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Quad8X motor mapping seems to be incorrect on Crius AIO Pro v1.0 #9

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
I am using the new Crius AIO Pro v1.0 flight controller
I am using an OctoX Frame (Octo with Coax in X configuration)
My config: 
#define FRAME_CONFIG OCTA_QUAD_FRAME
#define FRAME_ORIENTATION X_FRAME

FlightControl to motor cabling is done according to the readme file:
** Motor mapping ***
======================================================
Pin     D2    D3    D5    D6    D7    D8    D11   D12   - Arduino pins
======================================================
OctoX   RRFC  BBRC  FFRW  BBLW  FFLC  LLBC  LLFW  RRBW  - Mapping changed since 
2.0.39 version!!!
======================================================

The copter reacts completly unpredictable/wrong. When armed and throttling up 
all 8 motors start but it does not seem to control the motors the right way. It 
wants to flip immediatly and when trying pitch/roll/yaw in my hand it does not 
react the right way on neither of the before mentioned inputs.

I checked the correct cabling/motor-mapping multiple times and also checked 
that the channels show up correctly in Mission Planer - they do. 

Please check the motor-mapping for this frame config

What steps will reproduce the problem?
1. use Crius AIO Pro v1.0 
2. use it on a Quad8X frame

What is the expected output? What do you see instead?
uncontrolled behavoir

What version of the product are you using? On what operating system?
MPNG 2.7 R3

Please provide any additional information below.

Original issue reported on code.google.com by tom...@gmx.net on 11 Aug 2012 at 9:53

Attachments:

GoogleCodeExporter commented 9 years ago 
Thank you very much in advance for fixing this issue

Original comment by tom...@gmx.net on 11 Aug 2012 at 10:22

GoogleCodeExporter commented 9 years ago 
Hi there.. struggled again with my Octo in Quad8X config today.

Seems tike the motor-mapping is definitly wrong. Even though Yaw,Pitch,Roll 
show up correctly in Missionplaner at least Roll is reversed on the copter... 
pulling Pitch has almost no effect at all.. pushing Pitch results in the 
following behavior: the front right motors (FRUC + FRDW) speed up very much, 
copter wants to flip over the left back engines. Trying to Yaw results in the 
same! only front right engines speed up. When holding the copter with my hand 
in stabilize mode... when lowering the left back engines the front right ones 
start to push even harder and make the situation even worse. Somehow it reacts 
completely wrong.

Is there a way to test if each motor is on the correct Output of the Crius AIO 
Pro board, e.g. a motor-test like on the Mikrokopter.de software (here you can 
check each motor individually).

Really need some help here - i do not want to switch back to MultiWii 2.1 just 
to get that Octo going!
Thanks in advance

Original comment by tom...@gmx.net on 12 Aug 2012 at 6:42

GoogleCodeExporter commented 9 years ago 
Motor mapping was wrong in 2.7, I'm updated Readme.txt in R4

Original comment by Alexey.K...@gmail.com on 13 Aug 2012 at 9:33

GoogleCodeExporter commented 9 years ago 
Uhm, the problem is not quite solved yet =)

Now:
Pitch-Stick on Transmitter controls ROLL
Roll-Stick  on Transmitter controls PITCH

Control-Board direction is correct (Arrow on Crius AIO Pro1 points straight 
forward to the copters front)

Channel Mapping on TX is okay as well: i.e. All Sticks correspond to the right 
axes in Mission planer:
TX Thr --> Throttle
TX Ail --> Roll
TX Elv --> Pitch
TX Rud --> Yaw
Direction of the channels is also okay.

My configuration is:
#define PIRATES_SENSOR_BOARD PIRATES_CRIUS_AIO_PRO_V1
#define TX_CHANNEL_SET  TX_mwi
#define FRAME_CONFIG OCTA_QUAD_FRAME
#define FRAME_ORIENTATION X_FRAME

Since ACC (stabilize mode) also does not work as intended this seems not to be 
a problem caused by the Transmitter. The ACC on the controlboard seems to 
compensate Roll by giving Pitch and Pitch by giving Roll.

Seems like the motor mapping is correct but rotated by 90°

Original comment by tom...@gmx.net on 13 Aug 2012 at 12:42

GoogleCodeExporter commented 9 years ago 
Hi Alex.. 
Did you find some time to veriyfy the motor mappings? In the meanwhile I've 
documented the behavior of my Quad8X with MPNG 2.7 R4 and the latest Mixer 
which is: Quad8X BLUC FLUW FRUC BRUW BRDC FRDW FLDC BLDW

It behaves as depicted on the attached JPG.

This behaviour has been observed in ACRO mode - so ACC does not make any 
correction inputs.
When switching to STABILIZE mode the ACC inputs seem to behave the same 
incorrect way.

All channels correspond nicely in Mission planer (mapping OK, direction OK).
In APM_Config.h I set the following:
Code:

#define PIRATES_SENSOR_BOARD PIRATES_CRIUS_AIO_PRO_V1
#define FRAME_CONFIG OCTA_QUAD_FRAME
#define FRAME_ORIENTATION X_FRAME

When you have a close look it seems as if the mapping is just rotated by 90° 
CW.

Best regards!
Thomas

Original comment by tom...@gmx.net on 20 Aug 2012 at 8:00

Attachments:

GoogleCodeExporter commented 9 years ago 
Find the solution here: 
http://www.rcgroups.com/forums/showpost.php?p=22543834&postcount=1197

Please incorporate to next release!
Thanks!

Original comment by tom...@gmx.net on 30 Aug 2012 at 9:10