{% youtube %}https://www.youtube.com/watch?v=3OGs0ONemGc{% endyoutube %}
- DJI Matrice 100 Just ESC''s motors, and frame.
| Output | Rate | Actuator |
|---|---|---|
| MAIN1 | 400 Hz | Front right, CCW |
| MAIN2 | 400 Hz | Back left, CCW |
| MAIN3 | 400 Hz | Front left, CW |
| MAIN4 | 400 Hz | Back right, CW |
| AUX1 | 50 Hz | RC AUX1 |
| AUX2 | 50 Hz | RC AUX2 |
| AUX3 | 50 Hz | RC AUX3 |
- At high throttle the inner loop causes oscillations with default x quad gains. At low throttle, higher gains give a better response, this suggests that some gain scheduling based on the throttle may improve the overall response and this could be implemented in mc_att_control. For now we will just tune it so that there are no oscillations at low or high throttle, and take the bandwidth hit at low throttle.
- MC_PITCHRATE_P: 0.05
- MC_PITCHRATE_D: 0.001
- The battery has 6 cells instead of the default 3
- BAT_N_CELLS: 6