@tridge wrote:
Hi Rob,
We got the GX9 to 32m/s maximum speed in AUTO today. Logs are here:
http://uav.tridgell.net/GX9/2016-04-25/30.BIN
The final step to getting rid of the pull-ups in the turns was to reduce ANGLE_MAX. It was at 30 degrees previously, and at that angle the motor starts to really bog down as it tries to hold altitude at maximum collective. By reducing that to 22 degrees it flew much more smoothly and had much better turns.
We think we can get a bit more speed by tuning the engine a bit and fitting a new carbie that should generate a bit more power.
We did have a problem during the landing approach. The heli was tuning for high speed runs with WPNAV_ACCEL at 900. On the low speed landing approach at 4m/s it started overshooting the desired position as it used too agressive accelerations. It ended up backtracking a bit while approaching the landing point and we switched to stabilize to land it.
Getting the right tuning for both high speed flight and gentle landing approaches is something we need to work some more on.
Cheers, Tridge
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