Home Forums Everything about the Tricopter V4 F3FC & iNav experiences

This topic contains 163 replies, has 22 voices, and was last updated by  Marlon 1 year, 1 month ago.

Viewing 14 posts - 151 through 164 (of 164 total)
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  • #40448

    Marlon
    Participant

    Present cli settings

    Entering CLI Mode, type ‘exit’ to return, or ‘help’

    # dump cli

    # version
    # INAV/RCEXPLORERF3 1.8.0 Nov 1 2017 / 06:15:34 (912d1315)

    # resources

    # mixer
    mixer TRI

    mmix reset

    # servo
    servo 0 1000 2000 1500 100 -1
    servo 1 1000 2000 1500 100 -1
    servo 2 1000 2000 1500 100 -1
    servo 3 1000 2000 1500 100 -1
    servo 4 1000 2000 1500 100 -1
    servo 5 1000 2000 1500 100 -1
    servo 6 1000 2000 1500 100 -1
    servo 7 1000 2000 1500 100 -1

    # servo mix
    smix reset

    # feature
    feature -RX_PPM
    feature -VBAT
    feature -RX_UIB
    feature -RX_SERIAL
    feature -MOTOR_STOP
    feature -SERVO_TILT
    feature -SOFTSERIAL
    feature -GPS
    feature -TELEMETRY
    feature -CURRENT_METER
    feature -3D
    feature -RX_PARALLEL_PWM
    feature -RX_MSP
    feature -RSSI_ADC
    feature -LED_STRIP
    feature -DASHBOARD
    feature -BLACKBOX
    feature -CHANNEL_FORWARDING
    feature -TRANSPONDER
    feature -AIRMODE
    feature -SUPEREXPO
    feature -VTX
    feature -RX_SPI
    feature -SOFTSPI
    feature -PWM_SERVO_DRIVER
    feature -PWM_OUTPUT_ENABLE
    feature -OSD
    feature VBAT
    feature GPS
    feature TELEMETRY
    feature CURRENT_METER
    feature LED_STRIP
    feature PWM_OUTPUT_ENABLE

    # beeper
    beeper RUNTIME_CALIBRATION
    beeper HW_FAILURE
    beeper RX_LOST
    beeper RX_LOST_LANDING
    beeper DISARMING
    beeper ARMING
    beeper ARMING_GPS_FIX
    beeper BAT_CRIT_LOW
    beeper BAT_LOW
    beeper GPS_STATUS
    beeper RX_SET
    beeper ACTION_SUCCESS
    beeper ACTION_FAIL
    beeper READY_BEEP
    beeper MULTI_BEEPS
    beeper DISARM_REPEAT
    beeper ARMED
    beeper SYSTEM_INIT
    beeper ON_USB
    beeper LAUNCH_MODE
    beeper CAM_CONNECTION_OPEN
    beeper CAM_CONNECTION_CLOSED

    # map
    map AETR5678

    # name
    name –

    # serial
    serial 20 1 115200 38400 0 115200
    serial 0 0 115200 38400 0 115200
    serial 1 1 115200 38400 0 115200
    serial 2 2 115200 57600 0 115200

    # led
    led 0 0,0::C:0
    led 1 0,0::C:0
    led 2 0,0::C:0
    led 3 0,0::C:0
    led 4 0,0::C:0
    led 5 0,0::C:0
    led 6 0,0::C:0
    led 7 0,0::C:0
    led 8 0,0::C:0
    led 9 0,0::C:0
    led 10 0,0::C:0
    led 11 0,0::C:0
    led 12 0,0::C:0
    led 13 0,0::C:0
    led 14 0,0::C:0
    led 15 0,0::C:0
    led 16 0,0::C:0
    led 17 0,0::C:0
    led 18 0,0::C:0
    led 19 0,0::C:0
    led 20 0,0::C:0
    led 21 0,0::C:0
    led 22 0,0::C:0
    led 23 0,0::C:0
    led 24 0,0::C:0
    led 25 0,0::C:0
    led 26 0,0::C:0
    led 27 0,0::C:0
    led 28 0,0::C:0
    led 29 0,0::C:0
    led 30 0,0::C:0
    led 31 0,0::C: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

    # mode_color
    mode_color 0 0 1
    mode_color 0 1 11
    mode_color 0 2 2
    mode_color 0 3 13
    mode_color 0 4 10
    mode_color 0 5 3
    mode_color 1 0 5
    mode_color 1 1 11
    mode_color 1 2 3
    mode_color 1 3 13
    mode_color 1 4 10
    mode_color 1 5 3
    mode_color 2 0 10
    mode_color 2 1 11
    mode_color 2 2 4
    mode_color 2 3 13
    mode_color 2 4 10
    mode_color 2 5 3
    mode_color 3 0 8
    mode_color 3 1 11
    mode_color 3 2 4
    mode_color 3 3 13
    mode_color 3 4 10
    mode_color 3 5 3
    mode_color 4 0 7
    mode_color 4 1 11
    mode_color 4 2 3
    mode_color 4 3 13
    mode_color 4 4 10
    mode_color 4 5 3
    mode_color 5 0 9
    mode_color 5 1 11
    mode_color 5 2 2
    mode_color 5 3 13
    mode_color 5 4 10
    mode_color 5 5 3
    mode_color 6 0 6
    mode_color 6 1 10
    mode_color 6 2 1
    mode_color 6 3 0
    mode_color 6 4 0
    mode_color 6 5 2
    mode_color 6 6 3
    mode_color 6 7 6
    mode_color 6 8 0
    mode_color 6 9 0
    mode_color 6 10 0

    # aux
    aux 0 0 2 1900 2100
    aux 1 1 0 1875 2100
    aux 2 2 0 1400 1600
    aux 3 3 1 1400 1600
    aux 4 9 1 1400 1600
    aux 5 8 1 900 1100
    aux 6 11 1 900 1100
    aux 7 18 3 1900 2100
    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

    # master
    set looptime = 2000
    set gyro_sync = ON
    set gyro_sync_denom = 1
    set align_gyro = DEFAULT
    set gyro_hardware_lpf = 42HZ
    set gyro_lpf_hz = 60
    set moron_threshold = 32
    set gyro_notch1_hz = 0
    set gyro_notch1_cutoff = 1
    set gyro_notch2_hz = 0
    set gyro_notch2_cutoff = 1
    set vbat_adc_channel = 1
    set rssi_adc_channel = 3
    set current_adc_channel = 2
    set airspeed_adc_channel = 0
    set acc_notch_hz = 0
    set acc_notch_cutoff = 1
    set align_acc = CW180FLIP
    set acc_hardware = MPU6000
    set acc_lpf_hz = 15
    set acczero_x = 320
    set acczero_y = -85
    set acczero_z = -592
    set accgain_x = 4094
    set accgain_y = 4105
    set accgain_z = 3990
    set rangefinder_hardware = NONE
    set align_mag = DEFAULT
    set mag_hardware = HMC5883
    set mag_declination = -1130
    set magzero_x = -38
    set magzero_y = -92
    set magzero_z = 40
    set mag_calibration_time = 30
    set baro_hardware = MS5611
    set baro_use_median_filter = ON
    set pitot_hardware = NONE
    set pitot_use_median_filter = ON
    set pitot_noise_lpf = 0.600
    set pitot_scale = 1.000
    set receiver_type = PPM
    set mid_rc = 1500
    set min_check = 1100
    set max_check = 1900
    set rssi_channel = 0
    set rssi_scale = 30
    set rssi_invert = OFF
    set rc_smoothing = ON
    set serialrx_provider = SBUS
    set sbus_inversion = ON
    set rx_spi_rf_channel_count = 0
    set spektrum_sat_bind = 0
    set rx_min_usec = 885
    set rx_max_usec = 2115
    set blackbox_rate_num = 1
    set blackbox_rate_denom = 1
    set blackbox_device = SERIAL
    set min_throttle = 1150
    set max_throttle = 1850
    set min_command = 1000
    set motor_pwm_rate = 2000
    set motor_pwm_protocol = ONESHOT125
    set failsafe_delay = 5
    set failsafe_recovery_delay = 5
    set failsafe_off_delay = 200
    set failsafe_throttle = 1000
    set failsafe_throttle_low_delay = 100
    set failsafe_procedure = RTH
    set failsafe_stick_threshold = 50
    set failsafe_fw_roll_angle = -200
    set failsafe_fw_pitch_angle = 100
    set failsafe_fw_yaw_rate = -45
    set failsafe_min_distance = 0
    set failsafe_min_distance_procedure = DROP
    set align_board_roll = 0
    set align_board_pitch = 0
    set align_board_yaw = 2400
    set gimbal_mode = NORMAL
    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 = 750
    set current_meter_offset = 0
    set multiwii_current_meter_output = ON
    set current_meter_type = ADC
    set yaw_motor_direction = 1
    set yaw_jump_prevention_limit = 200
    set 3d_deadband_low = 1406
    set 3d_deadband_high = 1514
    set 3d_neutral = 1460
    set servo_center_pulse = 1500
    set servo_pwm_rate = 50
    set servo_lpf_hz = 20
    set flaperon_throw_offset = 250
    set tri_unarmed_servo = ON
    set reboot_character = 82
    set imu_dcm_kp = 2500
    set imu_dcm_ki = 50
    set imu_dcm_kp_mag = 10000
    set imu_dcm_ki_mag = 0
    set small_angle = 25
    set fixed_wing_auto_arm = OFF
    set disarm_kill_switch = ON
    set auto_disarm_delay = 5
    set gps_provider = UBLOX
    set gps_sbas_mode = AUTO
    set gps_dyn_model = AIR_1G
    set gps_auto_config = ON
    set gps_auto_baud = ON
    set gps_min_sats = 6
    set deadband = 5
    set yaw_deadband = 5
    set pos_hold_deadband = 20
    set alt_hold_deadband = 50
    set 3d_deadband_throttle = 1000
    set fw_autotune_overshoot_time = 100
    set fw_autotune_undershoot_time = 200
    set fw_autotune_threshold = 50
    set fw_autotune_ff_to_p_gain = 10
    set fw_autotune_ff_to_i_tc = 600
    set inav_auto_mag_decl = ON
    set inav_gravity_cal_tolerance = 5
    set inav_use_gps_velned = ON
    set inav_gps_delay = 200
    set inav_reset_altitude = FIRST_ARM
    set inav_max_surface_altitude = 200
    set inav_w_z_surface_p = 3.500
    set inav_w_z_surface_v = 6.100
    set inav_w_z_baro_p = 0.350
    set inav_w_z_gps_p = 0.200
    set inav_w_z_gps_v = 0.500
    set inav_w_xy_gps_p = 1.000
    set inav_w_xy_gps_v = 2.000
    set inav_w_z_res_v = 0.500
    set inav_w_xy_res_v = 0.500
    set inav_w_acc_bias = 0.010
    set inav_max_eph_epv = 1000.000
    set inav_baro_epv = 100.000
    set nav_disarm_on_landing = OFF
    set nav_use_midthr_for_althold = OFF
    set nav_extra_arming_safety = ON
    set nav_user_control_mode = CRUISE
    set nav_position_timeout = 5
    set nav_wp_radius = 100
    set nav_wp_safe_distance = 10000
    set nav_auto_speed = 300
    set nav_auto_climb_rate = 500
    set nav_manual_speed = 500
    set nav_manual_climb_rate = 200
    set nav_landing_speed = 200
    set nav_land_slowdown_minalt = 500
    set nav_land_slowdown_maxalt = 2000
    set nav_emerg_landing_speed = 500
    set nav_min_rth_distance = 500
    set nav_rth_climb_first = ON
    set nav_rth_climb_ignore_emerg = OFF
    set nav_rth_tail_first = OFF
    set nav_rth_allow_landing = ALWAYS
    set nav_rth_alt_mode = AT_LEAST
    set nav_rth_abort_threshold = 50000
    set nav_rth_altitude = 1000
    set nav_mc_bank_angle = 30
    set nav_mc_hover_thr = 1500
    set nav_mc_auto_disarm_delay = 2000
    set nav_fw_cruise_thr = 1400
    set nav_fw_min_thr = 1200
    set nav_fw_max_thr = 1700
    set nav_fw_bank_angle = 20
    set nav_fw_climb_angle = 20
    set nav_fw_dive_angle = 15
    set nav_fw_pitch2thr = 10
    set nav_fw_loiter_radius = 5000
    set nav_fw_land_dive_angle = 2
    set nav_fw_launch_velocity = 300
    set nav_fw_launch_accel = 1863
    set nav_fw_launch_max_angle = 45
    set nav_fw_launch_detect_time = 40
    set nav_fw_launch_thr = 1700
    set nav_fw_launch_idle_thr = 1000
    set nav_fw_launch_motor_delay = 500
    set nav_fw_launch_spinup_time = 100
    set nav_fw_launch_timeout = 5000
    set nav_fw_launch_climb_angle = 10
    set telemetry_switch = OFF
    set telemetry_inversion = ON
    set frsky_default_latitude = 0.000
    set frsky_default_longitude = 0.000
    set frsky_coordinates_format = 0
    set frsky_unit = IMPERIAL
    set frsky_vfas_precision = 0
    set frsky_vfas_cell_voltage = OFF
    set hott_alarm_sound_interval = 5
    set smartport_uart_unidir = OFF
    set smartport_fuel_percent = OFF
    set ibus_telemetry_type = 0
    set ltm_update_rate = NORMAL
    set ledstrip_visual_beeper = OFF
    set i2c_speed = 400KHZ
    set cpu_underclock = OFF
    set debug_mode = NONE
    set acc_task_frequency = 500
    set attitude_task_frequency = 250
    set async_mode = GYRO
    set throttle_tilt_comp_str = 0
    set input_filtering_mode = OFF
    set mode_range_logic_operator = OR
    set stats = OFF
    set stats_total_time = 0
    set stats_total_dist = 0
    set tz_offset = 0

    # profile
    profile 1

    set mc_p_pitch = 40
    set mc_i_pitch = 30
    set mc_d_pitch = 23
    set mc_p_roll = 40
    set mc_i_roll = 30
    set mc_d_roll = 23
    set mc_p_yaw = 85
    set mc_i_yaw = 45
    set mc_d_yaw = 0
    set mc_p_level = 20
    set mc_i_level = 15
    set mc_d_level = 75
    set fw_p_pitch = 5
    set fw_i_pitch = 7
    set fw_ff_pitch = 50
    set fw_p_roll = 5
    set fw_i_roll = 7
    set fw_ff_roll = 50
    set fw_p_yaw = 6
    set fw_i_yaw = 10
    set fw_ff_yaw = 60
    set fw_p_level = 20
    set fw_i_level = 5
    set fw_d_level = 75
    set max_angle_inclination_rll = 300
    set max_angle_inclination_pit = 300
    set dterm_lpf_hz = 40
    set yaw_lpf_hz = 30
    set dterm_setpoint_weight = 0.000
    set fw_iterm_throw_limit = 165
    set fw_reference_airspeed = 1000.000
    set fw_turn_assist_yaw_gain = 1.000
    set dterm_notch_hz = 0
    set dterm_notch_cutoff = 1
    set pidsum_limit = 500
    set yaw_p_limit = 300
    set iterm_ignore_threshold = 200
    set yaw_iterm_ignore_threshold = 50
    set rate_accel_limit_roll_pitch = 0
    set rate_accel_limit_yaw = 10000
    set heading_hold_rate_limit = 90
    set nav_mc_pos_z_p = 50
    set nav_mc_pos_z_i = 0
    set nav_mc_pos_z_d = 0
    set nav_mc_vel_z_p = 100
    set nav_mc_vel_z_i = 50
    set nav_mc_vel_z_d = 10
    set nav_mc_pos_xy_p = 65
    set nav_mc_pos_xy_i = 120
    set nav_mc_pos_xy_d = 10
    set nav_mc_vel_xy_p = 180
    set nav_mc_vel_xy_i = 15
    set nav_mc_vel_xy_d = 100
    set nav_fw_pos_z_p = 50
    set nav_fw_pos_z_i = 0
    set nav_fw_pos_z_d = 0
    set nav_fw_pos_xy_p = 75
    set nav_fw_pos_xy_i = 5
    set nav_fw_pos_xy_d = 8
    set rc_expo = 70
    set rc_yaw_expo = 20
    set thr_mid = 50
    set thr_expo = 0
    set roll_rate = 75
    set pitch_rate = 75
    set yaw_rate = 75
    set tpa_rate = 0
    set tpa_breakpoint = 1500

    #

    #57148

    kilwater
    Participant

    Hello, I’m having huge problem with board orientation & calibration. – F3FC board with electronics kit. I’ve read about 180* Pitch and “upside-down” calibration but things dont add up. When I set the board orientation to 180* Pitch – virutual model in setup page is nose-up. When I set it to 270* Pitch – virtual model looks fine (horizontal) but then roll and yaw get mixed up. Should I set Accel and Gyro alignment as well? I’ve spend few hours on this one but still no luck. Please help me out.

    Edit: I’m affraid my Accel is broken – in Sensors tab the X line stands still at -8.00 no matter how I move it 🙁

    #57378

    juanquy
    Participant

    Hey, I just got my F3FC and I been reading a lot about compass issues with the board, can you please tell me if you have to remove any pull-up resistors to the Holybro Micro MN8 with a compass or it works out of the box?. I saw you have one on this board.

    regards and thank you
    juan c

    #57870

    krkljan
    Participant

    Hi all,
    I rebuilded TRI V4 and flashed INAV 1.9.1. Tried alt and pos hold. Those function very well. However flying with out GPS mode is not very good. Does somebody has PID and rates settings I could test?

    #57873

    wilco1967
    Participant

    I currently use these:

    The first few settings are for vibration suppression…. Do you use the RCexplorer tricopter Flight controller or a separate FC ?

    set gyro_hardware_lpf = 42HZ
    set gyro_lpf_hz = 30
    set gyro_notch1_hz = 120
    set gyro_notch1_cutoff = 80
    set gyro_notch2_hz = 60
    set gyro_notch2_cutoff = 40
    set gyro_stage2_lowpass_hz = 0
    set acc_notch_hz = 80
    set acc_notch_cutoff = 50

    set mc_p_pitch = 70
    set mc_i_pitch = 20
    set mc_d_pitch = 60
    set mc_p_roll = 70
    set mc_i_roll = 20
    set mc_d_roll = 60
    set mc_p_yaw = 75
    set mc_i_yaw = 20
    set mc_d_yaw = 0
    set mc_p_level = 20
    set mc_i_level = 15
    set mc_d_level = 75
    set nav_mc_pos_z_p = 50
    set nav_mc_pos_z_i = 0
    set nav_mc_pos_z_d = 0
    set nav_mc_vel_z_p = 100
    set nav_mc_vel_z_i = 50
    set nav_mc_vel_z_d = 10
    set nav_mc_pos_xy_p = 65
    set nav_mc_pos_xy_i = 120
    set nav_mc_pos_xy_d = 10
    set nav_mc_vel_xy_p = 40
    set nav_mc_vel_xy_i = 15
    set nav_mc_vel_xy_d = 100
    set nav_mc_heading_p = 60

    #57876

    krkljan
    Participant

    Thanks wilco1967!
    I am using integrated F3FC from David. I’ll try your settings over the weekend. In attachment you can see my maiden video. With test of alt and pos hold.

    #57877

    krkljan
    Participant
    #57909

    Marlon
    Participant

    Just took dust of the Tri and upgraded to iNav 1.9.1 are there additional initial settings to be applied? F3FC Stock Electronics kit. GPS works, I’m new here. On Triflight you had to apply these:

    set p_pitch = 44
    set i_pitch = 26
    set d_pitch = 25
    set p_roll = 47
    set i_roll = 30
    set d_roll = 25
    set p_yaw = 200
    set i_yaw = 20
    set d_yaw = 33
    set roll_rate = 55
    set pitch_rate = 48
    set yaw_rate = 60
    set tri_motor_acc_yaw_correction = 0
    set gyro_soft_lpf = 90.000
    set tri_dynamic_yaw_minthrottle = 200
    set tri_dynamic_yaw_maxthrottle = 70
    save

    #57912

    Marlon
    Participant

    Can’t get MinimOSD to display data. UART2 MSP?

    #57915

    krkljan
    Participant

    Set osd to UART 1.

    #58079

    Flying_squirrel
    Participant

    I was thinking of picking up the V4 kit but I wanted to double check if inav is working correctly?
    I’ve read through most of the thread and I’m not 100% clear on if it works or not. I don’t plan on doing racing or anything crazy, just some aerial photography and exploring so it doesn’t need to be absolutely perfect, just smooth and have a nice reliable rth function

    #58080

    jihlein
    Participant

    While not on the F3Fc or a V4, I have inav v1.8 running on a Titan Tricopter (almost the exact same dimensions as the V4) on an AQ32 F4 flight controller (my own custom target) and it works extremely well. I have an older Ublox M6 GPS and external mag mounted on an upper deck I 3d printed. Don’t seem to have any mag issues. RTH works very well, as does position hold.

    There’s no triflight algorithms in inav, but in my experience you don’t need them for the type of flying you want to do, particularly on copters the size of the V4.

    I’ve got v1.9.1 firmware built for my target, but haven’t tried it yet. I see there is an RCExplorer3 target, so you should be all set.

    I’ve got a V4 on the shelf, I really need to get it built……

    #58084

    Flying_squirrel
    Participant

    Thanks for replying so fast! Really appreciate it!
    That’s great news, I’ll definitely go ahead with it then.
    I’ll probably just get an external flight controller so I can change it out as needed though

    #58301

    Marlon
    Participant

    krkljan,

    THANKS and sorry for the super late reply, yes that did it… I don’t remember why I removed it from there. Hmmmm have to check my posts. Got my ring LED mount 3D printed carbon fiber PLA a while ago in.

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