Home Forums Everything about everything else iNav for KakuteF4V2 based Tricopters

Viewing 15 posts - 151 through 165 (of 168 total)
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  • #64845
    billyd
    Participant

    Looks good. I hovered it and it flies even better. Navigation throttle issues fixed. I think that will take care of yumemi5k’s problem too.

    Noticed a couple of parameters were rejected. Yaw jump prevention and one other. And they added a throttle_idle command defaults to 15. Kind of high I may lower it some.

    ps Finally fed up with them, I pulled the emax motors off of my TriLR. Not happy with them. Bearings are garbage. Replaced them with hobbywing 2306 1600kv’s. Much quieter and are better for my triLR’s intended flight profile. The emax motors have a pretty bad rep online fwiw. I think they kind of stink frankly. I’m pretty sure they were the culprit behind the triLR’s vibration complaints.

    So far I have revised the motors, tail servo and pdb as the stock stuff all had issues.

    Thanks for the 2.4 hex awesome work as usual jihlein!

    #64846
    billyd
    Participant

    Just flew on 2.4. Everything works great. Best it’s ever been.

    One thing that’s very important and I don’t hear much talk about it. But if you want the nav modes to work properly, you must go through board alignment in angle mode. Now you can use the tx for this if you use the adjustments tab, but to me it’s a little complex and not really necessary. I just flew los and kept a laptop nearby, and adjust pitch and roll in the configuration tab to align the FC until the LR flew in a hands off still hover in angle mode. Basically if the craft tilts to the left with the tail pointing at you, rotate roll to the left. If it pitches toward you with tail toward you, rotate pitch back. Keep it up through trial and error until it’s perfect. Took me about 3 tries and it was done. Now all the nav modes behave really well. Do this even if you never use angle mode. The calibration is not enough to get the craft flying perfectly in angle mode. You have to go through this procedure.

    #64847
    jihlein
    Participant
    #64848
    yumemi5k
    Participant

    Thanks @jihlein for working on the code and thanks to @billyd for test flying!

    @jihlein DSHOT_MIN_THROTTLE definition disappeared in mixer.h and the code didn’t compile before adding it back though. Is the removal intentional or by mistake? I’m not sure if I’m just masking the symptoms of another problem.

    #64849
    jihlein
    Participant

    It was removed by mistake, repo has been corrected…..

    #64851
    PeterPankras
    Participant

    Flashed 2.3 version .5 on the LR last week in the hope I could do some testing, but again the weather is horrible.

    Used all start settings from my .7 install.
    Bench tune all fine
    Everything calibrated.

    Now I see there is a iNav2.4 build 😀

    I will move to that version before flying 😉

    @billyd I don’t understand your story about angle mode calibration.
    If you calibrate the accelerometer and if you have it the magnetometer you should be fine.
    Note that when using the magnetometer from a bn880 you have to set the orientation to flip 270 cw (or whatever it is called) or iNav get a confusing heading 🙂

    Anyways I’m not much help lately .. but as soon as weather permits hope to get some tests out the door.

    @jhlein thanx for the 2.4 build, now I can also upgrade to the 2.4 configurator.

    #64852
    billyd
    Participant

    @peterpankras Obviously if all you had to do was calibration, they wouldn’t provide tenths of a degree adjustment capability on roll and pitch (and yaw). My calibration was done per the instructions and accepted but my triLR would tilt left and fly toward me (tail in) in angle mode. After adjusting alignment of the FC by 1.8 degrees in roll and .8 degrees in pitch it now flies perfectly still in a hands off hover. Also all of the nav modes work 10x better because it’s level when executing the nav command. This is true for pos hold and rth, and most likely true for wp (I haven’t tried them yet)

    On another note I think dshot min throttle has been replaced in 2.4 anyway with throttle_idle. From github:

    “Upgrading from 2.3.0
    Download and install the new configurator
    Save to a file the current diff all from the CLI.
    Upgrade to INAV 2.4 using the Full Erase option in the configurator.
    Upload your OSD font of choice from the OSD tab.
    Find on your diff all result the min_throttle line, and replace it by throttle_idle, setting the percentage of the idle throttle. The default is 15.
    Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
    You should be ready, explore new 2.4 features and enjoy!”

    • This reply was modified 4 months ago by billyd.
    #64854
    billyd
    Participant

    @peterpankras ps compass helps with orientation in yaw not in pitch and roll. And the calibration process obviously doesn’t work well enough. The first thing I did was try to recalibrate. I must have run it 10 times. I even put the triLR in a perfectly level position in every orientation. It still wouldn’t fly level in angle mode. This happened with my previous kakute f4 v2 as well. So it’s either INAV or the kakute. Plus like I said why would they provide tiny adjustment capability to the fc position if all you had to do was calibration.

    I watch vids online and people aren’t even trying to level the fc in calibration and it still is accepted. I tried that too, same result. I had to use the align fc adjustment.

    #64855
    PeterPankras
    Participant

    @billyd, ah thanx.. I understand now.
    That is something I will look into later.. I had slight drift in angle mode in .7 so this calibration you are talking about could help with that.

    I know compass is for yaw only.

    Going to try the diff all upgrade method although I’m not a big fan of it.
    I rather go over all the setting again like a fresh setup, just to make sure I don’t miss one.

    Cheers!

    #64856
    billyd
    Participant

    @peterpankras Yes it is for precisely that, getting the angle mode the last tiny bit more perfect. It has a big impact on Nav modes quality of behavior.

    Sorry I didn’t mean to insinuate you didn’t know I worded that too strongly.

    In 2.4 those that develop INAV say specifically that diff all is fine for this upgrade. I guess there aren’t any format changes or changes of user entered settings (outside of the new throttle_idle replacing min_throttle).

    #64880
    yumemi5k
    Participant

    I reckon iNAV only cares about accelerometer scale and zero values when doing calibration – it’s difficult to lay some crafts perfectly level anyway. Another way of finding board level is to trim angle mode carefully in zero wind and find roll and pitch angles from OSD. The values should be equal in magnitude to board alignment offsets, just watch out for minus signs.

    #64881
    billyd
    Participant

    Yes absolutely. The other thing is the kakute f4 v2 has the gyros sitting on a soft vibration absorbing pad which most likely is not perfectly parallel to the board. Perhaps this is the cause of the slight discrepancy? Not sure that’s right though because I don’t think it should matter. Just trying to reason out why ANGLE level is not level after successful calibration.

    I am not sure why INAV doesn’t just read perfectly level in the first position of accel calibration (assuming the user takes the time to put the craft in perfect level). Other flight software does this. It seems like INAV doesn’t do it, or doesn’t do it well.

    #64883
    billyd
    Participant

    I’ve been doing alot of reading on tuning and also using blackbox and setting filters. As a result I have greatly improved my tune as of 1/29/20. See post #64837 for my latest pids and other settings I have in INAV to make the LR fly great.

    I ended up increasing tri_dynamic_yaw_minthrottle to 500 to improve manual tail authority. tri_dynamic_yaw_max_throttle is already at 100 which is the maximum.

    #64898
    billyd
    Participant

    I strongly suggest we change to another forum. This one is too unreliable and obviously will not be here forever. Is the one with groups in its name ok for everyone? I will open a thread in the tricopter drones heading. Please consider moving there.

    #64899
    PeterPankras
    Participant

    I don’t know if this forum is still being moderated, and if yes by who.

    There is a lot of information on the forum that I hate to see get lost.
    Don’t know what Davids plan is with the domain.

    I use a few facebook groups to keep in touch with topic I’m intersted in, like TBS, iNav, ardupilot, tricopters
    But a forum is a better place to keep the info.

    What forum do you mean @billyd? you mean rc-groups ?

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