Matrice 100
Parts List
Motor Connections
| 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 |
Parameters
- 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