatever is displayed in the pitch field (it will no longer be 900deg/s, but become 800deg/s).
So it seems that you're able to set it to whatever deg/s you want, but there's a bug that displays the wrong value in GCS.
I hope I explained that clearly enough.
edit:
Post by: f5soh on December 19, 2015, 11:16:17 pm
You can also do all changes you want using UAVOBrowser.
(https://forum.librepilot.org/index.php?action=dlattach;topic=438.0;attach=846)
Post by: salsamamacita on January 20, 2016, 01:41:40 am
But the description of rattitude Mode transition says that it controls at what stick deflection attitude will transition into rate.This was alot of help. So what is cruise control about
(http://i.imgur.com/SqU5Pvu.png)
For acro+, factors apparently set the manual control blending. There's nothing there about the stick deflection. Is it hardcoded to some arbitrary value (% of stick deflection)?
(http://i.imgur.com/lGf4daN.png)
@f5soh - I promise this is my last question.
Post by: TheOtherCliff on January 20, 2016, 03:53:54 am
- Adds the correct amount of power to avoid loosing altitude when you bank (assuming you were maintaining altitude before the bank, and also note that due mainly to hardware reaction time, it won't be perfect, but it will help a lot).
- Reduces the motors to 5% power when you are inverted. This makes flips easier.
Rattitude (automatic leveling if you release sticks, but flips at full stick) plus CruiseControl (reduce motor power when inverted) is the easiest way to do your first flips.