From f01aade72952fc62c40e6afaaa870b562c3d04bf Mon Sep 17 00:00:00 2001 From: Balduin Date: Mon, 12 May 2025 12:13:35 +0200 Subject: [PATCH] ZMO airframe: update parameters (#24803) * ZMO airframe: update parameters Including some parameters we found useful during the tests over the previous months: - various controller & transition tuning refinements - remove battery capacity (not reliable enough w battery degradation) - airspeed scale - rotor configs: - remove everything related to rotors 3 and 4 (which don't exist) - set moment coefficients explicitly even if at default - Increase roll limit (FW_R_LIM, FD_FAIL_R) - min and max airspeeds - tilt servo min and default PWM values * ZMO airframe: address review - explicitly set CA_ROTOR3_* to 0 (as these are set in the parent 13100 which describes a quadrotor) - remove ASPD_SCALE_1 (close enough to default, and better to have slightly low reading) - remove MPC_ACC_HOR_MAX (= default) - remove MPC_TILTMAX_AIR (was temporary) - remove SENS_EN_SF1XX (= default) * ZMO airframe: update tilt setup to describe a setup where tilt servos can provide yaw torque in both directions in multicopter mode. * ZMO airframe: wording --- .../omp_hobby_zmo_fpv/omp_hobby_zmo.params | 54 ++++++++++++------- .../vtol_tiltrotor_omp_hobby_zmo_fpv.md | 7 +-- 2 files changed, 39 insertions(+), 22 deletions(-) diff --git a/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params b/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params index 95b74f9fc1..b9c930673d 100644 --- a/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params +++ b/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params @@ -2,40 +2,48 @@ # Vehicle: VTOL # Vehicle-Id Component-Id Name Value Type -1 1 BAT1_CAPACITY 4000.0 9 1 1 BAT1_N_CELLS 4 6 +1 1 CA_ROTOR0_KM -0.05 9 +1 1 CA_ROTOR0_PX 1.0 9 1 1 CA_ROTOR0_PY -1.0 9 1 1 CA_ROTOR0_TILT 1 6 +1 1 CA_ROTOR1_KM 0.05 9 1 1 CA_ROTOR1_PX 1.0 9 1 1 CA_ROTOR1_PY 1.0 9 1 1 CA_ROTOR1_TILT 2 6 +1 1 CA_ROTOR2_KM 0.05 9 1 1 CA_ROTOR2_PX -1.8 9 -1 1 CA_ROTOR_COUNT 3 6 - 1 1 CA_ROTOR2_PY 0.0 9 1 1 CA_ROTOR2_TILT 0.0 9 +1 1 CA_ROTOR3_KM 0.0 9 1 1 CA_ROTOR3_PX 0.0 9 1 1 CA_ROTOR3_PY 0.0 9 -1 1 CA_ROTOR4_AZ 0.0 9 + +1 1 CA_ROTOR_COUNT 3 6 1 1 COM_PREARM_MODE 2 6 -1 1 FW_AIRSPD_MIN 13.0 9 +1 1 FD_FAIL_R 70 6 + +1 1 FW_AIRSPD_MAX 30.0 9 +1 1 FW_AIRSPD_MIN 12.0 9 1 1 FW_AIRSPD_STALL 10.0 9 1 1 FW_BAT_SCALE_EN 1 6 1 1 FW_PR_FF 0.2 9 1 1 FW_PR_I 0.3 9 -1 1 FW_PR_P 0.5 9 +1 1 FW_PR_P 0.3 9 1 1 FW_PSP_OFF 2.0 9 1 1 FW_RR_FF 0.15 9 1 1 FW_RR_I 0.2 9 1 1 FW_RR_P 0.14 9 +1 1 FW_R_LIM 60.0 9 +1 1 FW_THR_ASPD_MAX 0.85 9 +1 1 FW_THR_ASPD_MIN 0.34 9 1 1 FW_THR_TRIM 0.45 9 1 1 FW_T_ALT_TC 10.0 9 1 1 FW_T_CLMB_MAX 17.0 9 1 1 FW_T_CLMB_R_SP 5.0 9 -1 1 FW_T_THR_INTEG 0.03 9 1 1 FW_T_PTCH_DAMP 0.3 9 1 1 FW_T_RLL2THR 10.0 9 1 1 FW_T_SINK_MAX 7.0 9 @@ -43,6 +51,7 @@ 1 1 FW_T_SINK_R_SP 2.5 9 1 1 FW_T_STE_R_TC 0.1 9 1 1 FW_T_THR_DAMPING 0.05 9 +1 1 FW_T_THR_INTEG 0.05 9 1 1 FW_YR_FF 0.13 9 1 1 FW_YR_P 0.1 9 @@ -50,22 +59,24 @@ 1 1 MC_PITCHRATE_I 0.3 9 1 1 MC_PITCHRATE_MAX 120.0 9 1 1 MC_PITCHRATE_P 0.25 9 -1 1 MC_PITCH_P 4.5 9 +1 1 MC_PITCH_P 6.5 9 1 1 MC_ROLLRATE_I 0.3 9 -1 1 MC_ROLLRATE_P 0.28 9 -1 1 MC_ROLL_P 4.0 9 -1 1 MC_YAWRATE_I 0.4 9 -1 1 MC_YAWRATE_P 0.6 9 -1 1 MC_YAW_P 2.8 9 +1 1 MC_ROLLRATE_P 0.25 9 +1 1 MC_ROLL_P 5.0 9 +1 1 MC_YAWRATE_D 0.01 9 +1 1 MC_YAWRATE_I 0.1 9 +1 1 MC_YAWRATE_P 0.2 9 +1 1 MC_YAW_P 1.7 9 -1 1 MPC_ACC_HOR_MAX 5.0 9 -1 1 MPC_JERK_MAX 8.0 9 1 1 MPC_LAND_RC_HELP 1 6 +1 1 MPC_LAND_SPEED 1.2 9 1 1 MPC_THR_HOVER 0.7 9 1 1 MPC_VEL_MANUAL 8.0 9 1 1 MPC_VEL_MAN_SIDE 5.0 9 1 1 MPC_XY_CRUISE 6.0 9 1 1 MPC_XY_VEL_MAX 10.0 9 +1 1 MPC_Z_VEL_MAX_DN 2.0 9 +1 1 MPC_Z_V_AUTO_DN 2.0 9 1 1 PWM_AUX_FUNC1 101 6 1 1 PWM_AUX_FUNC2 102 6 @@ -74,23 +85,28 @@ 1 1 PWM_MAIN_DIS2 1500 6 1 1 PWM_MAIN_DIS3 1500 6 1 1 PWM_MAIN_DIS4 1500 6 -1 1 PWM_MAIN_DIS5 2000 6 -1 1 PWM_MAIN_DIS6 2000 6 +1 1 PWM_MAIN_DIS5 1850 6 +1 1 PWM_MAIN_DIS6 1900 6 1 1 PWM_MAIN_FUNC1 201 6 1 1 PWM_MAIN_FUNC2 202 6 1 1 PWM_MAIN_FUNC3 203 6 1 1 PWM_MAIN_FUNC4 204 6 1 1 PWM_MAIN_FUNC5 205 6 1 1 PWM_MAIN_FUNC6 206 6 +1 1 PWM_MAIN_MIN5 900 6 +1 1 PWM_MAIN_MIN6 930 6 1 1 PWM_MAIN_REV 58 6 1 1 PWM_MAIN_TIM0 50 6 1 1 PWM_MAIN_TIM1 50 6 1 1 PWM_MAIN_TIM2 50 6 +1 1 VT_B_DEC_MSS 1.5 9 1 1 VT_FWD_THRUST_EN 4 6 1 1 VT_FWD_THRUST_SC 0.8 9 1 1 VT_FW_QC_P 70 6 1 1 VT_FW_QC_R 70 6 +1 1 VT_TILT_MC 0.15 9 1 1 VT_TILT_TRANS 0.5 9 - -1 1 SENS_EN_SF1XX 0 6 +1 1 VT_TRANS_MIN_TM 3.0 9 +1 1 VT_TRANS_P2_DUR 1.0 9 +1 1 VT_TRANS_TIMEOUT 10.0 9 diff --git a/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md b/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md index 586287bd0a..2fa66ec43f 100644 --- a/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md +++ b/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md @@ -332,7 +332,8 @@ If motors/servos were connected to different outputs than suggested, you will ne ![Tilt Servo adjustment](../../assets/airframes/vtol/omp_hobby_zmo_fpv/tilt-limits-01.jpg) -1. Adjust the minimum or maximum value that the servo is pointing vertical up. +1. Adjust the minimum (or, if revesed: maximum) value such that the rotor thrust can point backward (needed for proper yaw allocation in Multicopter mode). +1. Adjust the parameter `VT_TILT_MC` such that the rotors point exactly upwards when given zero input. 1. Then type `commander transition` into the MAVLink shell to adjust the horizontal position. #### Control Surfaces @@ -361,8 +362,8 @@ The direction can't be changed in software because the vehicle does not use [DSh ## First Flight - Check tilt rotor reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Keep the throttle stick at the minimum and place the vehicle at the ground. To enable the tilt servos you need to arm the vehicle. - - Yaw the vehicle to the right (nose to the right) -> left motor should tilt down - - Yaw the vehicle to the left (nose to the left) -> right motor should tilt down + - Command a yaw to the right (nose to the right) -> left motor should tilt forward, right motor should tilt backward + - Command a yaw to the left (nose to the left) -> left motor should tilt backward, right motor should tilt forward - Mount the propellers. - Check center of gravity (GG). Switch the vehicle into forward flight mode.