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[Paparazzi-devel] Cam4 initial testing report

From: antoine . drouin
Subject: [Paparazzi-devel] Cam4 initial testing report
Date: Sun, 25 Jul 2004 20:31:36 +0200
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Hi everybody

We have mounted the Paparazzi autopilot in the Cam4,
a quadrirotors helicopter build at Supaero.
We have used this bench to run initial testing.

We were able to make it hold an attitude on one axe (P controller on infrared
only). We witnessed worrying oscillations under big disturbance conditions
(when I would hit it strong or realease it at 45 degres).

I think we should try to measure and calibrate the response curve
of the motor controllers.
It would probably help to have a rpm feedback.

Anybody's got an idea on how to do a quick quad-tacho ?
The motors are brushless, so I think that sensing the voltage on one
motor wire could be a solution

I don't have enough comparator/counter on the mega128 do to that here.
Maybe one (four???) external frequency to voltage converter - or a
microcontroller-based solution connected by SPI ?

I really hope that we will not discover that these controllers are to slow.
I think we will have problem with starting time too.

I'd appreciate any comment/idea.


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