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sriramgbhagwat / arducopter

Automatically exported from code.google.com/p/arducopter
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Stability patch missing for some motor configurations #375

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
The stability patch for Y6 and octo are still a TODO since a long time.

Also in Y6 the motors on the tail could be inverted (CCW on bottom as the 
others) because colet type holder might get loose faster on CCW props and a 
loose prop on bottom might be better than losing a prop from the top. Or is 
there any reasons for which they are like this now?

Original issue reported on code.google.com by augrol-m...@yahoo.it on 3 Mar 2012 at 4:22

GoogleCodeExporter commented 8 years ago 
Yes, we should add it for these motor types: octa, octa_quad, y6.

We probably need to add a little array holding what is the opposite motor 
because it gets a bit complicated with the APM1 and APM2's different motor 
mappings.

Original comment by rmackay...@gmail.com on 14 Mar 2012 at 2:32

GoogleCodeExporter commented 8 years ago 
The latest code as it implemented for Octa and Octa_quad.  So only the Y6 
doesn't have it yet.
So this should appear in release 2.6.

Original comment by rmackay...@gmail.com on 10 Apr 2012 at 2:49

GoogleCodeExporter commented 8 years ago 
I made the code for Y6. It's a merge from AP_MotorsMatrix and AP_MotorsTri 
considering that the Y6 frame has more than one opposing motors and because of 
this doesn't fit the AP_MotorsMatrix structures.

Being my first contribution to Arducopter please check it before including it 
to the project (I don't even have an Y6 to test it yet).

Also now the define AP_MOTORS_Y6_YAW_DIRECTION is used when mixing yaw in 
motors output (it wasn't before) but I don't know if this is useful or not. 
Everything is optimized to reduce multiplications at a maximum.

Let me know what do you think.

Original comment by augrol-m...@yahoo.it on 14 Apr 2012 at 1:45

GoogleCodeExporter commented 8 years ago 
Augrol-misc,
    Nice work! thank you very much!

Original comment by rmackay...@gmail.com on 16 Apr 2012 at 12:40

GoogleCodeExporter commented 8 years ago 
I still don't see it in the public release, though :(
Anyone has an idea on when it will be included?

Also we should add a mavlink parameter to decide if use the current prop 
direction or have all CW props on top and CCW props on bottom (or opposite) 
because a lot of Y6 owners (me included) complain about having to buy 4 
different kinds of props (top low pitched, bottom high pitched, cw and ccw) and 
it's really difficult to find all combinations.

Original comment by augrol-m...@yahoo.it on 11 Jun 2012 at 12:14

GoogleCodeExporter commented 8 years ago 
Closing all issues on the old issues list by marking them WontFix.

If this is still a valid issue please re-raise it on the new GitHub issues 
list: https://github.com/diydrones/ardupilot/issues

Thanks!

Original comment by rmackay...@gmail.com on 21 Jul 2013 at 2:14