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ZMR250

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jihlein

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ZMR250

by jihlein » Mon Apr 27, 2015 11:41 pm

Fresh off the first flight test. No video gear or PID tuning yet.

1)MRM ZMR250 bundle, 12 amp MRM controllers (Atmel version that support braking), Sunny Sky 2300s, 5x3 props
2)Naze32Pro flight controller, Spektrum satellite RX
3)Taulabs software
4)Nucleus power distribution
5)3S 1800 35C battery (little heavy, but on hand)

For first flight, ESCs were set to light damping, but oneshot was not enabled on the FC. That will come next, along with auto tuning.
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Trex

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Re: ZMR250

by Trex » Tue Apr 28, 2015 7:38 am

Nice build,
i have build my quad similar ;) .

I am very interested to see your autotune results.
Do you plan to use also 6" props or stay with the 5030 ?

I am also using the Nucleus PDB, but with the slightly different RCX H250 frame, and posted some early autotune results in the thread.
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jihlein

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Thu Nov 13, 2014 11:01 pm

Re: ZMR250

by jihlein » Wed Apr 29, 2015 12:25 pm

Trex:

In preparation for autotuning and trying to help verify some of your numbers, I set gyro rate to 1 kHz. Pleasantly surprised that the Naze32Pro only showed 66% CPU load. No other module, other than autotune, are enabled at the moment.

Could not get oneSHot125 working, need to revisit that, I ran out of time. I'm pretty sure my problem is the ESCs need to be recalibrated, and didn't have the time to remove the props.

When setting up the ESCs, I use the blHeli app (running 13.2 btw), and set each ESCs PPM min/max to 1.004/1.996 mSec respectively. I then use the GCS to set PWM min/mid/max to 1000/1090/2000 respectively. Works fine for normal PWM mode.

When switching to oneShot125, I change min/mid/max to 1500/1650/3000. With these settings the ESCs would not arm. I'll calibrate the ESCs in oneShot125 mode thru the GCS next time. Will interesting to see what the ppm min/max values become.

Going to try autotune in normal PWM mode at lunchtime today......
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Trex

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Re: ZMR250

by Trex » Wed Apr 29, 2015 1:46 pm

Did you want to use OneShot125 together with a 1kHz update rate?
This might cause problems with BLHeli ESCs as BLHeli also supports 1,2,4,8, and 12kHz 0-100% input signals, and has a automatic detection of all the input signals.
And a OneShot125 Signal with a update rate close to 1kHz or higher could be detected as a PWM Signal.

I did my Tests with a special version of BLHeli 13.2 where PWM detection was disabled. OneShot125 seems to work fine with 666Hz and 1kHz, but a OneShot125 Signal with 2kHz update rate was also not detected by the ESC, at least they didn't arm on this signal.

More details about this can be found there: https://github.com/bitdump/BLHeli/issues/55

I also want to do further tests with different signal type with the standard BLHeli 13.2.
The ESC are already flashed back to normal 13.2. They also seem to arm, while still having OneShot125 with 1kHz update rate on the Quanton (props removed). But i don't know if it is detected as OneShot125 or as 1kHz PWM.

On my Quanton i have about 32% CPU Load with 1kHz gyro rate, with Autotune, S.Port Tememetry and Battery as additional modules.
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jihlein

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Thu Nov 13, 2014 11:01 pm

Re: ZMR250

by jihlein » Wed Apr 29, 2015 2:27 pm

Was not aware of that. I'll drop back gyro rate down to 666 Hz for my tests.

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