Week Eleven (30/June/2014 - 6/July/2014)
Pitch axis rate controller P gain (ArduCopter:RATE_PIT_P)
Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
Range: 0.08 0.2
Increment: 0.005
Pitch axis rate controller I gain (ArduCopter:RATE_PIT_I)
Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
Range: 0.01 0.5
Increment: 0.01
Pitch axis rate controller I gain maximum (ArduCopter:RATE_PIT_IMAX)
Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Range: 0 500
Increment: 10
Units: Percent*10
Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
Range: 0.08 0.2
Increment: 0.005
Pitch axis rate controller I gain (ArduCopter:RATE_PIT_I)
Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
Range: 0.01 0.5
Increment: 0.01
Pitch axis rate controller I gain maximum (ArduCopter:RATE_PIT_IMAX)
Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Range: 0 500
Increment: 10
Units: Percent*10
How to fly a quadcopter (Introduction)
How to fly a quadcopter (part 1)
How to Fly a Quadcopter (Part 2) - Bank Turns
How to tune your PID on a quadcopter.
What people ask when they see a drone.
First Test Flight (Fail)
Second Test Flight (Fail and Propeller break)
Crash investigate
ESC over heat
During operation, we found that we have two GAUI ESCs that are very hot as the temperature is higher than other two ESCs. We realise that this problem may come from the battery,as we are using 2200mAh 11.1v 3S 45C battery currently. The output current from the battery is 99A. The 4 ESCs are in parallel,so each ESC will draw around 24.75A, however, GAUI GE-010 is designed for 10A current. 24.75A current going to the ESC causes the ESC to overheat, and thus, the accident. Below shows the specification of our ESC.
Specifications of GAUI GE-010 10A Brushless ESC W/Connectors
Class: 10A
Model: Platinum - 10A
Continuance Current: 10A
Burst Current (>10s): 12A
BEC Mode: Linear
BEC Output: 5V/1A
Li-ion / Li-Poly: 2
User Program-able: Available
Balance Discharge Protection: N/A
Weight: 9g
Size: L=27 w=17 h=6
Class: 10A
Model: Platinum - 10A
Continuance Current: 10A
Burst Current (>10s): 12A
BEC Mode: Linear
BEC Output: 5V/1A
Li-ion / Li-Poly: 2
User Program-able: Available
Balance Discharge Protection: N/A
Weight: 9g
Size: L=27 w=17 h=6
ESC setting
We are using GAUI GUEC GM-410 brushless Motor (130W-1050KV) currently, so the ESC setting mush match to Motor and battery, as mention early, we are using 2200mAh 11.1v 3s 45C Li-Po battery, this battery output current to high and make the ESC over heat.
We also find the ESC setting did not match the motor specifications, bellow shown the motor specifications.
We also find the ESC setting did not match the motor specifications, bellow shown the motor specifications.
Specifications of GAUI GM-410 Brushless Motor
Stator Diameter : 22.0 mm (0.866 in)
Stator Thickness : 8.0 mm (0.31 in)
Magnetic pole : 14
Motor Wind : 30 Turn Delta
Motor Wire : 3-Strand 0.21mm
Motor : KV 1050 RPM / Volt
No-Load Current (Io/10V) : 0.39Amps
Motor Resistance (Rm) : 0.19 Ohms
Max Continuous Current : 12 Amps
Max Continuous Power : 130 Watts
Weight : 41Grams (1.95 oz)
Outside Diameter : 27.9 mm (1.13 in)
Shaft Diameter : 2.98 mm (0.12 in)
Body Length : 26.0 mm (1.02 in)
Overall Shaft Length : 44 mm (1.73 in)
Max Lipo Cell : 3s
Motor Timing : 5deg
Drive Frequency : 8kHz
Here show that the motor timing is 5deg, and the ESC default setting for motor timing is Medium which is 15deg.
Stator Diameter : 22.0 mm (0.866 in)
Stator Thickness : 8.0 mm (0.31 in)
Magnetic pole : 14
Motor Wind : 30 Turn Delta
Motor Wire : 3-Strand 0.21mm
Motor : KV 1050 RPM / Volt
No-Load Current (Io/10V) : 0.39Amps
Motor Resistance (Rm) : 0.19 Ohms
Max Continuous Current : 12 Amps
Max Continuous Power : 130 Watts
Weight : 41Grams (1.95 oz)
Outside Diameter : 27.9 mm (1.13 in)
Shaft Diameter : 2.98 mm (0.12 in)
Body Length : 26.0 mm (1.02 in)
Overall Shaft Length : 44 mm (1.73 in)
Max Lipo Cell : 3s
Motor Timing : 5deg
Drive Frequency : 8kHz
Here show that the motor timing is 5deg, and the ESC default setting for motor timing is Medium which is 15deg.
What is motor timing for?
Increase motor timing tends to increase the power output of the motor.
However, this will also decrease the efficiency so the motor will use more current for a given power and run hotter. If the timing is too low the motor will cut out and stall at higher power setting or when quickly advancing the throttle.
For best efficiency one should use the lowest timing setting where the motor runs well.
The default setting did not match to the motor timing. When throttle is quickly advanced, the motor will stall for no apparent reason, thus causing the accident.
Increase motor timing tends to increase the power output of the motor.
However, this will also decrease the efficiency so the motor will use more current for a given power and run hotter. If the timing is too low the motor will cut out and stall at higher power setting or when quickly advancing the throttle.
For best efficiency one should use the lowest timing setting where the motor runs well.
The default setting did not match to the motor timing. When throttle is quickly advanced, the motor will stall for no apparent reason, thus causing the accident.