M4 Quatos Modell oszilliert stark

H

HAL

Benutzer
#1
#1
Hallo zusammen,

nachdem ich mit den PID's mein kleinen 120mm FPV Flieger einigermaßen stabil zum fliegen gebracht habe, wollte ich das ganze noch einmal mit Quatos wiederholen. Ich habe das "3D" Modell erstellt, in der QGC geladen und geflasht. Beim abheben oszilliert der Kopter so stark, das gar nichts geht. Da muß ich etwas generelles falsch gemacht haben. Hat jemand einen Tip für mich ?
so sieht der Kopter aus:


und so das Quatos Modell



Das ist die XML Datei:
Code: 
<?xml version="1.0"?>

<!--	Distances in meters Wieghts in grams +1 == CW rotation -1 == CCW rotation -->

-<quatos_configuration>


-<craft config="quad_x" id="M4-120mm-FPV-Frame">


-<ports>

<port rotation="+1">1</port>

<port rotation="-1">2</port>

<port rotation="+1">3</port>

<port rotation="-1">4</port>

</ports>


-<distance>

<motor>0.060</motor>

</distance>


-<mass>

<motor>6.0</motor>

<arm>1.0</arm>

<esc>0.0</esc>

<!-- untere Platte -->


<cube offsetz="-0.025" offsety="0" offsetx="0" dimz="0.003" dimy="0.035" dimx="0.090" name="Body">5.0</cube>

<!-- Spacer -->


<cube offsetz="-0.0125" offsety="0.015" offsetx="0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="VL">1.0</cube>

<cube offsetz="-0.0125" offsety="-0.015" offsetx="0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="VR">1.0</cube>

<cube offsetz="-0.0125" offsety="0.015" offsetx="-0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="HL">1.0</cube>

<cube offsetz="-0.0125" offsety="-0.015" offsetx="-0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="HR">1.0</cube>

<!-- obere Platte -->


<cube offsetz="0" offsety="0" offsetx="0" dimz="0.003" dimy="0.035" dimx="0.090" name="Top">3.0</cube>

<!-- AQ-M4 -->


<cube offsetz="-0.01" offsety="0" offsetx="0" dimz="0.0016" dimy="0.036" dimx="0.036" name="M4">6.0</cube>

<!-- LiPo nano-tech 950mAH -->


<cube offsetz="-0.032" offsety="0" offsetx="0" dimz="0.008" dimy="0.025" dimx="0.065" name="LIPO">24.0</cube>

<!-- GPS-Dipol -->


<cube offsetz="-0.0325" offsety="0" offsetx="-0.040" dimz="0.065" dimy="0.002" dimx="0.002" name="GPS-H">1.0</cube>

<cube offsetz="-0.065" offsety="0" offsetx="-0.040" dimz="0.002" dimy="0.10" dimx="0.002" name="GPS-Q">1.0</cube>

<!-- FPV Sender -->


<cube offsetz="-0.005" offsety="0" offsetx="0.030" dimz="0.005" dimy="0.018" dimx="0.020" name="FPV-TX">3.0</cube>

<!-- FPV Cam -->


<cube offsetz="-0.020" offsety="0.00" offsetx="0.042" dimz="0.025" dimy="0.015" dimx="0.007" name="FPV-CAM">2.0</cube>

</mass>

</craft>

</quatos_configuration>
und das alle Parameter:
Code: 
# Onboard parameters for system MAV 004

COMM_BAUD1	                   115200
COMM_BAUD2	                   230400
COMM_BAUD3	                  3000000
COMM_BAUD4	                   460800
COMM_BAUD5	                   115200
COMM_BAUD6	                   115200
COMM_BAUD7	                   115200
COMM_STREAM_TYP1	                        2
COMM_STREAM_TYP2	                        0
COMM_STREAM_TYP3	                        0
COMM_STREAM_TYP4	                        0
COMM_STREAM_TYP5	                        2
COMM_STREAM_TYP6	                        0
COMM_STREAM_TYP7	                        0
CONFIG_VERSION	                      128
CTRL_DBAND_THRO	                       40
CTRL_DEAD_BAND	                       40
CTRL_FACT_PITC	          0.0500000007451
CTRL_FACT_ROLL	          0.0500000007451
CTRL_FACT_THRO	           0.800000011921
CTRL_MAN_YAW_RT	                      180
CTRL_MAX	                     1446
CTRL_MIN_THROT	                       20
CTRL_NAV_YAW_RT	                      180
CTRL_PID_TYPE	                        0
CTRL_TLT_ANG_D	                     8400
CTRL_TLT_ANG_DM	                      725
CTRL_TLT_ANG_F	                     0.25
CTRL_TLT_ANG_I	         0.00240000011399
CTRL_TLT_ANG_IM	                      360
CTRL_TLT_ANG_OM	                     1200
CTRL_TLT_ANG_P	                      290
CTRL_TLT_ANG_PM	                      725
CTRL_TLT_RTE_D	                    34600
CTRL_TLT_RTE_DM	                     9999
CTRL_TLT_RTE_F	                     0.25
CTRL_TLT_RTE_I	                        0
CTRL_TLT_RTE_IM	                     9999
CTRL_TLT_RTE_OM	                     1200
CTRL_TLT_RTE_P	                        0
CTRL_TLT_RTE_PM	                     9999
CTRL_YAW_ANG_D	                        0
CTRL_YAW_ANG_DM	                        0
CTRL_YAW_ANG_F	                        0
CTRL_YAW_ANG_I	        1.99999994948e-05
CTRL_YAW_ANG_IM	          0.0399999991059
CTRL_YAW_ANG_OM	                     1.25
CTRL_YAW_ANG_P	          0.0500000007451
CTRL_YAW_ANG_PM	                     1.25
CTRL_YAW_RTE_D	                      240
CTRL_YAW_RTE_DM	                      386
CTRL_YAW_RTE_F	                     0.25
CTRL_YAW_RTE_I	           0.725000023842
CTRL_YAW_RTE_IM	                      386
CTRL_YAW_RTE_OM	                      870
CTRL_YAW_RTE_P	                     1445
CTRL_YAW_RTE_PM	                      386
GMBL_NTRL_PITCH	                     1575
GMBL_NTRL_ROLL	                     1442
GMBL_PITCH_PORT	                        0
GMBL_PSTHR_CHAN	                        0
GMBL_PSTHR_PORT	                        0
GMBL_PWM_FREQ	                      200
GMBL_PWM_MAX_PT	                     2250
GMBL_PWM_MAX_RL	                     2250
GMBL_PWM_MIN_PT	                      750
GMBL_PWM_MIN_RL	                      750
GMBL_ROLL_EXPO	                        0
GMBL_ROLL_PORT	                        0
GMBL_SCAL_PITCH	          0.0109890112653
GMBL_SCAL_ROLL	          0.0142857143655
GMBL_SLEW_RATE	         0.00499999988824
GMBL_TILT_PORT	                        0
GMBL_TRIG_CH_NEU	                        0
GMBL_TRIG_DIST	                        0
GMBL_TRIG_ON_PWM	                     2100
GMBL_TRIG_ON_TIM	                     1000
GMBL_TRIG_PORT	                        0
GMBL_TRIG_TIME	                        0
IMU_ACC_ALGN_XY	                        0
IMU_ACC_ALGN_XZ	                        0
IMU_ACC_ALGN_YX	                        0
IMU_ACC_ALGN_YZ	                        0
IMU_ACC_ALGN_ZX	                        0
IMU_ACC_ALGN_ZY	                        0
IMU_ACC_BIAS1_X	                        0
IMU_ACC_BIAS1_Y	                        0
IMU_ACC_BIAS1_Z	                        0
IMU_ACC_BIAS2_X	                        0
IMU_ACC_BIAS2_Y	                        0
IMU_ACC_BIAS2_Z	                        0
IMU_ACC_BIAS3_X	                        0
IMU_ACC_BIAS3_Y	                        0
IMU_ACC_BIAS3_Z	                        0
IMU_ACC_BIAS_X	          -0.141796797514
IMU_ACC_BIAS_Y	          0.0391452014446
IMU_ACC_BIAS_Z	           -0.53917402029
IMU_ACC_SCAL1_X	                        0
IMU_ACC_SCAL1_Y	                        0
IMU_ACC_SCAL1_Z	                        0
IMU_ACC_SCAL2_X	                        0
IMU_ACC_SCAL2_Y	                        0
IMU_ACC_SCAL2_Z	                        0
IMU_ACC_SCAL3_X	                        0
IMU_ACC_SCAL3_Y	                        0
IMU_ACC_SCAL3_Z	                        0
IMU_ACC_SCAL_X	                        1
IMU_ACC_SCAL_Y	                        1
IMU_ACC_SCAL_Z	                        1
IMU_FLIP	                        1
IMU_GYO_ALGN_XY	                        0
IMU_GYO_ALGN_XZ	                        0
IMU_GYO_ALGN_YX	                        0
IMU_GYO_ALGN_YZ	                        0
IMU_GYO_ALGN_ZX	                        0
IMU_GYO_ALGN_ZY	                        0
IMU_GYO_BIAS1_X	                        0
IMU_GYO_BIAS1_Y	                        0
IMU_GYO_BIAS1_Z	                        0
IMU_GYO_BIAS2_X	                        0
IMU_GYO_BIAS2_Y	                        0
IMU_GYO_BIAS2_Z	                        0
IMU_GYO_BIAS3_X	                        0
IMU_GYO_BIAS3_Y	                        0
IMU_GYO_BIAS3_Z	                        0
IMU_GYO_BIAS_X	          -0.057058211416
IMU_GYO_BIAS_Y	          0.0447144508362
IMU_GYO_BIAS_Z	         0.00476705608889
IMU_GYO_SCAL_X	                        1
IMU_GYO_SCAL_Y	                        1
IMU_GYO_SCAL_Z	                        1
IMU_MAG_ALGN_XY	        -0.00497152702883
IMU_MAG_ALGN_XZ	         0.00506651913747
IMU_MAG_ALGN_YX	                        0
IMU_MAG_ALGN_YZ	         -0.0463535189629
IMU_MAG_ALGN_ZX	                        0
IMU_MAG_ALGN_ZY	                        0
IMU_MAG_BIAS1_X	                        0
IMU_MAG_BIAS1_Y	                        0
IMU_MAG_BIAS1_Z	                        0
IMU_MAG_BIAS2_X	                        0
IMU_MAG_BIAS2_Y	                        0
IMU_MAG_BIAS2_Z	                        0
IMU_MAG_BIAS3_X	                        0
IMU_MAG_BIAS3_Y	                        0
IMU_MAG_BIAS3_Z	                        0
IMU_MAG_BIAS_X	           0.169587805867
IMU_MAG_BIAS_Y	           0.304183810949
IMU_MAG_BIAS_Z	            1.59209001064
IMU_MAG_DECL	                        0
IMU_MAG_INCL	                      -65
IMU_MAG_SCAL1_X	                        0
IMU_MAG_SCAL1_Y	                        0
IMU_MAG_SCAL1_Z	                        0
IMU_MAG_SCAL2_X	                        0
IMU_MAG_SCAL2_Y	                        0
IMU_MAG_SCAL2_Z	                        0
IMU_MAG_SCAL3_X	                        0
IMU_MAG_SCAL3_Y	                        0
IMU_MAG_SCAL3_Z	                        0
IMU_MAG_SCAL_X	            1.00400805473
IMU_MAG_SCAL_Y	           0.993227124214
IMU_MAG_SCAL_Z	           0.915949881077
IMU_PRESS_SENSE	                        0
IMU_ROT	                     -135
LIC_KEY1	                     ....
LIC_KEY2	                        0
LIC_KEY3	                        0
MOT_ARM	                        0
MOT_CANH	                        0
MOT_CANL	                        0
MOT_FRAME	         6.1648234185e-39
MOT_MAX	                     1050
MOT_MIN	                        0
MOT_PWRD_01_P	            5.89260005951
MOT_PWRD_01_R	            5.89260005951
MOT_PWRD_01_T	            1.02880001068
MOT_PWRD_01_Y	                    -0.25
MOT_PWRD_02_P	            5.89260005951
MOT_PWRD_02_R	           -5.89260005951
MOT_PWRD_02_T	            1.02880001068
MOT_PWRD_02_Y	                     0.25
MOT_PWRD_03_P	           -5.89260005951
MOT_PWRD_03_R	           -5.89260005951
MOT_PWRD_03_T	           0.971199989319
MOT_PWRD_03_Y	                    -0.25
MOT_PWRD_04_P	           -5.89260005951
MOT_PWRD_04_R	            5.89260005951
MOT_PWRD_04_T	           0.971199989319
MOT_PWRD_04_Y	                     0.25
MOT_PWRD_05_P	                        0
MOT_PWRD_05_R	                        0
MOT_PWRD_05_T	                        0
MOT_PWRD_05_Y	                        0
MOT_PWRD_06_P	                        0
MOT_PWRD_06_R	                        0
MOT_PWRD_06_T	                        0
MOT_PWRD_06_Y	                        0
MOT_PWRD_07_P	                        0
MOT_PWRD_07_R	                        0
MOT_PWRD_07_T	                        0
MOT_PWRD_07_Y	                        0
MOT_PWRD_08_P	                        0
MOT_PWRD_08_R	                        0
MOT_PWRD_08_T	                        0
MOT_PWRD_08_Y	                        0
MOT_PWRD_09_P	                        0
MOT_PWRD_09_R	                        0
MOT_PWRD_09_T	                        0
MOT_PWRD_09_Y	                        0
MOT_PWRD_10_P	                        0
MOT_PWRD_10_R	                        0
MOT_PWRD_10_T	                        0
MOT_PWRD_10_Y	                        0
MOT_PWRD_11_P	                        0
MOT_PWRD_11_R	                        0
MOT_PWRD_11_T	                        0
MOT_PWRD_11_Y	                        0
MOT_PWRD_12_P	                        0
MOT_PWRD_12_R	                        0
MOT_PWRD_12_T	                        0
MOT_PWRD_12_Y	                        0
MOT_PWRD_13_P	                        0
MOT_PWRD_13_R	                        0
MOT_PWRD_13_T	                        0
MOT_PWRD_13_Y	                        0
MOT_PWRD_14_P	                        0
MOT_PWRD_14_R	                        0
MOT_PWRD_14_T	                        0
MOT_PWRD_14_Y	                        0
MOT_PWRD_15_P	                        0
MOT_PWRD_15_R	                        0
MOT_PWRD_15_T	                        0
MOT_PWRD_15_Y	                        0
MOT_PWRD_16_P	                        0
MOT_PWRD_16_R	                        0
MOT_PWRD_16_T	                        0
MOT_PWRD_16_Y	                        0
MOT_START	                        0
MOT_VALUE2T_A1	            2.11910009384
MOT_VALUE2T_A2	           0.347400009632
MOT_VALUE_SCAL	                      3.5
NAV_ALT_POS_I	                        0
NAV_ALT_POS_IM	                        0
NAV_ALT_POS_OM	                        1
NAV_ALT_POS_P	            0.20000000298
NAV_ALT_POS_PM	                        1
NAV_ALT_SPED_I	            2.84999990463
NAV_ALT_SPED_IM	                      700
NAV_ALT_SPED_OM	                      700
NAV_ALT_SPED_P	                      200
NAV_ALT_SPED_PM	                      150
NAV_CEILING	                        0
NAV_DIST_I	                        0
NAV_DIST_IM	                        0
NAV_DIST_OM	                      999
NAV_DIST_P	                      0.5
NAV_DIST_PM	                      999
NAV_HDFRE_CHAN	                        0
NAV_LANDING_VEL	                        1
NAV_MAX_DECENT	                      1.5
NAV_MAX_SPEED	                        5
NAV_SPEED_I	         0.00749999983236
NAV_SPEED_IM	                       20
NAV_SPEED_OM	                       30
NAV_SPEED_P	                     10.5
NAV_SPEED_PM	                       20
PPM_CHAN_MID	                     1512
PPM_SCALER	                        3
PPM_THROT_LOW	                     1090
QUATOS_AM1	                       -8
QUATOS_AM1_KNOB	                        0
QUATOS_AM2	                      -50
QUATOS_AM2_KNOB	                        0
QUATOS_J_PITCH	        0.000266049988568
QUATOS_J_ROLL	        0.000110599998152
QUATOS_J_YAW	        0.000338459998602
QUATOS_K1_KNOB	                        0
QUATOS_L1_ASP	                      -10
QUATOS_L1_K1	            18.6000003815
QUATOS_MAX_OUT	                      1.5
QUATOS_MM_P01	          0.0412000007927
QUATOS_MM_P02	          0.0412000007927
QUATOS_MM_P03	         -0.0436000004411
QUATOS_MM_P04	         -0.0436000004411
QUATOS_MM_P05	                        0
QUATOS_MM_P06	                        0
QUATOS_MM_P07	                        0
QUATOS_MM_P08	                        0
QUATOS_MM_P09	                        0
QUATOS_MM_P10	                        0
QUATOS_MM_P11	                        0
QUATOS_MM_P12	                        0
QUATOS_MM_P13	                        0
QUATOS_MM_P14	                        0
QUATOS_MM_P15	                        0
QUATOS_MM_P16	                        0
QUATOS_MM_R01	          0.0423999987543
QUATOS_MM_R02	         -0.0423999987543
QUATOS_MM_R03	         -0.0423999987543
QUATOS_MM_R04	          0.0423999987543
QUATOS_MM_R05	                        0
QUATOS_MM_R06	                        0
QUATOS_MM_R07	                        0
QUATOS_MM_R08	                        0
QUATOS_MM_R09	                        0
QUATOS_MM_R10	                        0
QUATOS_MM_R11	                        0
QUATOS_MM_R12	                        0
QUATOS_MM_R13	                        0
QUATOS_MM_R14	                        0
QUATOS_MM_R15	                        0
QUATOS_MM_R16	                        0
QUATOS_MM_Y01	                       -1
QUATOS_MM_Y02	                        1
QUATOS_MM_Y03	                       -1
QUATOS_MM_Y04	                        1
QUATOS_MM_Y05	                        0
QUATOS_MM_Y06	                        0
QUATOS_MM_Y07	                        0
QUATOS_MM_Y08	                        0
QUATOS_MM_Y09	                        0
QUATOS_MM_Y10	                        0
QUATOS_MM_Y11	                        0
QUATOS_MM_Y12	                        0
QUATOS_MM_Y13	                        0
QUATOS_MM_Y14	                        0
QUATOS_MM_Y15	                        0
QUATOS_MM_Y16	                        0
QUATOS_M_TLT_RT	                      1.5
QUATOS_M_YAW_RT	                      1.5
QUATOS_PROP_K1	                      200
QUATOS_PT_KNOB	                        0
QUATOS_QUAT_TAU	          0.0500000007451
RADIO_AUX2_CH	                        6
RADIO_AUX3_CH	                        7
RADIO_AUX4_CH	                        8
RADIO_AUX5_CH	                        9
RADIO_AUX6_CH	                       10
RADIO_AUX7_CH	                       11
RADIO_FLAP_CH	                        5
RADIO_GEAR_CH	                        4
RADIO_PITC_CH	                        2
RADIO_ROLL_CH	                        1
RADIO_RUDD_CH	                        3
RADIO_SETUP	                        8
RADIO_THRO_CH	                        0
RADIO_TYPE	                       -1
SIG_BEEP_PRT	                        0
SIG_LED_1_PRT	                        0
SIG_LED_2_PRT	                        0
SIG_PWM_PRT	                        0
SPVR_BAT_CRV1	            9.21014404297
SPVR_BAT_CRV2	            14.8179597855
SPVR_BAT_CRV3	           -58.9025497437
SPVR_BAT_CRV4	            116.608200073
SPVR_BAT_CRV5	           -107.419296265
SPVR_BAT_CRV6	            37.7908210754
SPVR_FS_ADD_ALT	                        0
SPVR_FS_RAD_ST1	                        0
SPVR_FS_RAD_ST2	                        0
SPVR_LOW_BAT1	            3.11999988556
SPVR_LOW_BAT2	            3.11999988556
SPVR_VIN_SOURCE	                        0
TELEMETRY_RATE	                       20
 
A

aBUGSworstnightmare

Erfahrener Benutzer
#2
#2
HAL hat gesagt.:
Hallo zusammen,

nachdem ich mit den PID's mein kleinen 120mm FPV Flieger einigermaßen stabil zum fliegen gebracht habe, wollte ich das ganze noch einmal mit Quatos wiederholen. Ich habe das "3D" Modell erstellt, in der QGC geladen und geflasht. Beim abheben oszilliert der Kopter so stark, das gar nichts geht. Da muß ich etwas generelles falsch gemacht haben. Hat jemand einen Tip für mich ?
so sieht der Kopter aus:


und so das Quatos Modell



Das ist die XML Datei:
Code: 
<?xml version="1.0"?>

<!--	Distances in meters Wieghts in grams +1 == CW rotation -1 == CCW rotation -->

-<quatos_configuration>


-<craft config="quad_x" id="M4-120mm-FPV-Frame">


-<ports>

<port rotation="+1">1</port>

<port rotation="-1">2</port>

<port rotation="+1">3</port>

<port rotation="-1">4</port>

</ports>


-<distance>

<motor>0.060</motor>

</distance>


-<mass>

<motor>6.0</motor>

<arm>1.0</arm>

<esc>0.0</esc>

<!-- untere Platte -->


<cube offsetz="-0.025" offsety="0" offsetx="0" dimz="0.003" dimy="0.035" dimx="0.090" name="Body">5.0</cube>

<!-- Spacer -->


<cube offsetz="-0.0125" offsety="0.015" offsetx="0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="VL">1.0</cube>

<cube offsetz="-0.0125" offsety="-0.015" offsetx="0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="VR">1.0</cube>

<cube offsetz="-0.0125" offsety="0.015" offsetx="-0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="HL">1.0</cube>

<cube offsetz="-0.0125" offsety="-0.015" offsetx="-0.040" dimz="0.025" dimy="0.005" dimx="0.005" name="HR">1.0</cube>

<!-- obere Platte -->


<cube offsetz="0" offsety="0" offsetx="0" dimz="0.003" dimy="0.035" dimx="0.090" name="Top">3.0</cube>

<!-- AQ-M4 -->


<cube offsetz="-0.01" offsety="0" offsetx="0" dimz="0.0016" dimy="0.036" dimx="0.036" name="M4">6.0</cube>

<!-- LiPo nano-tech 950mAH -->


<cube offsetz="-0.032" offsety="0" offsetx="0" dimz="0.008" dimy="0.025" dimx="0.065" name="LIPO">24.0</cube>

<!-- GPS-Dipol -->


<cube offsetz="-0.0325" offsety="0" offsetx="-0.040" dimz="0.065" dimy="0.002" dimx="0.002" name="GPS-H">1.0</cube>

<cube offsetz="-0.065" offsety="0" offsetx="-0.040" dimz="0.002" dimy="0.10" dimx="0.002" name="GPS-Q">1.0</cube>

<!-- FPV Sender -->


<cube offsetz="-0.005" offsety="0" offsetx="0.030" dimz="0.005" dimy="0.018" dimx="0.020" name="FPV-TX">3.0</cube>

<!-- FPV Cam -->


<cube offsetz="-0.020" offsety="0.00" offsetx="0.042" dimz="0.025" dimy="0.015" dimx="0.007" name="FPV-CAM">2.0</cube>

</mass>

</craft>

</quatos_configuration>
und das alle Parameter:
Code: 
# Onboard parameters for system MAV 004

COMM_BAUD1	                   115200
COMM_BAUD2	                   230400
COMM_BAUD3	                  3000000
COMM_BAUD4	                   460800
COMM_BAUD5	                   115200
COMM_BAUD6	                   115200
COMM_BAUD7	                   115200
COMM_STREAM_TYP1	                        2
COMM_STREAM_TYP2	                        0
COMM_STREAM_TYP3	                        0
COMM_STREAM_TYP4	                        0
COMM_STREAM_TYP5	                        2
COMM_STREAM_TYP6	                        0
COMM_STREAM_TYP7	                        0
CONFIG_VERSION	                      128
CTRL_DBAND_THRO	                       40
CTRL_DEAD_BAND	                       40
CTRL_FACT_PITC	          0.0500000007451
CTRL_FACT_ROLL	          0.0500000007451
CTRL_FACT_THRO	           0.800000011921
CTRL_MAN_YAW_RT	                      180
CTRL_MAX	                     1446
CTRL_MIN_THROT	                       20
CTRL_NAV_YAW_RT	                      180
CTRL_PID_TYPE	                        0
CTRL_TLT_ANG_D	                     8400
CTRL_TLT_ANG_DM	                      725
CTRL_TLT_ANG_F	                     0.25
CTRL_TLT_ANG_I	         0.00240000011399
CTRL_TLT_ANG_IM	                      360
CTRL_TLT_ANG_OM	                     1200
CTRL_TLT_ANG_P	                      290
CTRL_TLT_ANG_PM	                      725
CTRL_TLT_RTE_D	                    34600
CTRL_TLT_RTE_DM	                     9999
CTRL_TLT_RTE_F	                     0.25
CTRL_TLT_RTE_I	                        0
CTRL_TLT_RTE_IM	                     9999
CTRL_TLT_RTE_OM	                     1200
CTRL_TLT_RTE_P	                        0
CTRL_TLT_RTE_PM	                     9999
CTRL_YAW_ANG_D	                        0
CTRL_YAW_ANG_DM	                        0
CTRL_YAW_ANG_F	                        0
CTRL_YAW_ANG_I	        1.99999994948e-05
CTRL_YAW_ANG_IM	          0.0399999991059
CTRL_YAW_ANG_OM	                     1.25
CTRL_YAW_ANG_P	          0.0500000007451
CTRL_YAW_ANG_PM	                     1.25
CTRL_YAW_RTE_D	                      240
CTRL_YAW_RTE_DM	                      386
CTRL_YAW_RTE_F	                     0.25
CTRL_YAW_RTE_I	           0.725000023842
CTRL_YAW_RTE_IM	                      386
CTRL_YAW_RTE_OM	                      870
CTRL_YAW_RTE_P	                     1445
CTRL_YAW_RTE_PM	                      386
GMBL_NTRL_PITCH	                     1575
GMBL_NTRL_ROLL	                     1442
GMBL_PITCH_PORT	                        0
GMBL_PSTHR_CHAN	                        0
GMBL_PSTHR_PORT	                        0
GMBL_PWM_FREQ	                      200
GMBL_PWM_MAX_PT	                     2250
GMBL_PWM_MAX_RL	                     2250
GMBL_PWM_MIN_PT	                      750
GMBL_PWM_MIN_RL	                      750
GMBL_ROLL_EXPO	                        0
GMBL_ROLL_PORT	                        0
GMBL_SCAL_PITCH	          0.0109890112653
GMBL_SCAL_ROLL	          0.0142857143655
GMBL_SLEW_RATE	         0.00499999988824
GMBL_TILT_PORT	                        0
GMBL_TRIG_CH_NEU	                        0
GMBL_TRIG_DIST	                        0
GMBL_TRIG_ON_PWM	                     2100
GMBL_TRIG_ON_TIM	                     1000
GMBL_TRIG_PORT	                        0
GMBL_TRIG_TIME	                        0
IMU_ACC_ALGN_XY	                        0
IMU_ACC_ALGN_XZ	                        0
IMU_ACC_ALGN_YX	                        0
IMU_ACC_ALGN_YZ	                        0
IMU_ACC_ALGN_ZX	                        0
IMU_ACC_ALGN_ZY	                        0
IMU_ACC_BIAS1_X	                        0
IMU_ACC_BIAS1_Y	                        0
IMU_ACC_BIAS1_Z	                        0
IMU_ACC_BIAS2_X	                        0
IMU_ACC_BIAS2_Y	                        0
IMU_ACC_BIAS2_Z	                        0
IMU_ACC_BIAS3_X	                        0
IMU_ACC_BIAS3_Y	                        0
IMU_ACC_BIAS3_Z	                        0
IMU_ACC_BIAS_X	          -0.141796797514
IMU_ACC_BIAS_Y	          0.0391452014446
IMU_ACC_BIAS_Z	           -0.53917402029
IMU_ACC_SCAL1_X	                        0
IMU_ACC_SCAL1_Y	                        0
IMU_ACC_SCAL1_Z	                        0
IMU_ACC_SCAL2_X	                        0
IMU_ACC_SCAL2_Y	                        0
IMU_ACC_SCAL2_Z	                        0
IMU_ACC_SCAL3_X	                        0
IMU_ACC_SCAL3_Y	                        0
IMU_ACC_SCAL3_Z	                        0
IMU_ACC_SCAL_X	                        1
IMU_ACC_SCAL_Y	                        1
IMU_ACC_SCAL_Z	                        1
IMU_FLIP	                        1
IMU_GYO_ALGN_XY	                        0
IMU_GYO_ALGN_XZ	                        0
IMU_GYO_ALGN_YX	                        0
IMU_GYO_ALGN_YZ	                        0
IMU_GYO_ALGN_ZX	                        0
IMU_GYO_ALGN_ZY	                        0
IMU_GYO_BIAS1_X	                        0
IMU_GYO_BIAS1_Y	                        0
IMU_GYO_BIAS1_Z	                        0
IMU_GYO_BIAS2_X	                        0
IMU_GYO_BIAS2_Y	                        0
IMU_GYO_BIAS2_Z	                        0
IMU_GYO_BIAS3_X	                        0
IMU_GYO_BIAS3_Y	                        0
IMU_GYO_BIAS3_Z	                        0
IMU_GYO_BIAS_X	          -0.057058211416
IMU_GYO_BIAS_Y	          0.0447144508362
IMU_GYO_BIAS_Z	         0.00476705608889
IMU_GYO_SCAL_X	                        1
IMU_GYO_SCAL_Y	                        1
IMU_GYO_SCAL_Z	                        1
IMU_MAG_ALGN_XY	        -0.00497152702883
IMU_MAG_ALGN_XZ	         0.00506651913747
IMU_MAG_ALGN_YX	                        0
IMU_MAG_ALGN_YZ	         -0.0463535189629
IMU_MAG_ALGN_ZX	                        0
IMU_MAG_ALGN_ZY	                        0
IMU_MAG_BIAS1_X	                        0
IMU_MAG_BIAS1_Y	                        0
IMU_MAG_BIAS1_Z	                        0
IMU_MAG_BIAS2_X	                        0
IMU_MAG_BIAS2_Y	                        0
IMU_MAG_BIAS2_Z	                        0
IMU_MAG_BIAS3_X	                        0
IMU_MAG_BIAS3_Y	                        0
IMU_MAG_BIAS3_Z	                        0
IMU_MAG_BIAS_X	           0.169587805867
IMU_MAG_BIAS_Y	           0.304183810949
IMU_MAG_BIAS_Z	            1.59209001064
IMU_MAG_DECL	                        0
IMU_MAG_INCL	                      -65
IMU_MAG_SCAL1_X	                        0
IMU_MAG_SCAL1_Y	                        0
IMU_MAG_SCAL1_Z	                        0
IMU_MAG_SCAL2_X	                        0
IMU_MAG_SCAL2_Y	                        0
IMU_MAG_SCAL2_Z	                        0
IMU_MAG_SCAL3_X	                        0
IMU_MAG_SCAL3_Y	                        0
IMU_MAG_SCAL3_Z	                        0
IMU_MAG_SCAL_X	            1.00400805473
IMU_MAG_SCAL_Y	           0.993227124214
IMU_MAG_SCAL_Z	           0.915949881077
IMU_PRESS_SENSE	                        0
IMU_ROT	                     -135
LIC_KEY1	                     ....
LIC_KEY2	                        0
LIC_KEY3	                        0
MOT_ARM	                        0
MOT_CANH	                        0
MOT_CANL	                        0
MOT_FRAME	         6.1648234185e-39
MOT_MAX	                     1050
MOT_MIN	                        0
MOT_PWRD_01_P	            5.89260005951
MOT_PWRD_01_R	            5.89260005951
MOT_PWRD_01_T	            1.02880001068
MOT_PWRD_01_Y	                    -0.25
MOT_PWRD_02_P	            5.89260005951
MOT_PWRD_02_R	           -5.89260005951
MOT_PWRD_02_T	            1.02880001068
MOT_PWRD_02_Y	                     0.25
MOT_PWRD_03_P	           -5.89260005951
MOT_PWRD_03_R	           -5.89260005951
MOT_PWRD_03_T	           0.971199989319
MOT_PWRD_03_Y	                    -0.25
MOT_PWRD_04_P	           -5.89260005951
MOT_PWRD_04_R	            5.89260005951
MOT_PWRD_04_T	           0.971199989319
MOT_PWRD_04_Y	                     0.25
MOT_PWRD_05_P	                        0
MOT_PWRD_05_R	                        0
MOT_PWRD_05_T	                        0
MOT_PWRD_05_Y	                        0
MOT_PWRD_06_P	                        0
MOT_PWRD_06_R	                        0
MOT_PWRD_06_T	                        0
MOT_PWRD_06_Y	                        0
MOT_PWRD_07_P	                        0
MOT_PWRD_07_R	                        0
MOT_PWRD_07_T	                        0
MOT_PWRD_07_Y	                        0
MOT_PWRD_08_P	                        0
MOT_PWRD_08_R	                        0
MOT_PWRD_08_T	                        0
MOT_PWRD_08_Y	                        0
MOT_PWRD_09_P	                        0
MOT_PWRD_09_R	                        0
MOT_PWRD_09_T	                        0
MOT_PWRD_09_Y	                        0
MOT_PWRD_10_P	                        0
MOT_PWRD_10_R	                        0
MOT_PWRD_10_T	                        0
MOT_PWRD_10_Y	                        0
MOT_PWRD_11_P	                        0
MOT_PWRD_11_R	                        0
MOT_PWRD_11_T	                        0
MOT_PWRD_11_Y	                        0
MOT_PWRD_12_P	                        0
MOT_PWRD_12_R	                        0
MOT_PWRD_12_T	                        0
MOT_PWRD_12_Y	                        0
MOT_PWRD_13_P	                        0
MOT_PWRD_13_R	                        0
MOT_PWRD_13_T	                        0
MOT_PWRD_13_Y	                        0
MOT_PWRD_14_P	                        0
MOT_PWRD_14_R	                        0
MOT_PWRD_14_T	                        0
MOT_PWRD_14_Y	                        0
MOT_PWRD_15_P	                        0
MOT_PWRD_15_R	                        0
MOT_PWRD_15_T	                        0
MOT_PWRD_15_Y	                        0
MOT_PWRD_16_P	                        0
MOT_PWRD_16_R	                        0
MOT_PWRD_16_T	                        0
MOT_PWRD_16_Y	                        0
MOT_START	                        0
MOT_VALUE2T_A1	            2.11910009384
MOT_VALUE2T_A2	           0.347400009632
MOT_VALUE_SCAL	                      3.5
NAV_ALT_POS_I	                        0
NAV_ALT_POS_IM	                        0
NAV_ALT_POS_OM	                        1
NAV_ALT_POS_P	            0.20000000298
NAV_ALT_POS_PM	                        1
NAV_ALT_SPED_I	            2.84999990463
NAV_ALT_SPED_IM	                      700
NAV_ALT_SPED_OM	                      700
NAV_ALT_SPED_P	                      200
NAV_ALT_SPED_PM	                      150
NAV_CEILING	                        0
NAV_DIST_I	                        0
NAV_DIST_IM	                        0
NAV_DIST_OM	                      999
NAV_DIST_P	                      0.5
NAV_DIST_PM	                      999
NAV_HDFRE_CHAN	                        0
NAV_LANDING_VEL	                        1
NAV_MAX_DECENT	                      1.5
NAV_MAX_SPEED	                        5
NAV_SPEED_I	         0.00749999983236
NAV_SPEED_IM	                       20
NAV_SPEED_OM	                       30
NAV_SPEED_P	                     10.5
NAV_SPEED_PM	                       20
PPM_CHAN_MID	                     1512
PPM_SCALER	                        3
PPM_THROT_LOW	                     1090
QUATOS_AM1	                       -8
QUATOS_AM1_KNOB	                        0
QUATOS_AM2	                      -50
QUATOS_AM2_KNOB	                        0
QUATOS_J_PITCH	        0.000266049988568
QUATOS_J_ROLL	        0.000110599998152
QUATOS_J_YAW	        0.000338459998602
QUATOS_K1_KNOB	                        0
QUATOS_L1_ASP	                      -10
QUATOS_L1_K1	            18.6000003815
QUATOS_MAX_OUT	                      1.5
QUATOS_MM_P01	          0.0412000007927
QUATOS_MM_P02	          0.0412000007927
QUATOS_MM_P03	         -0.0436000004411
QUATOS_MM_P04	         -0.0436000004411
QUATOS_MM_P05	                        0
QUATOS_MM_P06	                        0
QUATOS_MM_P07	                        0
QUATOS_MM_P08	                        0
QUATOS_MM_P09	                        0
QUATOS_MM_P10	                        0
QUATOS_MM_P11	                        0
QUATOS_MM_P12	                        0
QUATOS_MM_P13	                        0
QUATOS_MM_P14	                        0
QUATOS_MM_P15	                        0
QUATOS_MM_P16	                        0
QUATOS_MM_R01	          0.0423999987543
QUATOS_MM_R02	         -0.0423999987543
QUATOS_MM_R03	         -0.0423999987543
QUATOS_MM_R04	          0.0423999987543
QUATOS_MM_R05	                        0
QUATOS_MM_R06	                        0
QUATOS_MM_R07	                        0
QUATOS_MM_R08	                        0
QUATOS_MM_R09	                        0
QUATOS_MM_R10	                        0
QUATOS_MM_R11	                        0
QUATOS_MM_R12	                        0
QUATOS_MM_R13	                        0
QUATOS_MM_R14	                        0
QUATOS_MM_R15	                        0
QUATOS_MM_R16	                        0
QUATOS_MM_Y01	                       -1
QUATOS_MM_Y02	                        1
QUATOS_MM_Y03	                       -1
QUATOS_MM_Y04	                        1
QUATOS_MM_Y05	                        0
QUATOS_MM_Y06	                        0
QUATOS_MM_Y07	                        0
QUATOS_MM_Y08	                        0
QUATOS_MM_Y09	                        0
QUATOS_MM_Y10	                        0
QUATOS_MM_Y11	                        0
QUATOS_MM_Y12	                        0
QUATOS_MM_Y13	                        0
QUATOS_MM_Y14	                        0
QUATOS_MM_Y15	                        0
QUATOS_MM_Y16	                        0
QUATOS_M_TLT_RT	                      1.5
QUATOS_M_YAW_RT	                      1.5
QUATOS_PROP_K1	                      200
QUATOS_PT_KNOB	                        0
QUATOS_QUAT_TAU	          0.0500000007451
RADIO_AUX2_CH	                        6
RADIO_AUX3_CH	                        7
RADIO_AUX4_CH	                        8
RADIO_AUX5_CH	                        9
RADIO_AUX6_CH	                       10
RADIO_AUX7_CH	                       11
RADIO_FLAP_CH	                        5
RADIO_GEAR_CH	                        4
RADIO_PITC_CH	                        2
RADIO_ROLL_CH	                        1
RADIO_RUDD_CH	                        3
RADIO_SETUP	                        8
RADIO_THRO_CH	                        0
RADIO_TYPE	                       -1
SIG_BEEP_PRT	                        0
SIG_LED_1_PRT	                        0
SIG_LED_2_PRT	                        0
SIG_PWM_PRT	                        0
SPVR_BAT_CRV1	            9.21014404297
SPVR_BAT_CRV2	            14.8179597855
SPVR_BAT_CRV3	           -58.9025497437
SPVR_BAT_CRV4	            116.608200073
SPVR_BAT_CRV5	           -107.419296265
SPVR_BAT_CRV6	            37.7908210754
SPVR_FS_ADD_ALT	                        0
SPVR_FS_RAD_ST1	                        0
SPVR_FS_RAD_ST2	                        0
SPVR_LOW_BAT1	            3.11999988556
SPVR_LOW_BAT2	            3.11999988556
SPVR_VIN_SOURCE	                        0
TELEMETRY_RATE	                       20
Zum Vergrößern anklicken....
Woher kommen denn die Werte für A1/A2? Hast du die selber gemessen?
Quatos fliegt nicht 'Out-of-the-box'; auch hier ist etwas Tuning angesagt. Die Parameter A1/A2 kann man über einen freien Prop-Kanal (oder Digitaltrimmer) über die Funke tunen.
 
H

HAL

Benutzer
#3
#3
Ich habe zunächst die xml Datei vom Ladybird geladen und dann die xml für den 120 mm Frame. Woher dann diese Werte gekommen sind, keine Ahnung. Ich habe gerade versucht A1 / A2 mit zwei Drehregler zu tunen, hab es aber nicht hinbekommen. Zu allem Überfluss hat sich ein Motorkabel durchgescheuert und zu einem Kurzschluss geführt. Dabei ist ein Motortreiber abgeraucht. Das wars dann mit den brushed Modell. Ich hoffe brushless klappt noch , ggf auch über CAN.
 
Um antworten zu können musst du eingeloggt sein.
FPV1

Banggood

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