Motor angle for Y6

[nathasm]

I'm using a WKM on my Multiwiicopter Scarab Y6. In the build log for the scarab, it recommends a 3 degree tilt to the two front booms...but I wonder if that's only for the MWC.

Does a WKM Y6 configuration require any tilt of the motors for stable performance?

I'm having horrible drift issues when in GPS mode and any time I throttle up or yaw.

 

[Droider]

Ney... keep um all perfectly level. Post up your set up... props, motors and what your settings are

Dave

PS Welcome to MRF

 

[srbell]

My Scarab's boom are all set to zero and works great. I found drift is usually inaccurate GOG setting for you IMU and GPS.

 

[nathasm]

Ok, that might explain it. I have my two front booms set at 3 degrees.

I'm running CarbonBird motors with Plush 10A ESCs. Using the PARIS gimbal board to drive the servo instead of the WKM. All gains right now are at the defaults.

I've loaded up the craft with the battery and a GoPro2.

I have the IMU setting for (x, y, z) at (0, 0, -2)
I have the GPS setting for (x, y, z) at (-4, 4, -14)

View attachment 3879View attachment 3880View attachment 3881View attachment 3882View attachment 3883

 

[Droider]

Try pointing your compass in the correct direction!

 

[nathasm]

Droider, thanks for pointing that out. I re-read the manual and the only place they mention the GPS direction is in tiny font on the connection layout page.

I think between that and setting the motors to 0 degrees really helped smooth things out. I'm still getting some CCW yaw drift but I think I can correct that by being more anal in adjusting the motor angles. I'd prefer not to use too much subtrim since that seemed to have an adverse affect when I did it in the field this morning (i.e. I crashed).