I used to have a tuning rig for my quadrocopter but I forgot it at my parents place before I stopped working on it for more than a year and now the rig is gone. Now that I want to continue working on the quad I had to build a new tuning rig.
It is a little larger and better looking than the last one and there is less friction when rotating the quad. This hopefully leads to a better tuned software. I managed to tune the angular rate mode this weekend, I think it will be flyable right now but I haven’t tested it yet due to bad weather. I’ll upload a video as soon as I have tried it outdoors.
This is what I have left to do with controller software:
- Filter yaw gyro signal, it’s to noisy right now to use as a feedback signal for yaw control
- Activate and tune feedback control for yaw
- Tune pitch/roll control in angle mode
- Activate battery voltage measurement, blink LEDs with different speed depending on battery voltage. (and install LEDs on the quad)