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Thread: APM 2.X with TBS DISCOVERY

  1. #1
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    APM 2.X with TBS DISCOVERY

    I haven't seen any mention using an APM as their autopilot/stabilizer here yet (which you should consider since it's currently the most robust autopilot/stabilizer on the market, and open source!)

    So if anyone is, do you have any advice for tuning the platform? Anything special required? With the stock DJI motors, I moved my Rate Kp down to .120, and Haven't touched my Stabilize Roll Kp yet.

  2. #2
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    Snoopy,
    Did you ever get your tune figured out? I'm thinking about getting the same setup but not sure how APM will handle the asymetrical frame.

  3. #3
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    Hello, I'm also interested in building a similar configuration

    Thank you

  4. #4
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    Actually I did, and I somehow missed Cpig's post. You just have to change the angles in the X config which does require compiling your own code (which isn't hard). Also, the quad will fly on the normal X config, but the controls feel a little "off".

    Here's the DIYdrones thread were we talk about all the good stuff and someone else figured out the exact angles of the TBS frame to use.

    Here is what you edit in the file AP_MotorsQuad.cpp Let me know if you have any questions. Also, you can directly upload with the arudino tool, you don't need to make a .hex file.

    Edit: I posted the old code, thanks Blackbird.
    Last edited by oosnoopy; 8th February 2013 at 09:38 AM.

  5. #5
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    The Link doesn't work. Can you post it once more, oosnoopy?
    Do you know a good documentation that explains how to compile and upload the own code to the APM?

    And: Which parameters do you use for tuning?

  6. #6
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    http://diydrones.com/profiles/blogs/...iscovery-style

    Code:
    add_motor(AP_MOTORS_MOT_1, 55, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_2, 1);
    add_motor(AP_MOTORS_MOT_2, -125, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 3);
    add_motor(AP_MOTORS_MOT_3, -55, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 4);
    add_motor(AP_MOTORS_MOT_4, 125, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_3, 2);
    Last edited by Blackbird; 8th February 2013 at 04:34 AM.

  7. #7
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    Quote Originally Posted by Lioon View Post
    The Link doesn't work. Can you post it once more, oosnoopy?
    Do you know a good documentation that explains how to compile and upload the own code to the APM?

    And: Which parameters do you use for tuning?

    Try this guide for compiling. Its no different than uploading a sketch to an arduino board.
    http://code.google.com/p/arducopter/wiki/Code

    I don't have any 2.9 parameter yet, I've been screwing with with the ardupilot on my trex500, and need to finish rebuilding my TBS.

  8. #8
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    Here are the actual correct angles. I'm doing a step-by-step write up on how edit and upload the custom code that I'll post soon.

    Code:
            // X frame set-up
            add_motor(AP_MOTORS_MOT_1,   62, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
            add_motor(AP_MOTORS_MOT_2, -133, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
            add_motor(AP_MOTORS_MOT_3,  -62, AP_MOTORS_MATRIX_MOTOR_CW,  4);
            add_motor(AP_MOTORS_MOT_4,  133, AP_MOTORS_MATRIX_MOTOR_CW,  2);


  9. #9
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    Does the quad feel better flying when you change the motor angles? Have you done a before/after test? I have it on stock settings working alright

  10. #10
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    Quote Originally Posted by gvickers View Post
    Does the quad feel better flying when you change the motor angles? Have you done a before/after test? I have it on stock settings working alright
    Yes it does, and what I noticed is mostly "control/feel based".

    For example on the default X config, pushing the pitch/roll (right stick) to full top right, doesn't feel like the copter moves exactly like that. With the update config, control inputs seems to better correspond the way the quad behaves in the air.

    I'm sure there are other things, but they would probably have to be measured. This is just what really stood out to me when flying.

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