Debugging the tricopter mini racer

[RCExplorer – David]

Done 🙂

[2ma]

Maybe you can also add a “post your FPV video from the mini ” ? I know it’s not the priority but it will be fun 🙂 good luck with debbuging the mini, unfortunately I just don’t understand what you guys are talking about :/ but I’ll be glad to do some flight test ! Or flite test ? I don’t know anymore 😀

[compatibleincompatible]

I’ve seen something about mini tri being so slick it ‘drifts’ in hard cornering without additional ‘lag’ compensation / anticipation…

In thinking, I think adding bank to compensate, then yaw to compensate that… so both… resulting kind of a ‘doh’ / intuitive… but, that is the kind of stuff I usually suggest. Settings to best accomplish that, after attempting method, will certainly be valid. But, it is a reintroduction to preconceiving additional control methodology. Kind of ‘clearing’ mental filters…

Just trying to help. A ‘Windestål’ quad will always be fine, and never remove the tricopter legacy while code and hardware continue to improve.

[RCExplorer – David]

@Lauka sent me a custom code this morning with double the I range and a separate TPA for the yaw!!! I’m just about to flash the test firmware.

Here is the settings I’ve been using up till today, running the firmware available on the Naze32 page:

To be clear, I’m running profile 2 on this setup;

# version
Cleanflight/NAZE 1.9.0 May 14 2015 / 20:19:16 (fe40472)
# dump master

# mixer
mixer TRI

# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature RX_PPM
feature ONESHOT125
feature BLACKBOX

# map
map AETR1234

# led
led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:D:WF:0
led 15 8,8:D:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0

# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

set looptime = 1500
set emf_avoidance = 0
set mid_rc = 1531
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set input_filtering_mode = 0
set min_throttle = 1010
set max_throttle = 1990
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 250
set retarded_arm = 0
set disarm_kill_switch = 1
set auto_disarm_delay = 5
set small_angle = 25
set flaps_speed = 0
set fixedwing_althold_dir = 1
set serial_port_1_functions = 129
set serial_port_1_msp_baudrate = 5
set serial_port_1_telemetry_baudrate = 0
set serial_port_1_blackbox_baudrate = 7
set serial_port_1_gps_baudrate = 4
set serial_port_2_functions = 0
set serial_port_2_msp_baudrate = 5
set serial_port_2_telemetry_baudrate = 0
set serial_port_2_blackbox_baudrate = 5
set serial_port_2_gps_baudrate = 4
set serial_port_3_functions = 0
set serial_port_3_msp_baudrate = 5
set serial_port_3_telemetry_baudrate = 0
set serial_port_3_blackbox_baudrate = 5
set serial_port_3_gps_baudrate = 4
set serial_port_4_functions = 0
set serial_port_4_msp_baudrate = 5
set serial_port_4_telemetry_baudrate = 0
set serial_port_4_blackbox_baudrate = 5
set serial_port_4_gps_baudrate = 4
set reboot_character = 82
set gps_provider = 0
set gps_sbas_mode = 0
set gps_auto_config = 1
set gps_auto_baud = 0
set serialrx_provider = 0
set spektrum_sat_bind = 0
set telemetry_switch = 0
set telemetry_inversion = 0
set frsky_default_lattitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = 0
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = 0
set current_meter_type = 1
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set max_angle_inclination = 500
set gyro_lpf = 42
set moron_threshold = 32
set gyro_cmpf_factor = 600
set gyro_cmpfm_factor = 250
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set yaw_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = 1
set servo_lowpass_freq = 100
set servo_lowpass_enable = 1
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1200
set rx_min_usec = 985
set rx_max_usec = 2115
set acc_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 3
set blackbox_device = 0

# dump profile

# profile
profile 1

# aux
aux 0 0 0 1875 2075
aux 1 12 2 1775 2100
aux 2 0 0 900 900
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900
aux 20 0 0 900 900
aux 21 0 0 900 900
aux 22 0 0 900 900
aux 23 0 0 900 900
aux 24 0 0 900 900
aux 25 0 0 900 900
aux 26 0 0 900 900
aux 27 0 0 900 900
aux 28 0 0 900 900
aux 29 0 0 900 900
aux 30 0 0 900 900
aux 31 0 0 900 900
aux 32 0 0 900 900
aux 33 0 0 900 900
aux 34 0 0 900 900
aux 35 0 0 900 900
aux 36 0 0 900 900
aux 37 0 0 900 900
aux 38 0 0 900 900
aux 39 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# servo
servo 0 1020 2000 1500 30 -1
servo 1 1020 2000 1500 30 -1
servo 2 1020 2000 1500 100 -1
servo 3 1020 2000 1500 100 -1
servo 4 1020 2000 1500 100 -1
servo 5 1020 2000 1520 100 -1
servo 6 1020 2000 1500 100 -1
servo 7 1020 2000 1500 100 -1

set gps_pos_p = 15
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 34
set gps_posr_i = 14
set gps_posr_d = 53
set gps_nav_p = 25
set gps_nav_i = 33
set gps_nav_d = 83
set gps_wp_radius = 200
set nav_controls_heading = 1
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set alt_hold_deadband = 40
set alt_hold_fast_change = 1
set deadband = 4
set yaw_deadband = 5
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 1
set gimbal_flags = 1
set acc_lpf_factor = 4
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff =  5.000
set acc_unarmedcal = 1
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf =  0.600
set baro_cf_vel =  0.985
set baro_cf_alt =  0.965
set mag_declination = 0
set pid_controller = 2
set p_pitch = 34
set i_pitch = 35
set d_pitch = 42
set p_roll = 34
set i_roll = 35
set d_roll = 42
set p_yaw = 53
set i_yaw = 15
set d_yaw = 10
set p_pitchf =  1.800
set i_pitchf =  0.520
set d_pitchf =  0.024
set p_rollf =  2.000
set i_rollf =  0.600
set d_rollf =  0.030
set p_yawf =  2.000
set i_yawf =  0.850
set d_yawf =  0.025
set level_horizon =  4.000
set level_angle =  5.000
set sensitivity_horizon = 101
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 60
set i_level = 6
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1
set yaw_p_limit = 0

# dump rates

# rateprofile
rateprofile 1

set rc_rate = 100
set rc_expo = 60
set rc_yaw_expo = 60
set thr_mid = 50
set thr_expo = 0
set roll_rate = 40
set pitch_rate = 40
set yaw_rate = 30
set tpa_rate = 60
set tpa_breakpoint = 1200

Will report back as soon as I’ve tested a bit.

[lauka]

@David hope it works, I have some more ideas that could be tried..

What I instantly see from your dump is that you probably should up the min_command to a point where your motors start spinning plus some more to be on safe side. This so the FC will never completely stop motors during flight.

[lauka]

And I was wrong, it was min_throttle, which also seems kind of low. Sorry I always mix these up.

[RCExplorer – David]

Didn’t get around to flashing the board until a couple of hours ago. Had time to try 3 batteries before dark and WOW! WOW! WOW!
The TPA did wonders! and the increased I term as well!
It flies SOO much better! It’s awesome!
I still need to tune the PIDS and TPA a bit more but the little trimming i did made it fly a ton better already!

It’s still not perfect but it is definitely a step in the right direction! 😀
Uploading a video now 🙂 (234 minutes remaining :()

[mjpilot]

Thats AMAISING. Hope that with a few more tweeks it will be flying great and in full production:)))

[LeoTheHuman]

Is there a github repo with the changes? I’d like to see what’s being done and test it too. I’m currently experimenting with the cleanflight code. The idea is to implement control algorithm for tricopter’s tail motor, which is aware of the servo angle. basically, I want to let the controller know that it can tilt the motor and increase its power at the same time, without going through the control loop again just to figure out that the tail is dropping after the servo tilted the motor.

[RCExplorer – David]

Lauka is working on a fork.

Here is a raw video from earlier today:
http://youtu.be/Oy8CrZuDSdY
(Still an hour or so until it’s done uploading)

Needs much more tuning but it feels better already.

[mjpilot]

Great. Just so you know i think the video is private.

[Terje]

@David the video is till private… Not that I’m hitting F5 every few seconds! 😉

[Jose]

Heres another shot of the pictures…

Attachments:

1. 

   Slide11.jpg
   

2. 

   Slide21.jpg
   

3. 

   Slide31.jpg
   

[RCExplorer – David]

ooops sorry, it’s unlisted now

[RCExplorer – David]

@Jose, Interesting idea.
The upsides I see:
It would add some extra yaw authority
It might help with the tracking in high speed.
Downsides:
It would make the copter even more prone to “weathervaneing” (The copter would prefer to point the nose into the wind.
Low throttle dives would probably be unaffected.
The “kick” when adding a lot of rudder would be more as more mass is moving in the opposite direction of the craft.
Complexity and durability.

Would be interesting to test though 🙂

[Author]

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