Debugging the tricopter mini racer

[DaveL]

Hi lauka, do you think it would improve flight behaviour if you disabled active braking in the ESCs ?

[NicholasMorganUSA]

Has there been a solution to reversing the servo while using the Triflight firmware? I need to reverse my servo to fly correctly.

[sree]

Hi Lauka,
One solution I can think of is to quick pulsing of Throttle as dynamic yaw is adjusted. Just like many 3d fixed wing pilots do at slow speeds.

Thanks.

[sree]

Upon further thinking one other solution is adaptive PID values inversely scaled by current throttle. If PID values are tuned for mid throttle then reduce PID proportionally as the throttle increases and increase as throttle cut down.

Thanks.

[lauka]

@DaveL: that would help with one issue but create others.

@NicholasMorganUSA: http://rcexplorer.se/forums/topic/debugging-the-tricopter-mini-racer/page/12/#post-19345

@sree: Pulsating throttle sounds interesting. Can you elaborate how it could help?

That’s almost exactly what the dynamic yaw does. It does it based on the tail motor speed rather than throttle.

[sree]

Hi Lauka
Pulsating throttle involves moderately increasing the throttle and then quickly returning so that control axes momentarily become effective while the throttle is increased. The duration, the size and the number of the pulses has to be experimented so that no significant attitude change happens at the sametime axes become effective. This is from my fixed wing experience. However I have limited experience with the tri.

However I think the adpative PID idea for all axes will be more effective. Even without the yaw correction, just as general rule, once a PID is tuned for a quad or tri at particular throttle, I think it needs to be inversely scaled as the throttle is increased or decreased from that level particularly for aerobatic flying.

Thanks
– Sree

[sree]

Hi Lauka
I was reading through the triflight source code and realized that airmode is somewhat doing what a throttle pulse would do. Do you enable airmode on your tri? Is the tail drift/pitch forward on decelartion problem present in airmode also?

Thanks
– Sree

[lauka]

@sree: I have airmode on all the time. Sadly it is present there also.

[Terje]

@ikaino any hope of F4 support in TriFlight? I would love to try one or more of the following flight controllers on the BabyTri 🙂
Omnibus F4 flight controller
OMNIBUS AIO F4 V2 Flight Controller
Raceflight Revolt F4

[lauka]

Sadly I don’t have much spare time at the moment :(. Also the motivation is quite low as I can’t do any flying myself here. When I get back behind the racing sticks I bet it’s totally different thing :).

Easiest way to get the support would be to rebase the stuff on betaflight.

[Author]

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