Notes for KapteinKUK PI Tuning Guide

How to recognize different gain settings.

Too low P-gain: @0:01
- hard to control
- easy to over correct

Correct P-gain: @0:45
- easy to control and fly

Too high P-gain: @1:22
- oscillates rapidly
- gains height easily
- hard to control height
- oscillating sound from the motors

Too high I-gain: @1:49
- same as with too high P-gain, but oscillates with a lower frequency

Single axis tuning on a string @2:08

Setup: @2:08
- set yaw PI-gain to zero
- set Roll/Pitch I-gain to zero

P-gain too low: @ 2:19
- slow and imprecise stick response
- easy to turn by hand

Increased P-gain: @3:09
- sharper stick response
- harder to turn by hand

Good P-gain: @4:08
- sharp stick response
- slight oscillations when releasing the stick
- hard to turn by hand

Too high P-gain: @5:05
- scillates rapidly
- oscillating sound from the motors

Good P-gain, too low I-gain: @5:38
- moves back to center when stick is releaseddue to gravity
- easy to move by hand over long time

Good P-gain, good I-gain: @6:17
- stays in position when stick is released
- very hard to move by hand over long time

Good P-gain, too high I-gain: @6:57
- oscillates, but with a lower frequency than with a too high P-gain

KapteinKUK's flying VTOL bottle

The Kaptein says, "A single propeller VTOL thingy."  Includes source for KKBoard controls.

• Servos: HXT900
• Motor: DT-750
• prop: GWS 12x6 slowflyer
• batteries: 2 x 1.8Ah 3S
• weight without batteries: 495g

"It is a quick hack of wood spatulas, zip ties, tape, CD control horns, hot glue, depron and one 1.5l plastic bottle."

Some rcexplorer kkboard dimensions

Mike Grundvig, maker of the AeroFPV aluminum frame, is very kindly going to send us an aluminum mount for the kkboard, and offer that mount in the AeroFPV kit.  He requested we send some dimensions and pics.

David over at rcexplorer sent us these dimensions:

• hole distances: 45mm
• distance between two holes diagonally: 63.6mm
• board: 50*50mm. 
• exact same size and hole distance as a MikroKopter controller.

Here's our board.

 The mounting holes seem to be about 3mm.

 I just cut a 4 x 3 x 1/8 inch piece of basswood (about the same size as the ardu board) and mounted that to the aerofpv frame.  I was going to be fancy and bolt the kkboard onto the basswood, but I didn't have any non-slip bolts of that size, so instead I'll just use 3M thick double-sticky tape.  That should give a bit of bonus vibration protection as well.






Here's the back of the board.

rcexplorer kk build guide released

David has released the first cut at a setup guide here.  Initially it covers tri and quad configurations.  Check it out, and if you're building an rcexplorer copter leave a note on rcexplorer so we can follow you!

"This little procedure has the potential to save you platform or face, so be sure to make it a habit."

Some random questions based on first reading: (update: with some answers provided by David in the comments)

• what's the difference between setting up a + and x quad configuration?  Is it simply a matter of downloading the right software?  does the board need to be rotated 45 degrees?
  answer: there are some differences, guide will be updated soon.
• where's the software download?
• where's a pointer to how to download a new build? presumably somewhere over in kk-land.
  answer: need to know about AVR programming, perhaps David will create a guide for that as well.
• in section "finding the correct gain" the last item is "too low gain is recognized by", what is "too high gain recognized by"?
  answer: "too high gain" is recognized by platform rocking back and forth or side to side.
• need to figure out how EPA works... is this something the kk software does automatically?  Does this refer to the radio sticks or the ESCs?  or perhaps both have them?
  answer: EPA is set in the transmitter, and is like a global dual rates setting.

KKmulticopter links

"The KK multicontroller can be used on KKPowerTower/Osprey (2 rotors), KKTriCopters (3 rotors), KKQuadroCopters (4 rotors), KKSexyCopters (6 rotors) and the Y configuration KKY6copters (with 6 rotors). The KKmulticopter project was started by Rolf Bakke aka KapteinKUK, and the KK in the name of the project is in his honour."

Home of the KKmulticopter:

RCGroups thread here.

Korean vendor: http://www.kkmulticopter.kr

and Dadde86 is selling assembled boards: http://www.rcexplorer.se