'MultiCopter'에 해당되는 글 39건
- Turnigy Micro Quad V2 PNP ARTF Includes KK2.0 LCD Flight Control Board - Setting Tips.. 2013.01.09
- My XCopter Guard - Hand made... 2013.01.09
- Roll Pitch Yaw & Quad Layout (KK2.0)-XCopter 2013.01.09
- Poly Quad frame of March29 2013.01.04
- Turnigy Micro Quad 2012.12.30
- 아침에는 날아보자 3 2012.11.04
- My TriCopter 2012.10.30
- KK2.0 - Default options & PI Gain Setup 2012.10.30
- TriCopter 2012.10.24
Turnigy Micro Quad V2 PNP ARTF Includes KK2.0 LCD Flight Control Board - Setting Tips..Turnigy Micro Quad V2 PNP ARTF Includes KK2.0 LCD Flight Control Board - Setting Tips..
Posted at 2013. 1. 9. 01:30 | Posted in MultiCopterTip #1:
Reflash the KK2.0 board with 1.4 or 1.5 firmware.
Self-level is SO MUCH better in these firmwares.
Tip #2: Here are the settings I use, works really good imo.
Roll & Pitch = [ P Gain: 70, P Limit: 60, I Gain: 30, I Limit: 20].
Yaw = [ P Gain: 50, P Limit: 20, I Gain: 15, I Limit: 10].
Misc = [ Height Dampening: 10, Heigh D. Limit: 30 ].
Self-level settings = [ P Gain: 40, P limit: 22, ACC Trim to level without stick input ].
If you are still using older firmware versions (<1.4),
you might want to consider not using self-level at all.
확인 필요함..
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Turnigy Micro QuadTurnigy Micro Quad
Posted at 2012. 12. 30. 01:43 | Posted in MultiCopter
Micro Quad Features:
• Light weight design
• High efficiency brushless power system pre-installed
• Integrated PCB frame making for a tidy wiring layout
• PNP configuration taking the guesswork out of choosing your own components
• KK2.0 LCD flight control board
Included in box:
1 x Turnigy Integrated PCB Plug and Fly Micro Quad (motors/ESCs/ KK2.0 control board pre-installed)
4 x Propellers (2CW & 2CCW)
4 x Servo extension leads (for connecting your receiver to control board)
Required items:
500-900mAh 2S 7.4V Lipoly Battery
4 channel transmitter and receiver
Battery charger
Specs:
Width: 250mm
Height: 85mm
Motor: 4 x Turnigy T1811-2900kv Brushless
ESC: 4 x Turnigy Plush 6A
Props: 4 x 5x3 inch (2CW & 2CCW)
Control Board: Hobbyking KK 2.0 LCD Flight Control
Battery Connection: JST
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=27899
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아침에는 날아보자아침에는 날아보자
Posted at 2012. 11. 4. 01:51 | Posted in MultiCopter
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Posted at 2012. 10. 30. 23:53 | Posted in MultiCopter
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KK2.0 - Default options & PI Gain SetupKK2.0 - Default options & PI Gain Setup
Posted at 2012. 10. 30. 18:45 | Posted in MultiCopterNow we will see default options in each menu.
1. PI Editor
Roll (Aileron)
P Gain: 150
P Limit: 100
I Gain: 50
I Limit: 20
1. PI Editor
Roll (Aileron)
P Gain: 150
P Limit: 100
I Gain: 50
I Limit: 20
Pitch (Elevator)
P Gain: 150
P Limit: 100
I Gain: 50
I Limit: 20
P Gain: 150
P Limit: 100
I Gain: 50
I Limit: 20
Yaw (Rudder)
P Gain: 150
P Limit: 20
I Gain: 50
I Limit: 10
P Gain: 150
P Limit: 20
I Gain: 50
I Limit: 10
3. Mode Settings
Self Level: Stick
I part of PI: On
Arming: Stick
Link Roll Pitch: Yes
4. Stick Scaling
Roll (Ail): 30
Pitch (Ele): 30
Yaw (Rud): 50
Throttle: 90
5. Misc Settings
Minimum throttle: 10
LCD Contrast: 36
Height Dampening: 0
Height Dampening Limit: 30
Alarm 1/10 Volts: 0
6. Self-level Settings
P Gain: 40
P Limit: 20
I Gain: 0
I Limit: 0
Roll/pitch P-tuning:
Set the gains and limits to the following values:
Roll/Pitch P-gain: 30 (For a small 25cm size set to 20)
Roll/Pitch P-limit: 100
Roll/Pitch I-gain: 0
Roll/Pitch I-limit: 20
Yaw P-gain: 50
Yaw P-limit: 20
Yaw I-gain: 0
Yaw I-limit: 10
Now, Increase Roll/Pitch P-gain by 10 (5 or less for a small aircraft) at a time, and test your aircraft response by hovering and move the left stick in short and fast movements.
See this video:
As you increase the gain you will notice:
1: The aircraft reacts faster and feels more connected to the stick movement and wander less on its own.
2: The aircraft may oscillate for a short time. Usually a few oscillations, but may be more if gain is high. If it oscillates continually the gain is too high.
3: The aircraft may be harder to land, it bounces back when touching down.
4: The aircraft may climb.
When the aircraft has a good response and does not oscillate or climb when testing, P-gain is good.
Roll/pitch I-tuning:
1: Trim it level.
2: Fly fast forward and center the stick.
If it level itself, increase I-gain.
If it stays in attitude, I-gain is good.
Alternatively setting I gain to 50-100% of P-gain does the trick.
Yaw P-tuning
Increase Yaw P-gain by 10 (5 or less for a small aircraft) at a time, and test your aircraft response by hovering and move the Yaw control stick until it have
yawed about a quarter of a circle, and then center it.
As you increase the gain you will notice:
1: The aircraft start and stops faster.
2: The aircraft overshoots less.
2: The aircraft may start to climb or descend.
When the aircraft has a good response, has a minimum of overshoot and does not climb or descend, P-gain is good.
Alternatively, set it to 100% of Roll/Pitch P-gain
Yaw I-tuning
Increase Yaw I-gain by 10 (5 or less for a small aircraft) at a time, do the same test as above.
When the aircraft overshoots even less, I-gain is good.
Alternatively, set it to 100% of Yaw P-gain.
If you have a small and not dangerous aircraft, you can disturb it around the yaw-axis and see if it returns. increase if not.
It is generally good to keep the gain values in the low range. Excessive gain may introduce vibration and control issues.
Also look at this video:
Airplane use:
1: setup the TX as described in the manual.
2: Connect the motor ESC to the RX as ordinary.
3: Connect a BEC to output#8, to supply the servos. Leave output#1 unused.
4: Using the mixer editor, find and connect the servos to the other outputs.
5: If you need to reverse a function (aileron, elevator, rudder), negate all mixing values for that function on all servos that are used by that function.
6: If you need to reverse a servo, negate the mixing value for that function on the servo in question.
7: adjust the stick scaling to get the required stick response.
8: adjust the mixing values to change the throw.
I recommend setting the I gains to zero when testing.
Alternatively, you can wait for HappySundays OpenAero firmware:
Set the gains and limits to the following values:
Roll/Pitch P-gain: 30 (For a small 25cm size set to 20)
Roll/Pitch P-limit: 100
Roll/Pitch I-gain: 0
Roll/Pitch I-limit: 20
Yaw P-gain: 50
Yaw P-limit: 20
Yaw I-gain: 0
Yaw I-limit: 10
Now, Increase Roll/Pitch P-gain by 10 (5 or less for a small aircraft) at a time, and test your aircraft response by hovering and move the left stick in short and fast movements.
See this video:
| PI tuning: Response test (1 min 45 sec) |
As you increase the gain you will notice:
1: The aircraft reacts faster and feels more connected to the stick movement and wander less on its own.
2: The aircraft may oscillate for a short time. Usually a few oscillations, but may be more if gain is high. If it oscillates continually the gain is too high.
3: The aircraft may be harder to land, it bounces back when touching down.
4: The aircraft may climb.
When the aircraft has a good response and does not oscillate or climb when testing, P-gain is good.
Roll/pitch I-tuning:
1: Trim it level.
2: Fly fast forward and center the stick.
If it level itself, increase I-gain.
If it stays in attitude, I-gain is good.
Alternatively setting I gain to 50-100% of P-gain does the trick.
Yaw P-tuning
Increase Yaw P-gain by 10 (5 or less for a small aircraft) at a time, and test your aircraft response by hovering and move the Yaw control stick until it have
yawed about a quarter of a circle, and then center it.
As you increase the gain you will notice:
1: The aircraft start and stops faster.
2: The aircraft overshoots less.
2: The aircraft may start to climb or descend.
When the aircraft has a good response, has a minimum of overshoot and does not climb or descend, P-gain is good.
Alternatively, set it to 100% of Roll/Pitch P-gain
Yaw I-tuning
Increase Yaw I-gain by 10 (5 or less for a small aircraft) at a time, do the same test as above.
When the aircraft overshoots even less, I-gain is good.
Alternatively, set it to 100% of Yaw P-gain.
If you have a small and not dangerous aircraft, you can disturb it around the yaw-axis and see if it returns. increase if not.
It is generally good to keep the gain values in the low range. Excessive gain may introduce vibration and control issues.
Also look at this video:
| Multicopter PI-tuning: How to recognize different settings. (7 min 52 sec) |
Airplane use:
1: setup the TX as described in the manual.
2: Connect the motor ESC to the RX as ordinary.
3: Connect a BEC to output#8, to supply the servos. Leave output#1 unused.
4: Using the mixer editor, find and connect the servos to the other outputs.
5: If you need to reverse a function (aileron, elevator, rudder), negate all mixing values for that function on all servos that are used by that function.
6: If you need to reverse a servo, negate the mixing value for that function on the servo in question.
7: adjust the stick scaling to get the required stick response.
8: adjust the mixing values to change the throw.
I recommend setting the I gains to zero when testing.
Alternatively, you can wait for HappySundays OpenAero firmware:
Q&A: (Some of the text is borrowed from other users posts in this thread.)
#1
Q: It lists "Singlecopter 1M 4S", does that mean it could be used on say a Trex450?
A: No, but it is possible to configure the mixer for a heli. I will get me a cheapo 450 and see how well it works as a flybarless controller!
#2
Q: Is it possible to write FW on this controller to use as standalone Camera gimbal like the multiwii?
A: Yes, I will write a camera gimbal FW for it.
#3
Q: How does the low voltage alarm work? I can not see any connections for input V?
A: The Battery voltage input is the unpopulated hole to the left of the yellow component. Connect a cable from battery+ to this hole. The ground return is through Output #1's ground wire. Go to "Misc. Settings", "Alarm 1/10 volts:" to set the threshold. It is in 1/10 volts, so 10.5V is entered as "105". The LVC is only active when battery voltage is below the limit. When it goes above, it stops. Also it beeps faster the lower the voltage is below the limit.
#4
Q: Does the aeroplane mode also include autolevelling? or is that only available for copters?
A: It is available for planes too, but that combination is not tested. I will do it when I get more KK2's
#5
Q: CPPM input mode?
A: I will try to add CPPM mode.
#6
Q: If the gyro can work on 2000 deg/sec, why not make the 2000 deg/sec as the working output? Which solder jumper need to be mod?
A: The 440 deg/sec gives a higher resolution. The jumpers is on a horizontal line below the two black chips at the top. From left to right: X, Y and Z axis. The pads already connected with a trace is 440 deg/sec. Cut this trace and connect (solder a thin wire) the center pad to the opposite pad to get 2000 deg/sec. Be careful not to short out the trace that runs in between the pads.
#7
Q: Why is Autolevel so slow?
A: The autolevel is based only on the ACC. It takes some time before the ACC registers tilt due to the horizontal acceleration of the craft when tilting. It needs some speed to get air resistance and a force on the ACC. Therefore the autolevel works best on draggy crafts. Later I will try to implement a AHRS algorithm, which uses both ACC and gyros to get a immediate tilt angle.
#8
Q: What are the "limit" values in "PI Editor"?
A: About the "limit" values. They set the maximum of the available motor power to be used for correction. 100 is 100%. The "I limit" value is also known as "anti wind-up" in PID theory.
The limits is most important on the yaw axis. The prevent a large yaw correction from saturating the motors (giving full or no throttle), causing no control of the roll/pitch axis.
The default values permit 30% ("P Limit" 20 + "I limit" 10) of the motor power to be used to yaw correction, making 70% available for the roll/pitch axis, the most important ones.
You can increase "Yaw P Limit" for faster Yaw response. Note that Yaw response is also limited by the craft itself.
You can increase "Roll/Pitch/Yaw I Limit" for increased heading-hold "memory", that is how far it can deviate and still return to original attitude. Too large memory can cause problems if you have a "blow out" on one of the axis, tries to correct it with opposite control input and then when the blow-out conditions disappear, the craft will try to return to an unknown attitude.
Unless you know what you are doing, leave the limit values as default. Default values has no impact on The PI tuning process.
Also leave the self-level "I gain" and "I limit" at zero. The I part of the self-level algorithm does not work well, this will be fixed later. (Accelerometers is too slow)
#9
Q: Could you explain in detail how does the Height Dampening and Limit works?
A: "Height Dampening" in "Misc. settings" uses the Z accelerometer to dampen vertical movements caused by wind or tilting the craft. "Height D. Limit" Limits how much power available for dampening. Try 30 for the "Height Dampening" and 10 (10%) for "Height D. Limit".
#10
Q: Why does my Peizo buzzer keep making a beeping noise no matter what values I put on the "Alarm 1/10" voltage settings?
A: You must connect the battery voltage input to the battery. See question 3.
#11
Q: Can I use the KK2 with a cheap HK 4 ch radio?
A: That will be fine but if you want to turn on/off the auto level function you will need to do that at the LCD where as a 5th channel will enable you to do it from your transmitter.
#12
Q: I accidentally adjusted the contrast such that I cannot read the screen now.
Does anyone know how to do a reset to default contrast?
A: Turn the KK2 off and on again.
push button 4
push button 3 (four times )
push button 4
push button 3
push button 4
push button 1
push button 3 (36 times)
push button 4
#13
Q: In Tricopter configuration the LCD motor layout suggests that all the motors rotate clockwise. Is that correct?
A: On a Tri any combination of CW and CCW can be used, but the best is to have one of CW or CCW and the other two in the other direction.
#14
Q: How to reverse the yaw gyro for a tricopter?
A: Go to the "Mixer Editor" and change the channel (number to the upper right) to 4 where the yaw servo is connected. Then change the "rudder" mix value to -100.
#15
Q: Why that nut job of a ESC calibration sequence?
A: I know that some of you will try to calibrate the ESC with the propellers on, so by requiring to hold down buttons while calibrating, you will probably let go of the buttons and cause the motors to stop when the propellers start to slice through your arms. Also this makes it impossible to leave the ESC calibration on permanently. Why two buttons? In case some buttons get stuck, it will not enter ESC calibration mode accidentally. I see some defeats this by using clothes pins to press the buttons, but I recommend getting help from a friend. Of course, if you do remove the props, use the clothes pins!
#16
Q:
A:
Known bugs:
1: Arming LED stays on when entering the menu in "arming always on" mode.
2: LCD is sometimes blank on power up. Press menu to get the text to appear.
3:
To do list:
1: Improve the Self-leveling.
2:
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TriCopterTriCopter
Posted at 2012. 10. 24. 21:19 | Posted in MultiCopterTriCopter
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