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Convergence: update to 4.5 #126
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While doing a motor test (to test ArduPilot/ardupilot#25670), I found a bug in the RFX. Output Channel 7 (the rear motor) has the Flight test after fixing still looks fine Here's the diff of the actual rfvehicle file within the RFX to show that I didn't accidentally change anything else. The only other things that changed were subtle lighting differences (I guess) in the autogenerated thumbnail on export and some changes to the
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Actually, I take that back, fixing the RFX made the back-transition significantly worse. I'm digging into this some more. |
Output Channel 7 (the rear motor) had the Input applied twice. This meant that the motor didn't kick in until way late and saturated way early. The the front motors had their 200% power multiplier reduced to 70% and the rear prop was adjusted to be slightly bigger. This brings the throttle values for hover in line with each-other. The aircraft had to be retuned after these changes.
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I made more changes to the RFX.
The hover throttles for the motors match each other better now. Still plenty of power, and I didn't really have to adjust too much on the TECS for the reduced front motor power. I retuned the hover and forward flight gains. Mostly because the changes to the RFX model needed this, but also its flying significantly better as a whole now than before. I'm very happy with it. Log attached: Diff of the rfvehicle file:
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@robertlong13 thanks! |
The parameter file for this is old and is not minimized. I have upgraded it to 4.5 and reduced it to defaults. The formatting is a tad different, because I use Mission Planner to generate this.
Here is a log from a short test. Seems to fly fine.
Convergence_4.5.zip