martin0nesvadba
lvl.1
Switzerland
Offline
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Hello all,
I've been flying an extended F450 (aerial mob arms) for quite a while. It's equipped with an E800 propulsion kit and two 6s 4Ah lipos. All-up weight is about 2800g, center of gravity is located dead-center of the frame ( at least on the xy plane ). Here is a picture of the machine by the time it was equipped with an E600 kit :
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The overall layout didn't change much, except that it uses now two lipos. I can post more recent pictures if that can help to cure the issue.
There isn't any drift or other abnormal behaviour except that it wobbles a bit when flying forward at full speed ( ~18 m/s GPS mode), the wobble gets worse if I try to gain altitude at the same time, or if I try to turn.
It seems to wobble most around a line that goes trough motor 1 and motor 3 - in other words motor 2 goes up and down if we look at onboard footage.
( motor numbers refer to this picture : )
Here is what I tried to do :
-I tried to lower the center of gravity by having one lipo under the quad instead of having both lipos on top - it helped a bit.
-I also made sure the motors are perfectly paralell to the ground - helped a bit too.
-I tried to tell the assistant software the GPS puck position in a more precise way - not sure if that helped.
-I tried to use a lighter but more powerfull lipo ( higher C-rating ) - didn't help.
-I configured a knob on my radio so that I could adjust gains during the flight. Therefore I tried to vary - while flying at full GPS forward speed - one by one all the basic gains from about 50% to 130%. It didn't have much effect on the wobble. I ended up at 65% for pitch, roll and yaw and and 100% for vertical gain.
So thanks for reading me and if someone has an idea, let me know.
Bye
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