Yaw movement not shown in GUI, doesnt fly
Posted: Sat Apr 11, 2015 3:55 am
Edit 4/16: Ok guys I've got my Tricopter up in the air now and am doing some PID tuning, to remind everyone I'm new to this, tho I'm not new to PID control topology... I've worked with stepper motor controllers as well as heating element controllers. I've actually got it flying forwards / back /side-to-side very stable and I feel the PID's are all pretty good, it doesnt wobble and in angle mode I can completely let go AS LONG AS I DONT TRY TO YAW.
If I stop all horizonal movement I can slowly make a full yaw rotation but if I try to yaw in either direction as I'm moving at all it goes crazy and I have to set it down to not crash, it will try to resist my stick command so hard that it will actually yaw up to 90* backwards of what I want.
I believe my GYRO/ACC settings are somehow not in agreement, I had a real heck of a time getting the roll/pitch axis' setup correct. Could anyone help with this, it seems crazy and honestly I just dont understand what it's doing to better describe it.
sensor overrides:
Hey guys, I know vague thread titles are disliked here, sorry about that, I just didnt know how better to title this "issue"...
So I actually have two questions, the first is [hopefully] simple- Why in every single document I've ever seen about MW on a tricopter say that all motors go CCW yet in the GUI it shows the left front as being CW? I noticed this from the first time I was far enough along to connect the FC board to MWconfig but I decided, after tons of reading I would ignore it but I still cant help but wonder why?
The other thing is more of an issue [maybe]. I've just finished up my build and got the ECS's calibrated, I accidentally bought all CW props (why on earth motors are labeled "CW" and "CCW" but props are "forward" and "reverse" is beyond me!) but the whole time I was playing with it and getting stuff setup and getting accustom to it when I would rotate the frame / FC around in my hand, as if it were yawing around, the little tricopter icon on the screen would yaw around as well. It would always try to exactly mirror the position of the frame in my hands. Now tonight after I calibrated the ECS's (LITERALLY the only change I made was to activate that line, run it then go back and comment it back out) the icon is no longer showing yaw. The graph / plot of the other axes are all moving just the same, the FC is definitely sensing yaw movement (and trying to correct for it by tilting the tail) but the little icon just stays pointing perfectly straight.
If this wont effect flight it's a non-issue, but I wont know that will monday when my LHS is open and I can get the CCW props (aka "forward") so I'm asking here now, just in case it is a problem hopefully I can fix it by the time I'm ready to fly.
If I stop all horizonal movement I can slowly make a full yaw rotation but if I try to yaw in either direction as I'm moving at all it goes crazy and I have to set it down to not crash, it will try to resist my stick command so hard that it will actually yaw up to 90* backwards of what I want.
I believe my GYRO/ACC settings are somehow not in agreement, I had a real heck of a time getting the roll/pitch axis' setup correct. Could anyone help with this, it seems crazy and honestly I just dont understand what it's doing to better describe it.
sensor overrides:
Code: Select all
/* enforce your individual sensor orientation - even overrides board specific defaults */
//#define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;}
#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = Z;}
//#define FORCE_MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}Hey guys, I know vague thread titles are disliked here, sorry about that, I just didnt know how better to title this "issue"...
So I actually have two questions, the first is [hopefully] simple- Why in every single document I've ever seen about MW on a tricopter say that all motors go CCW yet in the GUI it shows the left front as being CW? I noticed this from the first time I was far enough along to connect the FC board to MWconfig but I decided, after tons of reading I would ignore it but I still cant help but wonder why?
The other thing is more of an issue [maybe]. I've just finished up my build and got the ECS's calibrated, I accidentally bought all CW props (why on earth motors are labeled "CW" and "CCW" but props are "forward" and "reverse" is beyond me!) but the whole time I was playing with it and getting stuff setup and getting accustom to it when I would rotate the frame / FC around in my hand, as if it were yawing around, the little tricopter icon on the screen would yaw around as well. It would always try to exactly mirror the position of the frame in my hands. Now tonight after I calibrated the ECS's (LITERALLY the only change I made was to activate that line, run it then go back and comment it back out) the icon is no longer showing yaw. The graph / plot of the other axes are all moving just the same, the FC is definitely sensing yaw movement (and trying to correct for it by tilting the tail) but the little icon just stays pointing perfectly straight.
If this wont effect flight it's a non-issue, but I wont know that will monday when my LHS is open and I can get the CCW props (aka "forward") so I'm asking here now, just in case it is a problem hopefully I can fix it by the time I'm ready to fly.