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Title: A lighter/efficient 10" quad with 3-axis gimbal Post by: kn8alpha on August 24, 2018, 07:41:55 PM After some time building mini-quads I've gone full circle back to 10" build. This is my second build of this size, the first being using the tried and tested "F450 frame", in this thread here - http://www.rcindia.org/multirotors/(build)-home-built-aerial-videography-drone-for-cinematic-videos/.
I've been wanting to make that quad better, so got this new frame Q380 (http://www.helipal.com/happymodel-q380-quad-frame.html) which could still take 10" props for a 380mm.. sweet! Upgrades so far: - Transferred electronics to Q380, soldered motors (2212 920kv) to ESCs (SimonK 30A) directly, no bullet connectors. All this saved a whooping 110g! Time for a bigger battery perhaps? - 2-axis gimbal replaced with Storm32 3-axis gimbal. Changed IMU orientation to enable mounting the gimbal on top of the quad. I prefer to keep the battery on the bottom, and really hate those landing legs. - GPS upgraded to M8N and mast re-positioned. Folds down neatly and the quad could actually fit in a backpack! (https://lh3.googleusercontent.com/zzA2WVuTpPT8rltP2K5Ll6vVTmCwoK5ulfP43NM6ngwVPH5N4MYuYWn3VwXXqz_D_UroI_sKT_OhJz2B19wB0450t22Uquk52y5LksP7hzwSBXqV6oL38YJCUrdB3yDd89ePkkR_z3lMV_PX13EJJOIrSIFuuhfkKTwtRPDFc198hxpKZSTOdCZDMob31-SkFU_Y1N8JUsgRTcEBg7wjj95_Ks3cacv5CParU4JjWi2LdtvURvyM48z_YbYhVcXw9b_CZ0c46aSImU55D9OOLlrDBJV7INyQSfMDViFA1CT5gpGTT2hRPE7aeuYmjU59ab6j9rc-SfQINN2B95wfFaV6eNJ_F6JwoXemB5RHQlizwLQgFXQ9-NQjUrLSR5wVB33FgTrj4aldhewZHMr1DrG_5CvXUHAsOCia8NjiVLcKPe7XTIV12spUWAnP07uOPUCwBopMtb8qzgzx9ukPWXblTDDynjLaKEcVJ5Ke-OCQ3nYoafY9WmBb51bz5Z6EItw6NThj4ZszQNCSgB0hkdj3jCn6ck4lgzMbtxxfrqktX0iiJvIfdaA1Lv3dFJDf_W8jnGabtIrFowzvjnOwdgvMSfsbzV-7dbsTg9TLZRtYPmDCk6bNZSvrQrEL77uH=w1536-h864-no) (https://lh3.googleusercontent.com/AJCFdGa_hAPt85mte4OB8kUA5RJrxwuPDwYE399o3_SzMi37rbyA-VRo1K3plPcp34CcQ5-Ifdc1VhmWojiWYfQVobE6zhz32SZk3-WJ2X2TZ5zSSxKa8gU4zWpA7ARuDlmAruiqaJVc_sr2pI0hIQYr-sckV6u_ovN1U6sopH3Ok9Z8eKN6cSef3rIzHetE4_FhryY2tjsjDmHRUnrBpDLvrST8x7wFOXBZ0hh_kVC_RbfJeU3JgvyfwuJ0dWd_CbD6BwHRu2jeWDFGmLrK1ljW-1NPoJ7bcouOjYOguJJHFUORVxyGretvF8xjRTBiyD8WwLT2kh4dwvZc46IluytviRnqXk6Pm1P7pjMJvHBpcB50oiOk4LyjvC3L0Nrr5ychywZ5G29ePEaj_fz1J4DM6njB_5DWjdkVJ2bGddYOlbWJRKUUL-ovZgKZ8Ez6zN5C2P5xLsz5U_TJCd2v-DReBQLeC5X5iWQREtyJBNCex-xCjo-W7LxYKIvVrRIpx-2Sz9Vqgd0uS-oU_-aa0rhWFd1epZ2PC3PR-nwHtMhfEDDkP1yh17HjryCJiQZDVsxXvbj24vGSYt_ZdrB4IqLSibYQsQdD3TTfb1D5tbAbcrpMIIElbj9WR0tpEJGc=w1536-h864-no) Working on tuning the gimbal, next up, re-tune the FC PIDs. Title: Re: A lighter/efficient 10" quad with 3-axis gimbal Post by: kn8alpha on August 24, 2018, 08:37:17 PM So, the gimbal is tuned and working fine. I want to control the pitch from the TX knob (VRa in Flysky i6) and configured APM to do so. Pitch control does work fine too.
But the funny thing is that when pitch control using RC is enabled, the gimbal's pitch seems to be "following" the frame rather than maintaining the commanded pitch angle. This video shows the behavior, am I missing some configuration? https://www.youtube.com/watch?v=WKQXUXyeqFA Title: Re: A lighter/efficient 10" quad with 3-axis gimbal Post by: kn8alpha on September 04, 2018, 07:47:01 AM Update: I had enabled APM's tilt stabilize option by mistake. Works normally after unchecking this box.
There is no "enable" checkbox, you just configure the RC input from the dropdown and it starts working immediately, no hitting save either. Crazy. |