Größe: 8216
Kommentar:
|
Größe: 9490
Kommentar:
|
Gelöschter Text ist auf diese Art markiert. | Hinzugefügter Text ist auf diese Art markiert. |
Zeile 3: | Zeile 3: |
= Current Project status = /!\ '''I am still experimenting and working on the first version of the tool. Also this documentation is not complete yet.''' The current implementation is very basic, it is a "command-line" tool without any graphical user-interface. Currently the tool was only tested on PC/Windows with FC 1.3 hardware. |
|
Zeile 4: | Zeile 12: |
The tool measures the vibration generated by the motors using the MK build-in sensors. This allows to balance motor/prop assemblies and to experiment with different motor-mounts. | The tool measures the vibration generated by the motors using the MK build-in sensors. This allows to balance motor/prop assemblies and to experiment with different motor-mounts. The standard FlightControl program supports a command that allows to monitor the MK sensors. The MKTool uses this command to generate graphs of analog values. In a first approach I used this standard command to monitor vibrations. The problem is that is mechanism only allows to sample the values only 30 times a second. In order to get reliable results one needs to monitor the values for a long time (a minute for example) and hope that one has catched the peaks of the signal. This new approach is based on dedicated FlightControl software that allows to monitor one sensor for a short period of time as fast as possible. This allows to grab a reliable signal in a very short time. |
Zeile 10: | Zeile 24: |
= Current status = The current implementation is very basic, it is a "command-line" tool without any graphical user-interface. I am still experimenting and working on the first version of the tool. |
|
Zeile 18: | Zeile 26: |
The tool is written in Python. In case you have heard of python, have look in [http://en.wikipedia.org/wiki/Python_(programming_language) Wikipedia]. In order to run the tool, you need to install support for Python on your PC. I propose you install: [http://www.activestate.com/activepython/ ActivePython for Windows] and [http://sourceforge.net/projects/pyserial/files/ PySerial (support for serial port access)] |
The tool is written in Python. In case you have heard of python, have look in [http://en.wikipedia.org/wiki/Python_(programming_language) Wikipedia]. In order to run the tool, you need to install support for Python on your PC. It you do not have Python installed on you PC, I propose you install: [http://www.activestate.com/activepython/ ActivePython for Windows] and [http://sourceforge.net/projects/pyserial/files/ PySerial (support for serial port access)] |
Zeile 24: | Zeile 28: |
Python is also available for Linux and MAC. Once you have Python support on your PC all you need to is place the files VibrationTest.py and mkProto.py from [http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=/VibrationTest/trunk/VibrationTest/#_VibrationTest_trunk_VibrationTest_ SVN] together in a directory. |
|
Zeile 26: | Zeile 33: |
Zeile 32: | Zeile 38: |
You can grab the latest version of the VibrationTest-FC.hex file from [http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=%2FVibrationTest%2Ftrunk%2FExecutables%2FFlightCtrl%2F#_VibrationTest_trunk_Executables_FlightCtrl_ SVN] | You can grab the latest version of the VibrationTest-FC.hex file from [http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=/VibrationTest/trunk/Executables/FlightCtrl/#_VibrationTest_trunk_Executables_FlightCtrl_ SVN] |
Zeile 35: | Zeile 41: |
== Attach you MK to the table :) == | |
Zeile 59: | Zeile 65: |
== General procudure == == Example 1 == Finding what sensor provides best information at what speed: |
|
Zeile 60: | Zeile 69: |
== General procudure == == Example 1 == Finding what sensor provides best information at what speed: |
|
Zeile 69: | Zeile 71: |
Zeile 72: | Zeile 73: |
Zeile 75: | Zeile 75: |
Zeile 78: | Zeile 77: |
Zeile 81: | Zeile 79: |
Zeile 84: | Zeile 81: |
Zeile 87: | Zeile 83: |
Zeile 98: | Zeile 92: |
Zeile 101: | Zeile 96: |
Zeile 104: | Zeile 98: |
Zeile 111: | Zeile 104: |
Zeile 113: | Zeile 107: |
Zeile 115: | Zeile 108: |
Zeile 117: | Zeile 109: |
Zeile 119: | Zeile 110: |
Zeile 121: | Zeile 111: |
Zeile 123: | Zeile 112: |
Zeile 125: | Zeile 113: |
Zeile 127: | Zeile 114: |
Zeile 129: | Zeile 115: |
Zeile 131: | Zeile 116: |
Zeile 133: | Zeile 117: |
Zeile 135: | Zeile 118: |
Zeile 137: | Zeile 119: |
Zeile 140: | Zeile 121: |
Rotating the prop by 180 degrees produces best results, now lets try to balance the prop again: | |
Zeile 141: | Zeile 123: |
Rotating the prop by 180 degrees produces best results, now lets try to balance the prop again: | |
Zeile 144: | Zeile 125: |
Zeile 146: | Zeile 126: |
Zeile 148: | Zeile 127: |
Zeile 150: | Zeile 128: |
Zeile 152: | Zeile 129: |
Zeile 154: | Zeile 130: |
Zeile 156: | Zeile 131: |
Zeile 158: | Zeile 132: |
Zeile 160: | Zeile 133: |
Zeile 163: | Zeile 135: |
So, 2 stickers is best | |
Zeile 164: | Zeile 137: |
So, 2 stickers is best | |
Zeile 167: | Zeile 139: |
Zeile 169: | Zeile 140: |
Zeile 171: | Zeile 141: |
Zeile 174: | Zeile 143: |
Now, we can perform a sweep in order to compare with the starting-point: | |
Zeile 175: | Zeile 145: |
Now, we can perform a sweep in order to compare with the starting-point: | |
Zeile 178: | Zeile 147: |
Zeile 181: | Zeile 149: |
Zeile 184: | Zeile 151: |
Zeile 187: | Zeile 153: |
Zeile 190: | Zeile 155: |
Zeile 193: | Zeile 157: |
Zeile 197: | Zeile 160: |
= Links = * [http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=/VibrationTest/#_VibrationTest_ VibrationTest Project in Subversion] * Mail FredericG: [[MailTo(admin AT rc-flight DOT be)]] [[BR]] /!\ ToDo: |
|
Zeile 198: | Zeile 165: |
= Links = [http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=%2FVibrationTest%2F#_VibrationTest_ VibrationTest Project in Subversion] /!\ ToDo: * Explain the parameters * The general procedure * Make a hex-file available |
* Explain the parameters * The general procedure * Make a hex-file available * Provide a picture of my MK attached to the table |
Zeile 214: | Zeile 174: |
. KategorieTools |
Current Project status
I am still experimenting and working on the first version of the tool. Also this documentation is not complete yet.
The current implementation is very basic, it is a "command-line" tool without any graphical user-interface.
Currently the tool was only tested on PC/Windows with FC 1.3 hardware.
What is the VibrationTest Tool?
The tool measures the vibration generated by the motors using the MK build-in sensors.
This allows to balance motor/prop assemblies and to experiment with different motor-mounts.
The standard FlightControl program supports a command that allows to monitor the MK sensors. The MKTool uses this command to generate graphs of analog values. In a first approach I used this standard command to monitor vibrations. The problem is that is mechanism only allows to sample the values only 30 times a second. In order to get reliable results one needs to monitor the values for a long time (a minute for example) and hope that one has catched the peaks of the signal.
This new approach is based on dedicated FlightControl software that allows to monitor one sensor for a short period of time as fast as possible. This allows to grab a reliable signal in a very short time.
This is an example of the signal measured by the Roll-ACC sensor:
attachment:test.jpg
How do I install the tool?
Option 1: Install Python
The tool is written in Python. In case you have heard of python, have look in [http://en.wikipedia.org/wiki/Python_(programming_language) Wikipedia]. In order to run the tool, you need to install support for Python on your PC. It you do not have Python installed on you PC, I propose you install: [http://www.activestate.com/activepython/ ActivePython for Windows] and [http://sourceforge.net/projects/pyserial/files/ PySerial (support for serial port access)]
Python is also available for Linux and MAC.
Once you have Python support on your PC all you need to is place the files VibrationTest.py and mkProto.py from [http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=/VibrationTest/trunk/VibrationTest/#_VibrationTest_trunk_VibrationTest_ SVN] together in a directory.
Option 2: Get compiled version
It should be possible to compile python applications to a windows executable. I did not investigate this approach yet.
Installing the FlightControl software
The VibrationTest tool works in combination with a special version of the FlightControl software. It must be flashed in the FC board before using the test and you need to reinstall your regular software version afterwards. This just takes a few minutes. Switching the software is done the usual way, using the MKTool.
You can grab the latest version of the VibrationTest-FC.hex file from [http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=/VibrationTest/trunk/Executables/FlightCtrl/#_VibrationTest_trunk_Executables_FlightCtrl_ SVN]
How do I use the tool?
Attach you MK to the table :)
The command line parameters
VibrationTest.py COMPORT MOTORS SPEEDS CHANNELS [-m MINSPEED] [-s NBSAMPLES] [-n NAME] [-d FILENAME] [-v] COMPORT Serial port to use. e.g. COM4 MOTORS Motors to activate during test. Multiple motors can be used at the same time. e.g. 1,2,3,4 SPEEDS Indicates at what speeds the motors need to be tested. Format 1: e.g. 50,110,140 Tests at speeds 50, 110 and 140 Format 2: e.g. 100-200:50 Tests at speeds 100, 150 and 200 CHANNELS Channels to monitor. e.g. 5,6,7 Channel 0 = GyroYaw Channel 1 = GyroRoll Channel 2 = GyroNick Channel 3 = Pressure Channel 4 = Batt Channel 5 = AccTop Channel 6 = AccRoll Channel 7 = AccNick -m MINSPEED Minimum speed of the motor(s) -s NBSAMPLES Number of samples -n NAME Name of the test -d FILENAME File to which the measured values will be logged in -v Verbose
General procudure
Example 1
Finding what sensor provides best information at what speed:
VibrationTest.py COM5 3 100-200:20 6,7 Speed=100 U=11.3V Channel=AccRoll Min=492 Max=505 pp= 13 ** Speed=100 U=11.3V Channel=AccNick Min=498 Max=507 pp= 9 * Speed=120 U=11.3V Channel=AccRoll Min=489 Max=503 pp= 14 ** Speed=120 U=11.3V Channel=AccNick Min=497 Max=507 pp= 10 ** Speed=140 U=11.2V Channel=AccRoll Min=469 Max=519 pp= 50 ********** Speed=140 U=11.2V Channel=AccNick Min=495 Max=508 pp= 13 ** Speed=160 U=11.1V Channel=AccRoll Min=478 Max=517 pp= 39 ******* Speed=160 U=11.1V Channel=AccNick Min=493 Max=511 pp= 18 *** Speed=180 U=10.9V Channel=AccRoll Min=479 Max=511 pp= 32 ****** Speed=180 U=10.9V Channel=AccNick Min=493 Max=514 pp= 21 **** Speed=200 U=10.7V Channel=AccRoll Min=479 Max=515 pp= 36 ******* Speed=200 U=10.7V Channel=AccNick Min=493 Max=513 pp= 20 **** VibrationTest.py COM5 3 130-160:10 6 Speed=130 U=11.1V Channel=AccRoll Min=484 Max=511 pp= 27 ***** Speed=140 U=11.1V Channel=AccRoll Min=469 Max=524 pp= 55 *********** Speed=150 U=11.1V Channel=AccRoll Min=475 Max=520 pp= 45 ********* Speed=160 U=11.1V Channel=AccRoll Min=479 Max=518 pp= 39 *******
So, lets concentrate on channel 6 at speed 140.
Now, the preliminary balancing of the prop:
VibrationTest.py COM5 3 140 6 -d motor3.txt -n 0s0 0s0 Speed=140 U=11.0V Channel=AccRoll Min=470 Max=521 pp= 51 ********** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s0 1s0 Speed=140 U=11.0V Channel=AccRoll Min=482 Max=513 pp= 31 ****** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 2s0 2s0 Speed=140 U=11.0V Channel=AccRoll Min=475 Max=520 pp= 45 *********
For now, 1 sticker seems best.
Now, lets rotate the prop:
VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s0 1s0 Speed=140 U=10.9V Channel=AccRoll Min=481 Max=513 pp= 32 ****** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s60 1s60 Speed=140 U=10.9V Channel=AccRoll Min=480 Max=512 pp= 32 ****** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s120 1s120 Speed=140 U=10.9V Channel=AccRoll Min=477 Max=514 pp= 37 ******* VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s180 1s180 Speed=140 U=10.9V Channel=AccRoll Min=482 Max=509 pp= 27 ***** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s240 1s240 Speed=140 U=10.9V Channel=AccRoll Min=482 Max=510 pp= 28 ***** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s300 1s300 Speed=140 U=10.9V Channel=AccRoll Min=482 Max=514 pp= 32 ****** VibrationTest.py COM5 3 140 6,6,6 -d motor3.txt -n 1s360 1s360 Speed=140 U=10.9V Channel=AccRoll Min=482 Max=515 pp= 33 ******
Rotating the prop by 180 degrees produces best results, now lets try to balance the prop again:
VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s180 1s180 Speed=140 U=10.9V Channel=AccRoll Min=483 Max=509 pp= 26 ***** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 0s180 0s180 Speed=140 U=10.9V Channel=AccRoll Min=472 Max=519 pp= 47 ********* VibrationTest.py COM5 3 140 6 -d motor3.txt -n 1s180 1s180 Speed=140 U=10.9V Channel=AccRoll Min=483 Max=510 pp= 27 ***** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 2s180 2s180 Speed=140 U=10.9V Channel=AccRoll Min=489 Max=508 pp= 19 *** VibrationTest.py COM5 3 140 6 -d motor3.txt -n 3s180 3s180 Speed=140 U=10.9V Channel=AccRoll Min=483 Max=512 pp= 29 *****
So, 2 stickers is best
VibrationTest.py COM5 3 140 6 -d motor3.txt -n 2s180 2s180 Speed=140 U=10.9V Channel=AccRoll Min=488 Max=508 pp= 20 **** VibrationTest.py COM5 3 140 6,6,6 -d motor3.txt -n end end Speed=140 U=10.8V Channel=AccRoll Min=487 Max=510 pp= 23 ****
Now, we can perform a sweep in order to compare with the starting-point:
VibrationTest.py COM5 3 100-200:20 6,7 Speed=100 U=11.1V Channel=AccRoll Min=493 Max=501 pp= 8 * Speed=100 U=11.1V Channel=AccNick Min=499 Max=507 pp= 8 * Speed=120 U=11.1V Channel=AccRoll Min=489 Max=507 pp= 18 *** Speed=120 U=11.1V Channel=AccNick Min=497 Max=508 pp= 11 ** Speed=140 U=11.0V Channel=AccRoll Min=489 Max=507 pp= 18 *** Speed=140 U=11.0V Channel=AccNick Min=498 Max=509 pp= 11 ** Speed=160 U=10.9V Channel=AccRoll Min=482 Max=508 pp= 26 ***** Speed=160 U=10.9V Channel=AccNick Min=496 Max=510 pp= 14 ** Speed=180 U=10.7V Channel=AccRoll Min=489 Max=505 pp= 16 *** Speed=180 U=10.7V Channel=AccNick Min=495 Max=508 pp= 13 ** Speed=200 U=10.6V Channel=AccRoll Min=482 Max=508 pp= 26 ***** Speed=200 U=10.6V Channel=AccNick Min=491 Max=509 pp= 18 ***
Links
[http://svn.mikrokopter.de/mikrowebsvn/listing.php?repname=Projects&path=/VibrationTest/#_VibrationTest_ VibrationTest Project in Subversion]
Mail FredericG: MailTo(admin AT rc-flight DOT be)
- Explain the parameters
- The general procedure
- Make a hex-file available
- Provide a picture of my MK attached to the table