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mookie

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Sparky 2 QAV 250 Clone

by mookie » Sat Sep 26, 2015 5:57 pm

Have just come back from testing and setting up the above, flew out of the box with the standard settings albeit a bit wishywashy, tuned the PIDS in rate mode, very crisp with no oscillation, just need to figure out why there is a very slight yaw movement nothing worrying but its there. Have also tuned self levelling which works spot on. I would have tried alt hold but i'm at work and there are way too many cars around on the industrial estate.

Setup as follows QAV 250 Frame clone
DYS 1806-2300kv motors
SN20A ESC with BLHeli V14 One shot
Qav 250 PDB V2 (no wires) :)
Micro Minimosd
3dr MTK 3329 GPS @ 5Hz
on board mag.
2250 3S Lipo

Looking forward to tomorrow, would like to try ALT Hold and may be a couple of way points.

Thnaks to Icee for answering a couple of questions and helping out and to all the other guys who put in a lot of time on here!! :)

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pug398

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Re: Sparky 2 QAV 250 Clone

by pug398 » Sat Sep 26, 2015 7:29 pm

Yaw has always needed pretty high pid values. Seems to slip easy when they are low. Mine P/I end up being between 60 -100 most of the time. The other thing is you may need a little deadband on RC input page. Maybe like 2% in case it is channel jitter telling it to turn.

Nice looking build by the way :)
Last edited by pug398 on Sun Sep 27, 2015 12:16 am, edited 1 time in total.
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mookie

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Re: Sparky 2 QAV 250 Clone

by mookie » Sat Sep 26, 2015 8:00 pm

Thanks for the info pug, I'll drive them up tomorrow. I'm using sbus so there should not be any jitter but i will keep it in mind.
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Re: Sparky 2 QAV 250 Clone

by pug398 » Sun Sep 27, 2015 12:37 am

Before you try AH make sure to put foam between the baro and the upper plate. With the motors close the wash coming across the arm goes right over top the board and plays with the baro.
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Re: Sparky 2 QAV 250 Clone

by mookie » Sun Sep 27, 2015 5:57 pm

Did what you said pug and put a piece of foam on the baro. It worked pretty well in Alt hold, but in position hold it was oscillating quite a lot enough that I had to knock it out a couple of times.

Can you tell me which parts of GCS I should tune to get a better position hold. I have looked at the wiki but other than a page which i followed there does not seem to be info.
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Re: Sparky 2 QAV 250 Clone

by pug398 » Sun Sep 27, 2015 11:22 pm

Do you mean it was up and down in altitude or moving horizontally around the hold position?
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icee

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Re: Sparky 2 QAV 250 Clone

by icee » Sun Sep 27, 2015 11:44 pm

If it was "toilet bowling" that's usually magnetometer calibration. If it's jerky I'd look at your attitude mode tuning. If it's bouncing up and down that's the curse of the baro.
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Re: Sparky 2 QAV 250 Clone

by mookie » Mon Sep 28, 2015 7:50 am

It was moving horizontally in PH. You could see it was only going to get worse, I left it in there for a minute but had to keep pushing it with the sticks I would say it was wondering around in a 10 meter radius.
I decided to check AH and that was Ok it was pretty windy so the odd rise and fall was to be expected but not so that I thought it was in trouble.
I had run through the 6 point cal and the nose was pointing in the correct direction on the map.
I don't know if my GPS is a problem it's running at 5hz but at 38000. It had 11 sats.
I tried with the complimentary and INS outdoor.
I will go back through the attitude tuning to make sure that is ok.
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Re: Sparky 2 QAV 250 Clone

by pug398 » Mon Sep 28, 2015 11:54 am

Starting small and and circling further out is "toilet bowling" and is most likely mag interference. The little brushless motors draw a lot of current and power can end up being run directly underneath the fc. The field generated by the pulsing current messes with the mag on the board. Also with the MTK based gps I am not sure you are getting all the messages you need. I guess you would know whether you used a utility to setup the 6 messages needed for proper navigation. The 5hz nav frequency is fine.
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Re: Sparky 2 QAV 250 Clone

by mookie » Mon Sep 28, 2015 7:35 pm

Just to rule it out I'm fitting a ublox 8, this will take away any guess work from the GPS. also I'll fly it in acro and have a look at the telemetry to make sure the mag stays where it should if not then I have a 3dr external mag ready to go on.
Thanks for the hel pug/icee
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