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KwartzCopter initial setup
- Shield the barometer from light and wind with a piece of open cell foam.
Well, you've assembled your quadcopter, installed the VM, and uploaded the firmware to the controller board. Now what?
It has to do with the calibration offsets for the accelerometer getting cleared when you try to re-calibrate. There is a problem with the code that runs the calibration and this particular accelerometer. As a result, the good offsets are set to 0, and the copter thinks that it is tilted, even when it's on a level surface. The slower motor is the copter trying to compensate. If you haven't calibrated the accelerometer yet, don't. If you have, you'll have to use mavproxy.py, and in setup use the level command to calibrate the accelerometer (only the new command accel doesn't work with our accelerometer).
It appears that there was some garbage data in the non-volatile FPU storage (probably from the shipped MultiWii image) that is being used by ArduCopter as (bad) parameters.
This has manifested itself as (most visibly) servo output 4 not being controlled properly by the software (it goes from 0 to some fixed value). I haven't tried to determine which parameter is in question, but we can't be confident that all 272 parameters have sane values.
It is STRONGLY suggested that you erase the parameter storage on the FPU. You will need to perform all of your calibrations again (radio, compass, accelerometers) but "Nuke the entire site from orbit" seems to be the best option here... "it's the only way to be sure". The steps are:
$ mavproxy.py --setup
[...]
setup
[...]
erase
[...]
Now do the quick callibration of the accelerometers:
level
[...]
The firmware will tell you it is erasing the stored data. Wait until it is done!
After recalibrating, you can using the graphing capabilities of APM Planner to confirm that the servo outputs vary on all four servos when orientation of the frame is changed accordingly. You don't need power to the motors for this.
Declination (for Waterloo): -9 deg 41 minutes.
- There is no data logging available during flight (no flash)