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- Feb 4, 2014
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After seeing prop flyoffs and motor failures, it got me wondering...
Wouldn't it be possible to at least control your descent on only two motors? So if one motor died or one prop flew off, the IMU could easily detect the tumbling and start turning motors off one by one until the Z axis became stable. You'd only have to turn a maximum of 3 motors off until you found the right combination that gave you two working motors on opposite sides of the quad. Sure, the body would spin but at least you could lower the spinning body and still fight gravity. Seems like something that could be done in firmware:
(1) Uncontrolled tumbling detected
(2) Switch off motor N
(3) Check IMU to see if switching off motor N caused tumbling to stop on Z axis
(4) If not, increment N to next motor and go back to (2), else go to 5
(5) If Z axis is now upright, disable yaw, pitch, and roll and slowly descend to ground
Mike
Wouldn't it be possible to at least control your descent on only two motors? So if one motor died or one prop flew off, the IMU could easily detect the tumbling and start turning motors off one by one until the Z axis became stable. You'd only have to turn a maximum of 3 motors off until you found the right combination that gave you two working motors on opposite sides of the quad. Sure, the body would spin but at least you could lower the spinning body and still fight gravity. Seems like something that could be done in firmware:
(1) Uncontrolled tumbling detected
(2) Switch off motor N
(3) Check IMU to see if switching off motor N caused tumbling to stop on Z axis
(4) If not, increment N to next motor and go back to (2), else go to 5
(5) If Z axis is now upright, disable yaw, pitch, and roll and slowly descend to ground
Mike