Dear Tom/fellow quad makers,
I am testing 2 parallel motors are once and attempting to balance them like a seesaw, while fixing the other two(not running). My quad weights 1.2kg. At max throttle, i do not think the two motors are able to lift the whole quad.
I would like to find out their mechanical differences and minimum thrust/throttle% to lift off ground before doing PID control of pitch roll and yaw(magnetometer-assisted).
Currently i have no means of measuring thrust. Do you guys measure that?
My Kalman filter tuning isn't quite successful by trial-and-error. I do have scilab(free open source alternative to matlab). what do you guys usually do?
is it something like this:
rotate quad by hand to some degrees(say +/-45deg) and log data, after which, tune in matlab offline. fix R arbitrarily first and try to tune Qs. is the Q of accelerometer is usually bigger than gyro.
3 parameters of infinite combinations i don't really know how to do it.
what is our filter curve supposed to converge to? the accelerometer pitch roll? or perhaps converge to the innovation of KF.
most importantly, how long does tuning take? do you take into account motor vibrations or shut off the motor while tuning?
Thanks!