Debugging the tricopter mini racer

[JediJeremy]

@Terje, it’s funny you suggest that (switching the forward arms prop direction) because that’s exactly how I configured my mini-tricopter, and she flies just fine. Has done for over 20 hours now.

I do find ‘banking turns’ to feel quite smooth and natural, nothing feels like it’s fighting against me. One way turns better than the other, of course.

I switched mine around because I didn’t care about tip-stalls, I wanted to fly slow proximity and didn’t want the props to pull leaves and branches inwards.. I wanted it to ‘bounce off’ small obstacles… and I’ve never had cause to regret that. 🙂

As soon as I get a chance, I’ll record some video so you can see how she’s built and flies.

[RCExplorer – David]

@Lauka: Yes I ran the blackbox with the increased I limit and I hit 358 during a dive. Not sure if I’m reading things right though.

Here is the log file (3:rd flight is the interesting one):

Attachments:

1. LOG00009.txt

[LeoTheHuman]

I would not expect Naze32 to have any problems doing Kalman. The only issue I see is the lack of people actually willing to do the work. (:
Kalman filter is not a replacement for PID controllers, though. It will just let you understand the current state better, it won’t tell you what to do to get where you want. The biggest improvement we’ll see from it is more precise GPS hold. I would not expect great improvement in flight.

[Terje]

@LeoTheHuman well, willing and ABLE to do the necessary work you might add. I must admit FC programming is way beyond my level of expertise.

Let people contribute as best they can. As far as I can tell, using a blackbox on test flights can provide valuable data, even if the operator does not know what to look for. So I ordered one. I’d like to help, just tell me what to do 🙂

[underdog]

@Terje: I just ordered one too.. I don´t have a Mini yet, but I have a Naze-frame with a broken CPU, once I fix that, I´ll get the rest of the stuff for the Mini as soon as the ESCs and motors arrive to the shop 🙂

[2ma]

Hey ! All those improvements seems awesome, even if I understand nothing :)I just have a question, if it will yaw with when you bank the tri, how it will affect when doing a quick roll or a slow one ? I’m thinking that if I bank the stick hard the mini will yaw a lot and make a strange roll…
Do I worry for nothing ? 🙂
I’ve got the new motor so I’ll be able to test the new code this weekend hopefully. Is the last one safe ? And I just have to flash the board with full erase ?
Good work by the way, our community is lucky to have genius guys like you 🙂

[RCExplorer – David]

Just got back from a tuning session with the new TriFlight code and WOW! It’s getting pretty darn close to the level where I’m happy!

Here is the latest dump:

# version
# CleanFlight/NAZE 1.10.0 Aug 19 2015 / 12:08:00 (9aba651)
# dump master

# mixer
mixer TRI
mmix reset
smix reset

# 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 -CHANNEL_FORWARDING
feature RX_PPM
feature VBAT
feature MOTOR_STOP
feature FAILSAFE
feature ONESHOT125

# map
map AETR1234

# serial
serial 0 1 115200 57600 0 115200
serial 1 0 115200 57600 0 115200

# 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 = 0
set sync_gyro_to_loop = 1
set emf_avoidance = 0
set rc_smoothing = 1
set mid_rc = 1531
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = 0
set input_filtering_mode = 0
set min_throttle = 1080
set max_throttle = 1990
set min_command = 1000
set servo_center_pulse = 1520
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 fixedwing_althold_dir = 1
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 = 180
set align_board_yaw = 0
set max_angle_inclination = 500
set gyro_lpf = 188
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_motor_direction = 0
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = 1
set servo_lowpass_freq = 120
set servo_lowpass_enable = 1
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = 0
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0

# rxfail
rxfail 0 h 1500
rxfail 1 h 1500
rxfail 2 h 1500
rxfail 3 h 1500
rxfail 4 h 1500
rxfail 5 h 1500
rxfail 6 h 1500
rxfail 7 h 1500
rxfail 8 h 1500
rxfail 9 h 1500
rxfail 10 h 1500
rxfail 11 h 1500
rxfail 12 h 1500
rxfail 13 h 1500

# dump profile

# profile
profile 0

# aux
aux 0 0 0 1575 2100
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

# 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

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -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 = 0
set gimbal_mode = 0
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 = 40
set i_pitch = 30
set d_pitch = 23
set p_roll = 40
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_pitchf =  1.200
set i_pitchf =  0.500
set d_pitchf =  0.033
set p_rollf =  1.300
set i_rollf =  0.550
set d_rollf =  0.035
set p_yawf =  3.200
set i_yawf =  1.400
set d_yawf =  0.060
set level_horizon =  3.000
set level_angle =  5.000
set sensitivity_horizon = 75
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1
set yaw_p_limit = 500
set gyro_cut_hz = 0
set pterm_cut_hz = 40
set dterm_cut_hz = 14

# dump rates

# rateprofile
rateprofile 0

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 = 35
set tpa_rate = 50
set tpa_breakpoint = 1500
set tpa_yaw_rate = 50
set tpa_yaw_breakpoint = 1100

# 

[RCExplorer – David]

Unfortunally no blackbox from todays flights as I managed to hurl mine of the tricopter about 50 meters in a crash. So it needs to be attached 😀

[Terje]

Thanks so much for sharing the settings David! Just to be certain, are these the settings that go with the triflight_0.1_NAZE.hex or the triflight_0.1_betaflightPick_NAZE.hex firmware?

[Terje]

Ok just loaded both to check

CleanFlight/NAZE 1.10.0 Aug 19 2015 / 12:08:00 (9aba651)
is the triflight_0.1_betaflightPick_NAZE.hex file 🙂

David is probably running the code on the integrated Naze32 board thus the board is rotated 180 degrees on the pitch axis.

[RCExplorer – David]

Correct, it’s the BetaFlightPick file.

Here is a short video from one of the flights today:

(done uploading in about 40 minutes)

[mjpilot]

Great can’t wait for it to be done uploading.

[LeoTheHuman]

It actually sounds like the motors have terrible oscillations… Is that the best tuning so far?

[RCExplorer – David]

Oscillations from PID’s or rattling as in a bad bearing? Yes that is as far as I got today.

[Chadwick]

Looking better for sure. Definitely something rattling though.

[Author]

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