1a.4 SBee INAV carbon frame - terrytaylorbonn/auxdrone GitHub Wiki

https://github.com/iNavFlight/inav/wiki/Modes https://github.com/iNavFlight/inav/wiki/Navigation-modes (nav poshold)

FLIGHT 2 outside

try eztune???

Flight 24.0529

changed to .17 throttle scale. THIS IS THE CRITICAL CHANGE. at 1.0, when i flew a few days ago, the copter just rocketed straight up and out of sight.. .10 is too little. .17 just right.

changed modes.

result:

angle maybe worked. did seem to hover in the air a bit more stable.. not sure.

but i am appreciating now how flying an FPV is like learning to drive a car. when i first learn to drive, i could not keep the car going straight, constantly correctly the steering wheel. braking was a challenge. i hate it... moving a ton of steel down the road at 100 km/h was not fun. but after a while your subconciously learned to make inputs that smooth out movements.

as you start to stop, you let off the brake, you dont hold down the pedal until you stop fully.
when you change lanes, you understand that the lane change itself will separate you more from the car in front of you.
you make lane changes in a sine wave style... start off very little, in the middle most change, and at the end you taper off.
you learn to "feel" the controls inputs, how to gentle give inputs, before they are needed, just like in changing lanes.

its instinctive for humans to do this. I think maybe its can be defined as inputs to the following

Underlying dynamic system model

a great brodie reed video where he is interviewing a racing fpv pilot, and he talks about ["slow is smooth, and smooth is fast"(https://youtu.be/YFUZN3QIwJ0?t=1783). i think this is what the kalman filter and good piloting is about.. you anticipate, sense what needs to be done and start to do it early.. that smooths movements, slows down accelerations, more control

running with/without this curve did not seem to make much of a difference.

before flight

after.. crashed several times.. battery thrown off, 2-3 zipties broken that held it in place. but the copter still works. impressive. today was the first day i could hold it in the air and move around.. just now starting to get used to the sticks. just like when i first started drive a car. i learned to respect the skills of good copter pilots. amazing that these aspects for first pilots are never discussed by the experts like i just have.

I added a new page for simulation (not the complex gazebo sim i was doing before, but rather the pilot sim)... will start with this today 24.0529.

Flight 24.0528

much better with new motor settings. still hard to maintain at altitude. and when battery got weaker (quickly, after few mins of chaotic flying/crashing), not enough power to get airborn.

had grass around the stack... it caught fire (the grass). but copter still worked.

test in park 24.0528 morning

i set motors idle power 1% and throtte scale .1. they were 15% adn 1.0. tested in local park this morning 24.0528 with RC no props. seemed like might work no... at least wont rocket off into space (the power of the motors shocked me).

Flight 2a 24.0527 rocketed straight up.. i disarmed, crashed

Amazingly the only damage was a crack in the plywood extension board. The props (new quality 3 blade) all survived.

24.0526 ... waiting for amazon stuff.

Lost

props (came off** or damaged from motor heat),
prop nuts in the crash, and
motor bolts (how did that happen?)

**Those props that had screw out direction = turn direction the same were always coming loose. Will use some bolt glue to try to fix.

carbon fiber frame

Gdrive.

The wood frame not work out well (I think it would have been OK if I had made it smaller and better balanced). So 24.0525 moved components to a carbon frame.

20240525_153800