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Funny, I was working on the same thing and made virtually the same modification over the weekend and have been flying it since yesterday and just saw this thread today! One thing that makes it just a tad more complex then what you have done is that you only want to convert to UltraPWM for the first 8 channels. Channel 9 and above are used for other things - like stabilized camera mount - so you'll want to leave them alone. ALl it takes is a compare but it'll require your definitions to be modified somewhat. Also, I think you want the max output for UltraPWM to be 1200 - not 2000. Also, you need to subtract around 900 or 950 otherwise the motors will keep running. I found they need to be around 150 to stop with a bit of margin and most radios are putting out like 1095 so if you subtract 950 it works out just about right Anyhow, nice job! Amazing how people can be working on exactly the same stuff without knowing it.
I've built three other ArduPilot APM2.0 multi's and they flew beautifully after tuning PID's via the "hand" method. My x650v8 flew perfectly with the XA FC but it's having yaw and stability problems with APM2.0. I'm starting to think vibration due to the way I've mounted it. Got to change that. I'm pretty excited to get this going. My other multi's are great but I really like the x650V8 airframe and compared to the cost of the XA FC and XA "Autopilot", APM2.0 is amazing. |
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发表于 2013-1-9 23:54
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