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Re: [Paparazzi-devel] Tiltrotor-Project

From: Sergey Krukowski
Subject: Re: [Paparazzi-devel] Tiltrotor-Project
Date: Mon, 20 Jun 2016 07:57:00 +0200
User-agent: Opera Mail/11.61 (Win32)

Hi Kevin!

The probable reason for pendulum behavior could be a high vibration level. The first solution here would be to balance your motor/prop pairs. The second one - to mount the AP board closer to the battery, or even better directly under the battery mount plate.

Best regards,

Hi Pascal,

thanks for your input. The torque moments are a very big issue in this
setup. I thought that the torque of the bottom propeller is less effective
because of the messed up airflow. But your thoughts are also right and it
seems to me like my quad is spinning every time into another direction when
I try to fly it. That is proving your point.

Do you have an idea how I could manage my torque issue? Maybe same size
props and working with the Motor-Matrix? (Slower spinning of the top one).

Besides the torque I have really big trouble flying it at all. It is very
hard to control. Other quads I build before were going vertically up into
the air, even without much PID-Tuning. But this one moves a lot and it seems more like a pendulum. I thought maybe wrong PID-Values and I tried to tune
them. But with just the P-Value (all others on minimum) it was even worse
and not to handle. No big changes in flying behavior after increasing and
decreasing the P-Value.

Any suggestions on how to get it stable? (I do not have a GPS connected, IMU
is calibrated)

This is my current Motor-Matrix:
          motor_mixing.roll_coef[0] = 0;
          motor_mixing.roll_coef[1] = 0;
          motor_mixing.roll_coef[2] = 150;
          motor_mixing.roll_coef[3] = -150;

          motor_mixing.pitch_coef[0] = 150;
          motor_mixing.pitch_coef[1] = 150;
          motor_mixing.pitch_coef[2] = -150;
          motor_mixing.pitch_coef[3] = -150;

          motor_mixing.yaw_coef[0] = -256;      
          motor_mixing.yaw_coef[1] = 256;
          motor_mixing.yaw_coef[2] = 0;
          motor_mixing.yaw_coef[3] = 0;

          motor_mixing.thrust_coef[0] = 190;
          motor_mixing.thrust_coef[1] = 190;
          motor_mixing.thrust_coef[2] = 230;
          motor_mixing.thrust_coef[3] = 230;

0= Front Top
1= Front Bottom
2= Back Left
3= Back Right

Here is a picture of the model:


I am thankful for any input,


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