UKHeliBob:
The motor directions are correct for a KK2 and every other flight controller that I have seen. As to the props, when they turn is the leading edge higher than the trailing edge on each blade ?Did you fix the problem noted in your other thread pointed out by johnwasser ?
esc_1 = throttle - pid_output_pitch
esc_2 = throttle + pid_output_pitch
esc_3 = throttle - pid_output_pitch
esc_4 = throttle - pid_output_pitch
In fact, why did you start a new thread at all ?
Yeah, well about signs ,
"esc_1 = throttle - pid_output_pitch + pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 1 (front-right - CCW)
esc_2 = throttle + pid_output_pitch + pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 2 (rear-right - CW)
esc_3 = throttle + pid_output_pitch - pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 3 (rear-left - CCW)
esc_4 = throttle - pid_output_pitch - pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 4 (front-left - CW)
"
This is the original one with pids as follows: P_roll - 1.3; I_roll - 0.04; D_roll - 15; P_yaw - 4.0; I_yaw - 0.02; D_yaw - 0. same values for pitch as for roll.
with this code, my quad was bumping at start right at around 15-20% throttle. Then I recalibrated escs same issue.
So iterated lil bit changing the signs and finally got bit stable with this ones:
"esc_1 = throttle + pid_output_pitch + pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 1 (front-right - CCW)
esc_2 = throttle + pid_output_pitch + pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 2 (rear-right - CW)
esc_3 = throttle + pid_output_pitch + pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 3 (rear-left - CCW)
esc_4 = throttle + pid_output_pitch + pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 4 (front-left - CW)
"
with pids - P_roll - 2.1; I_roll - 0.04; D_roll - 0.3; P_yaw - 3.5; I_yaw - 0.02; D_yaw - 0. same values for pitch as for roll, I get stable system. like it doesn't yaw too much when I am trying to lift off even after 40-50% it remains quite stable BUT IT DOESN'T LIFT OFF AT ALL.
Also one more question is running in my mind. For a normal quad, what is usual throttle input to get lift off. I understand it is depends up on weight but on average after what throttle input will quad start to hover?