ORIGINAL: kwaiweng
It's exactly the same ammount for the motor pair. I just watch the danvel's video again. I think that his DF is not so stable too when it yaw...you can notice that his DF when starting turning, it will slowly become unstable and will go down... I think his experience in RC heli and planes does help much on stabilise the DF during yaw turning....
Hi guys, I'm back from my holidays. Wow, New York is a impressive city but can also be very stressfull. Now I would need another 2 weeks to rest from my holidays! but I have to go back to work very soon.[
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kwaiweng: Your videos are nice; It doesn't seem that you have stability problems; but this is what I can tell you:
- You should be able to do a complete z turn like I show in my video. The down movement in that video is not because of the algorithm. It's because of my finger (I found it difficult to move my thumb left-right without moving up-down) I have improved on that since them and now I can do it maintaining the same alttitude and without touching the right stick.
In other words, flying the DF needs not only a good algorithm but some finger-practice too. You may think that I'm a RC master but I'm not, I only have a glow trainer, a IFO slowflyer and I had never flown any helicopter of any kind before I made my DF.
- What you call your problem [1] is in fact done INTENTIONALLY in my algorithm because the stick movement is integrated as well as gyro output. Normally, with a small integration constant you wouldn't even be conscious of it, but if you don't like it at all, just remove the stick term from the integration equation; however it provides the necessary correction for the drift that the gyros have during the flight. Otherwise you would have to correct it with the trims and soon you would run out of trim control and you would have to land and take new references again.
- I may be wrong, but I think that 600g is too much for a single 1500mah Li-Po battery. Are you sure that total current is under rated CONTINUOUS discharge? Otherwise your battery won't last long.
-I also agree with the motor heating effect that Spaceclam describes.When small ICS-100 motors heat up, I loose a lot of thrust because hot windings and brushes means higher motor resistance (less power output). I normally allow them to cool down a couple of minutes and I'm able to take off again at full power without recharging the battery. I also wrapped the motors with a U shaped 0,2mm thick aluminium foil (large area and little weight).
Nice to read from all of you again, guys.