PIDMIX problem?
Posted: Fri Feb 02, 2024 6:40 pm
Hello all,
I have a Multiwii Drone setup as -
Arduino Nano with the Multiwii firmware, outputting PWM on D3, D9, D10 and D11 (will be referred as pins 3, 9, 10 and 11 from now). I have a ESP32 next to it which is connected to Wifi and received commands as ip packets. ESP32 parses the ip packets and outputs it to pin 2 of ESP32 which is connected to D2 of Nano. Nano will receive commands for roll, pitch, yaw and throttle as ppm signals in D2. Everything described so far is working perfectly. When armed, the 4 motors get spinning. When applying throttle of 25 to test it, pins 3, 9 and 10 get perfect PWM but pin 11 has no change to its pwm. It is still in its neutral position. But when I increase roll, pitch and yaw values, it gets some thrust, depicting that there is nothing wrong with the motors or esc. But when yaw is max, the pin 11 motor gets thrust but pins 3 and 9 which should have some thrust go to neutral thrust.
Can anybody tell me whether this is a problem with the PIDMIX of the firmware or something else? I've attached the PIDMIX values for my frame QuadX -
#elif defined( QUADX )
motor[0] = PIDMIX(-1,+1,-1); //REAR_R
motor[1] = PIDMIX(-1,-1,+1); //FRONT_R
motor[2] = PIDMIX(+1,+1,+1); //REAR_L
motor[3] = PIDMIX(+1,-1,-1); //FRONT_L
Please let me now. Thank you.
I have a Multiwii Drone setup as -
Arduino Nano with the Multiwii firmware, outputting PWM on D3, D9, D10 and D11 (will be referred as pins 3, 9, 10 and 11 from now). I have a ESP32 next to it which is connected to Wifi and received commands as ip packets. ESP32 parses the ip packets and outputs it to pin 2 of ESP32 which is connected to D2 of Nano. Nano will receive commands for roll, pitch, yaw and throttle as ppm signals in D2. Everything described so far is working perfectly. When armed, the 4 motors get spinning. When applying throttle of 25 to test it, pins 3, 9 and 10 get perfect PWM but pin 11 has no change to its pwm. It is still in its neutral position. But when I increase roll, pitch and yaw values, it gets some thrust, depicting that there is nothing wrong with the motors or esc. But when yaw is max, the pin 11 motor gets thrust but pins 3 and 9 which should have some thrust go to neutral thrust.
Can anybody tell me whether this is a problem with the PIDMIX of the firmware or something else? I've attached the PIDMIX values for my frame QuadX -
#elif defined( QUADX )
motor[0] = PIDMIX(-1,+1,-1); //REAR_R
motor[1] = PIDMIX(-1,-1,+1); //FRONT_R
motor[2] = PIDMIX(+1,+1,+1); //REAR_L
motor[3] = PIDMIX(+1,-1,-1); //FRONT_L
Please let me now. Thank you.