Tricopter V1.9 in stable mode

[flyman777]

Hi,

here my flight this afternoon only in stable mode, no drift, no flips and so precise.
Promini - WM+ - BMA180

http://www.youtube.com/watch?v=zRuimHd-_UY

cheers
flyman777

[speto_sk]

Hello flyman77,

I looked your video from tricopter in stable mode. It's great. I have tricopter too with same senzors, but my acc is ADXL345. Please could you put picture about your setting from MultiiWiiConfig ?

Thanks

[flyman777]

Hi speto_sk,

sorry for this late reply, I was outside home.
I'm using the latest MW1.9 with a original WM+ and a BMA180 acc, the both driven by POWERPIN and LLC 3,3V .
I'm using LPF filter to minimize the part of motor-props-frame vibrations and no TRUSTED_ACCZ.

Here my settings in IMU.pde:

#define ACC_LPF_FACTOR 6
#define GYR_CMPF_FACTOR 330.0f

in getEstimatedAttitude(), I changed static int16_t accTemp[3] to static int32_t accTemp[3] to avoid variable overflows
and the filter is:

#if defined(ACC_LPF_FACTOR)
accTemp[axis] = (accTemp[axis] - (accTemp[axis] >>ACC_LPF_FACTOR)) + accADC[axis];
accSmooth[axis] = accTemp[axis]>>ACC_LPF_FACTOR;
#define ACC_VALUE accSmooth[axis]

Following, screenshots from my config in rest pos, middle throttle (hover) and max throttle.

Regards
flyman777

[speto_sk]

THNX a lot flyman777,

your answer isn't later, but I now make a new board for my tricopter. Your setting I will testing later. Thanx.

[ggtronic]

nice job ! i just made the move to 1.9 with same sensor as yours...

i'm a newby with this arduino code edit

juste change pid yet and may try your idea with my strange quad

http://vimeo.com/37088358

[flyman777]

Hi,
I wish you a lot of success for your trials. I decreased the D factor from Roll & Pitch to 14, so my tri don't no more overshoot in roll or pitch.
Flight training is important mainly in the learning phase, fly so much you can, have 4 or more batteries available.
If you are a RC Modeller that would not be a problem for you.
Cheers
flyman777