LibrePilot Forum
Development => Hardware => Topic started by: Kettentiger on November 11, 2015, 09:25:32 am
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Hi Folks,
i have a problem with my Revo-Clon. In the normal Modus without GPS it's all ok. When i turn GPS on the Copter will flip directly when i start.
The calibration is done correctly...
Any Ideas?
https://www.youtube.com/watch?v=bxCPHc_J9Wc (https://www.youtube.com/watch?v=bxCPHc_J9Wc)
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Hi Thomas,
Is the Gps data accurate ? Sometimes running Gps indoor data is not so good, Gps position do jumps and velocity also.
Finally for best results be sure your Mag is fine, you still have Mag warning.
Laurent
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Hi Laurent,
the GPS works accurate. The Copter stand outside at the Test. Here some pictures from the Copter:
(http://i1205.photobucket.com/albums/bb436/badfrog1968/Bastelkram/CC3D/IMG_20151111_102545_zpswgudxxcm.jpg) (http://s1205.photobucket.com/user/badfrog1968/media/Bastelkram/CC3D/IMG_20151111_102545_zpswgudxxcm.jpg.html)
(http://i1205.photobucket.com/albums/bb436/badfrog1968/Bastelkram/CC3D/IMG_20151111_102556_zpslpu9n44h.jpg) (http://s1205.photobucket.com/user/badfrog1968/media/Bastelkram/CC3D/IMG_20151111_102556_zpslpu9n44h.jpg.html)
(http://i1205.photobucket.com/albums/bb436/badfrog1968/Bastelkram/CC3D/IMG_20151111_102606_zpsif85zun0.jpg) (http://s1205.photobucket.com/user/badfrog1968/media/Bastelkram/CC3D/IMG_20151111_102606_zpsif85zun0.jpg.html)
(http://i1205.photobucket.com/albums/bb436/badfrog1968/Bastelkram/CC3D/IMG_20151111_102626_zpsggglqmm3.jpg) (http://s1205.photobucket.com/user/badfrog1968/media/Bastelkram/CC3D/IMG_20151111_102626_zpsggglqmm3.jpg.html)
(http://i1205.photobucket.com/albums/bb436/badfrog1968/Bastelkram/CC3D/IMG_20151111_102715_zps5vjntwy9.jpg) (http://s1205.photobucket.com/user/badfrog1968/media/Bastelkram/CC3D/IMG_20151111_102715_zps5vjntwy9.jpg.html)
Perhaps a wrong place with many interferences for the CC3D?
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Outside and close to the house is not a best place... most of the Sat from house side are hidden.
To avoid confusion, please remember your board is not a CC3D, its a Revolution.
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You can do a log for maybe a few minutes where you can see attitude changes like video and post log file here.
Tools > Start logging and Tools > Stop logging at end
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Outside and close to the house is not a best place... most of the Sat from house side are hidden.
To avoid confusion, please remember your board is not a CC3D, its a Revolution.
Yes i know, but the weather is not the best here.....deadly for laptop.... ::)
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Yes i know, but the weather is not the best here.....deadly for laptop.... ::)
- Make sure your magnetometer (especially if it's mounted on different board then accelerometer) is mounted firmly.
When you calibrate Magnetometer it must stay in the same position with respect to accelerometer. If you move your magnetometer after calibration and it does not match what accelerometer measures your AttitudeStates will go into crazy oscillations most likely flipping your quad.
- Make sure magnetometer is calibrated outdoors far away from anything metallic, calibrating it indoors or on a balcony or anything like that is usually no go. I do it myself with a OPlink.
- With GPS you should not fly close to buildings or walls.
If you enable diagnostics in the map tab, you should see green path (ignore red one that is adjusted). Green one is what is your GPS measuring. If you see spikes far away, but slowly drifting towards initial point that might be due to multipath reflections from the buildings. Signal travels longer than it should be to your GPS receiver as it gets reflected and confuses your GPS.
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Here is the Logfile....
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In this log file, except the Mag with a solid orange (Warning) i see nothing wrong.
Small changes in attitude are normal running Ins13 (GPS mode), this use all data from sensors Accelelerometer, Gyros, Mag, GPS + velocity and compute attitude state.
The basic algorithm uses only accelerometers/gyros so looks more steady.
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Tomorrow i get another Clone. I wil try him and tell you about. Perhaps this Clone here is broken!?
What a pity, that the original Revo is so rarely...... :'( :'(
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Tomorrow i get another Clone. I wil try him and tell you about. Perhaps this Clone here is broken!?
What a pity, that the original Revo is so rarely...... :'( :'(
Flight controller should be the last thing to blame I think. Number of people fly them after proper calibration. They had issues at beginning but in the end it was resolved as calibration issue. Especially if it flies in Complementary mode it is rather unlikely that flight controller is faulty. Seems like people rush into wrong conclusions blaming clones when something does not work first time, which almost never is the case.
I would suggest to try to fix orange mag, and do proper calibration with temp calibration, and magnetometer outdoors. Also fixing your magnetometer firmly and allowing GPS to sit for at least 20min before first fly on completely open space far from buildings.
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So i believe the problem is terminated. The CC3D was stick with doubletape on the Frame. There are vibrations wenn the engines run. Now i put it on a damperplate.
(http://i1205.photobucket.com/albums/bb436/badfrog1968/Bastelkram/CC3D/IMG_20151111_163050_zpsns6vdbxd.jpg) (http://s1205.photobucket.com/user/badfrog1968/media/Bastelkram/CC3D/IMG_20151111_163050_zpsns6vdbxd.jpg.html)
Now i test it again. There was only a little peak on the artificial horizon.... ;D
But now problems with the topplate....... :-\
(http://i1205.photobucket.com/albums/bb436/badfrog1968/Bastelkram/CC3D/IMG_20151111_163920_zps4botoasi.jpg) (http://s1205.photobucket.com/user/badfrog1968/media/Bastelkram/CC3D/IMG_20151111_163920_zps4botoasi.jpg.html)
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About vibes, you can change the Accel filter value. Put something like 0.05 or more.
Double sided foam or more layers should works also.
Just see you previously stick board on bottom plate, where the strong current are.
Bottom plate is used to power the four controllers : Not the best place for Mag.
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I have another Idea: I put it away from the Powerplate und put it under the Topplate turned 180 degres. In the GCS i can tune it. ;)
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In my opinion the best config is all strong currents on bottom and FC on top plate.
So battery on bottom with power plate.
Battery can also give wrong mag measurements, not only wires.
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Well my Lipo is too big for the bottom plate...... :-X
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I have another Idea: I put it away from the Powerplate und put it under the Topplate turned 180 degres. In the GCS i can tune it. ;)
If you want to use external Mag in that GPS unit, it must be mounted firmly and you should never change it's position after calibration. In that case it should not be wobbling or be mounted on a battery.
You may want to start flying in Complementary and then try step by step with GPS unit that has external MAG and is on a stand far from electronics and currents. If you have crappy MAG readouts, then GPS is not gonna give you benefit. It's not like GPS from mobile phone which does a lot of extra stuff people are not aware of such as using cell towers, filtering and smoothing and even WiFi signal to get better accuracy.
Adding GPS and Mag wont make it fly better if it's receiving consistent bad read-outs, in that case you are better off flying Complementary.
By the way, I have the same frame (F450) and I mount my battery bellow bottom plate, though I use CC3D on it :)
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By the way, I have the same frame (F450) and I mount my battery bellow bottom plate, though I use CC3D on it :)
Yes, i think there is all space necessary for battery bellow power plate.
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(http://www.hobbyking.com/hobbyking/store/catalog/56840.jpg)
This is my Lipo and it does not fit in the middle of the Frame.
http://www.hobbyking.com/hobbyking/store/__56840__Multistar_High_Capacity_4S_5200mAh_Multi_Rotor_Lipo_Pack.html (http://www.hobbyking.com/hobbyking/store/__56840__Multistar_High_Capacity_4S_5200mAh_Multi_Rotor_Lipo_Pack.html).
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So all sources of interference is minimized , but the FC still spins : As soon as I move the Throttlestick to 2mm , the motors start ( this is normal) but then give the motors full stuff and the copter is uncontrollable .
https://www.youtube.com/watch?v=Thgi-2hTmLM
But the guys from Rcmaster have come forward and that I should send them a video , where you can observe the behavior .... Let's see what they Write to......
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How it works using the basic complementary algorithm ?
You need to remove all "gps" modes in flightmode tab.
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It goes straight up when you jump up, that is a good sign. It is normal for it to tumble a bit when falling if you stop the motors.
In that regard, I didn't really see anything wrong in the video. Jump up to just 3 feet. A slow lift off is difficult, and you must NOT correct roll/pitch until it is up off the ground.
If you understand and accept the risk, I would put on a heavy coat for arm protection, and hold it level with my hand while starting a hover at lowest power. That will tell you if it is close to correct. It is probably best if you set yaw PIDs all to zero before doing this test, else when you hold it, you must hold it in exact yaw position it had when first giving it power.
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How it works using the basic complementary algorithm ?
You need to remove all "gps" modes in flightmode tab.
Without the GPS Mode, the complementary mode the copter flys correct.
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It goes straight up when you jump up, that is a good sign. It is normal for it to tumble a bit when falling if you stop the motors.
In that regard, I didn't really see anything wrong in the video. Jump up to just 3 feet. A slow lift off is difficult, and you must NOT correct roll/pitch until it is up off the ground.
If you understand and accept the risk, I would put on a heavy coat for arm protection, and hold it level with my hand while starting a hover at lowest power. That will tell you if it is close to correct. It is probably best if you set yaw PIDs all to zero before doing this test, else when you hold it, you must hold it in exact yaw position it had when first giving it power.
Ok......
That I have to test where I have a lot of space.
He wants directly to get up high.
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About vibes, you can change the Accel filter value. Put something like 0.05 or more.
Double sided foam or more layers should works also.
Just see you previously stick board on bottom plate, where the strong current are.
Bottom plate is used to power the four controllers : Not the best place for Mag.
That is a very good tip. I was wondering why my clone is still a bit worse than the original: the original resides in one of mthreads cases, which are a bit like a damper, while the clone is screwed down to the frame with no dampening. I will change that and see what happens (still need to wait for some spare parts for my cinetank).
edit: just did a quick test with my Nighthawk, that even improved the original Revo's performance.
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@KettenTiger Another strange thing i see from your log file is Gyrobias, around 7 in one axis.
Can you redo Gyro calibration without move frame at all and see how are values after calibration ?
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Which tool do you read from my log?
I will try it when the weather is better here.......Only rain and storm....
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Which tool do you read from my log?
You can replay log using GCS, on bottom/right select Log file
I will try it when the weather is better here.......Only rain and storm....
Check current Gyrobias in UavBrowser and redo Gyro calibration, no need good weather, only a stable desk :)