New type of yaw control

[lauka]

Been using my free time this week to improve the test bench of mine:

I was able to measure and verify that the basic formula of yaw output based on motor angle works in real life as well.

But the linear output algorithm implemented here wasn’t working, in the above example it was producing 20g of thrust at zero throttle and 80g of thrust at max throttle. This is because the motor output to thrust ratio is not linear. I quickly hacked some formula to take this into account and the result was much better as can be seen from the video. I don’t like these kind of hacks, but it might be the best bet without knowing the actual thrust output.

No idea if it will fly at all, my vacation is starting next week so I’ll be having more time for testing.

[LitterBug]

Ok, Ok what am I thinking. Was looking at the BB logs and totally getting my motor #s all messed up and was making adjustments to the wrong axis in the wrong directions on Baby 2 tonight.

Only changes I made on Baby 1 tonight was testing less agressive props after the first pack. Pack 1 = 5152, Pack 2 = 5040 Gemfan, Pack 3 = 5045 Strix. Baby 1 still has the cleanest logs.

All log files from tonight are HERE. Three packs on each frame. Had one other tailtune attemp on baby try 1 that the wind kept messing up so I didn’t post that log.

My impression is that the waggle isn’t from the servo swinging, but rather the tail motor changing speed. There seems to be some cross coupling between the tail motor, and yaw/pitch/roll on the other motors. Seems to be worse on Baby Tri 2 with the stronger motors. Baby Tri 1 starts seeing it with more agressive props. Not sure if that is what the in-flight tailtune is supposed to compensate for. Had mixed results with tailtunes tonight. Seemed like the winds would be calm right up to the point I’d start the tailtune, and wham. LOL Baby Tri 2 with the stronger motors ended up with 43 when it finished. Baby Tri 1 ended up with 64 when it succeded.

Have some Videos I’ll try to post up soon. Tried to get creative with my Runcam HD2… Hope it turned out.
Baby Tri Looking back. BB Log File BT1Pack2 overlayed.

Baby Tri looking forward. BB Log File BT1Pack3 overlayed.

Cheers!
LitterBug

EDIT: Was looking at the tail mech on both babies this morning. Baby tri #1 has a ton of slop and #2 is very tight…

[biggestRCEfan]

Are we sure there is no play between servo and tilt mechanism? I’m flying triflight 0.5 B2 (from July 2016?) and all was good until I had a crash that gave the tail motor a good wack. I re-centred the tail motor using the in-ground tail tune, repeated the in-flight tail tune and all was good, except I had a tail waggle. As I was following this thread I was wondering if there was a link, but then I discovered that I have some slop on the servo since the crash. Hence my question.

[bhuism]

Very kewl Jaakko, ik need to need up on this stuff

[LitterBug]

Hmmm. I checked the tail mechanisms on both my baby tris this morning. BT#1 has a ton of slop. Think I will do some rework on it to see if it is the gears or the pivot tonight. Will bump the servo voltage up to 6V while I’m at it. Have a couple Runcam HD V1s. Think I will de-case one so I can get a better view of the tail in flight. Turn it into something like the Runcam split and dump the battery for less weight…

[Jaklos]

well i have been trying to get this latest working today in efforts to get rid of the wag. stock exeltrocinics setup from david mini tri i can not fly vis fpv the wag makes me sick as hell. los its managable. i do no have bbox log on this setup. i did increast yaw p and i it flies better with set tri_motor_acc_yaw_correction = 20 the only way i can get in flight tail tune to complete is to arm turn on tail tune power up until it beeps while still on ground it completes power off then turn off tail tune. this wag will not go away. i am running normal servo voltage i believe me servo speed is 284 i can provide a dump but do see it being necessary as i only changed what i have stated from v6. all other beta flight hex have a horrbile wag and had my hopes up for this. triflight .5 does not but i dont want cleanflight.

[Jaklos]

ok so i was sick of the uncontrollable tail i went back to .5 cleanflight
# 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 -TRANSPONDER
feature VBAT
feature RX_SERIAL
feature FAILSAFE
feature ONESHOT125
feature BLACKBOX

# map
map TAER1234

# serial
serial 20 1 115200 57600 0 115200
serial 0 64 115200 57600 0 115200
serial 1 0 115200 57600 0 115200
serial 2 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

# 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

set looptime = 1000
set emf_avoidance = OFF
set i2c_highspeed = ON
set gyro_sync = ON
set gyro_sync_denom = 1
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = OFF
set rc_smoothing = OFF
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_provider = SPEK2048
set sbus_inversion = ON
set spektrum_sat_bind = 0
set input_filtering_mode = OFF
set min_throttle = 1100
set max_throttle = 2000
set min_command = 1000
set servo_center_pulse = 1500
set motor_pwm_rate = 400
set servo_pwm_rate = 250
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set retarded_arm = OFF
set disarm_kill_switch = OFF
set auto_disarm_delay = 5
set max_arm_angle = 25
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set gps_provider = NMEA
set gps_sbas_mode = AUTO
set gps_auto_config = ON
set gps_auto_baud = OFF
set telemetry_switch = OFF
set telemetry_inversion = ON
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
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 = 360
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 0
set align_board_pitch = -180
set align_board_yaw = 0
set max_angle_inclination = 500
set gyro_lpf = 188HZ
set gyro_soft_lpf = 95
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set pid_at_min_throttle = ON
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = OFF
set servo_lowpass_freq = 400.000
set servo_lowpass_enable = OFF
set tri_tail_motor_thrustfactor = 53
set tri_tail_servo_speed = 305
set tri_servo_feedback = RSSI
set tri_motor_acc_yaw_correction = 27
set tri_motor_acceleration = 0.180
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = 1
set acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SERIAL
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# dump profile

# profile
profile 0

# aux
aux 0 0 0 1400 2100
aux 1 1 1 900 1175
aux 2 2 1 1350 1625
aux 3 12 2 1300 1700
aux 4 27 0 1700 2100
aux 5 28 2 1875 2100
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 45 45 100 -1
servo 1 1000 2000 1500 45 45 100 -1
servo 2 1000 2000 1500 45 45 100 -1
servo 3 1000 2000 1500 45 45 100 -1
servo 4 1000 2000 1500 45 45 100 -1
servo 5 1298 2100 1696 40 40 100 -1
servo 6 1000 2000 1500 45 45 100 -1
servo 7 1000 2000 1500 45 45 100 -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 = ON
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 = ON
set deadband = 5
set yaw_deadband = 9
set yaw_control_direction = 1
set 3d_deadband_throttle = 50
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
set gimbal_mode = NORMAL
set acc_cut_hz = 15
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = ON
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 = MWREWRITE
set p_pitch = 35
set i_pitch = 23
set d_pitch = 27
set p_roll = 41
set i_roll = 24
set d_roll = 38
set p_yaw = 144
set i_yaw = 30
set d_yaw = 80
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 20
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 dterm_cut_hz = 95

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 100
set rc_expo = 85
set rc_yaw_expo = 65
set thr_mid = 50
set thr_expo = 0
set roll_rate = 38
set pitch_rate = 38
set yaw_rate = 60
set tpa_rate = 0
set tpa_breakpoint = 1500
set tri_dynamic_yaw_minthrottle = 235
set tri_dynamic_yaw_maxthrottle = 50
theres my dump tell me why it has power surges and just falls out of sky after 30 seconds. wth i have zero luck with davids f3fc boards he sent me a bad one, had dead uarts. forcing me to buy a new one everything worked but the damn thing wont fly for crap. i go back to .7 no power surges just bad tail wag. no tail wag at all in .5 but it glitches and stutters then eventually it will reset. only hovering 12″ off the grass as i am expecting it to fall. tail tune works on .5 only get 2 beeps in .7 meaning fail. flew 2 packs that made me sea sick on goggles thrid pack was getting uncotrollable yaw so i decided to go back to .5 and even that doesnt work right.
everything is new including the servo!

[LitterBug]

Well nuts. Was trying to redo a few things on Baby 1, check servo slop, bump up the servo voltage, etc… It seems I botched something up. Not sure if I was unsuccessful moving the 000 ohm resistor back on the F3FC, messed up the servo, or who knows what. Thought everything was going fine after getting it back together. Did disarmed tail tune, Tail speed increased as expected. Had it out back, got a good inflight tailtune, landed, disarmed, turned off tailtune, and then started doing some easy flying around LOS acro, then stabilize. At some point it started acting like it was getting blown around while in a hover yet it was dead calm out. Next thing I know, it starts a yaw spin. Dropped throttle, no reaction. Starts heading for the sky. Disarmed… still nothing. At some point it decided to stop and dropped straight down on the other side of the house in the middle of the street. Unfortunately did not have the OpenLog hooked up. Would be real interested to know what actually happened. Knocked tail mech off and creamed the battery. Frame appears OK.
Have a complete backup Baby PDB and F3FC. Think I will order another servo and tail pivot since these had some slop, then start over from scratch. Been meaning to swap the 2100kv motors out for something better like a set of the “stock” rs2205 2300kv red bottoms. Guess this is the nudge I needed. Glad I have baby 2 as a backup. 🙂

Cheers!
LitterBug

EDIT: Pulled it all apart. Servo was locked up tight. Main shaft bent. Top part of servo case broken. Servo and tail swivel ordered.

[bhuism]

I flew great with:

#define TRI_SERVO_SATURED_GYRO_ERROR (100.0f)

Allmost stock:

I replaced the servo gear, don’t know how much any slop will degrade the performance, but better be sure, and replaced my old escs with blheli_32 ones.

Didn’t analyse the logs yes.

https://drive.google.com/open?id=0ByiRgpuS3FxsY3ZnN3hib1piYUk
https://drive.google.com/open?id=0ByiRgpuS3FxsaEZueFpxSzFPLXc
https://drive.google.com/open?id=0ByiRgpuS3FxsMEJvZzdoVTFFbmc
https://drive.google.com/open?id=0ByiRgpuS3FxsZTgzM2NyV04zVXM

Just LOS flying.

ps: @lkaino, I hope you will merge betaflight 3.2.x as well, cause blheli_32 can not be programmed through betaflight 3.1.x.

# diff
# Triflight 0.7 Beta 2 – new control test v6 / BETAFLIGHTF3 3.1.7 Jul 2 2017 / 15:59:59 (fc9f38d)
name baby
resource MOTOR 1 B07
resource MOTOR 4 NONE
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource MOTOR 9 NONE
resource SERVO 1 B09
resource PPM 1 NONE
servo 5 1091 1941 1515 40 40 100 -1

serial 0 32 115200 57600 0 115200
serial 2 8192 115200 57600 0 115200
aux 0 0 0 1300 2100
aux 1 28 0 1750 2100
aux 2 26 0 1300 2100
aux 3 31 1 1300 2100
rxfail 5 s 1000
set rssi_channel = 7
set digital_idle_percent = 1.500
set motor_pwm_protocol = DSHOT150
set frsky_vfas_precision = 1
set bat_capacity = 1500
set ibat_scale = 247
set gyro_notch1_hz = 0
set gyro_notch2_hz = 190
set gyro_notch2_cut = 90
set deadband = 1
set yaw_deadband = 1
set tri_tail_servo_speed = 320
set tri_servo_feedback = EXT1
set blackbox_rate_denom = 4
set osd_units = METRIC
set osd_cap_alarm = 1500
set osd_time_alarm = 0
set osd_vbat_pos = 2437
set osd_rssi_pos = 2433
set osd_flytimer_pos = 2443
set osd_ontimer_pos = 374
set osd_flymode_pos = 12
set osd_vtx_channel_pos = 2456
set osd_horizon_pos = 200
set osd_current_pos = 408
set osd_mah_drawn_pos = 2451
set osd_craft_name_pos = 289
set osd_pid_yaw_pos = 384
set osd_power_pos = 345
profile 0

set d_notch_hz = 180
set d_notch_cut = 80
rateprofile 0
rateprofile 0

set rc_expo = 50
set rc_yaw_expo = 20
set thr_expo = 80
set roll_srate = 75
set pitch_srate = 75

[LitterBug]

As always, RCExplorer.SE is on the ball and managed to get my replacement servo shipped out on the 2nd which is earlier than their previously posted July 4th return to shipping. Love you @RCExplorer! Should have both Baby Tris in the air at Flight Fest East next week.

Cheers!
LitterBug

[LitterBug]

Pretty much done rebuilding Baby Tri #1. Rushed the build to get ready for FliteFest next week. Otherwise I would have waited on the RCE Servo I ordered to make it from Sweden. Getting ready to head out behind the house for initial LOS testing. If all goes well and the weather cooperates, I’ll have it out to the field this weekend for FPV testing. Should be interesting to see how this build flies compared to the other gear that was on it before. Slightly faster servo and the tail is really smooth. 2480KV light motors compared to 2100kv motors too. Have the details of the build over in the Baby Tri Forum.

Cheers!
LitterBug

[LitterBug]

Managed to get Baby Tri #1 all buttoned up. Squeezed in-air tailtune in between storms. Thought I had New Yaw Control V6 flashed, but just realized it was just Beta 2. Ahhh well. Was really solid. Looking for a dry period to get out to the field for some FPV this weekend.

# diff
# Triflight 0.7 Beta 2 / RCEXPLORERF3 3.1.7 Jun  4 2017 / 13:39:27 (1698ba5)
name BabyTri1
servo 5 1092 1965 1526 40 40 100 -1

feature CURRENT_METER
feature BLACKBOX
map TAER1234
serial 0 1 115200 57600 0 115200
serial 1 64 115200 57600 0 115200
serial 2 128 115200 57600 0 250000
aux 0 0 1 1450 2050
aux 1 28 1 1450 2050
aux 2 1 0 950 1050
aux 3 2 0 1450 1550
aux 4 13 2 1950 2050
aux 5 26 1 1950 2050
aux 6 31 2 1450 1550
set min_throttle = 1035
set serialrx_provider = SPEK2048
set ibat_scale = 300
set tri_tail_motor_thrustfactor = 47
set tri_tail_servo_speed = 384
set acc_trim_pitch = 14
set blackbox_rate_denom = 6

Cheers!
LitterBug

[LitterBug]

@lkaino Got another in-flight tail tune in this morning on Baby Tri #1 with new yaw V6. Weather is looking good to hit the field later today for FPV testing.

# diff
# Triflight 0.7 Beta 2 - new control test v6 / RCEXPLORERF3 3.1.7 Jun 23 2017 / 14:30:11 (0110b62)
name BabyTri1
servo 5 1092 1965 1526 40 40 100 -1

feature CURRENT_METER
feature BLACKBOX
map TAER1234
serial 0 1 115200 57600 0 115200
serial 1 64 115200 57600 0 115200
serial 2 128 115200 57600 0 250000
aux 0 0 1 1450 2050
aux 1 28 1 1450 2050
aux 2 1 0 950 1050
aux 3 2 0 1450 1550
aux 4 13 2 1950 2050
aux 5 26 1 1950 2050
aux 6 31 2 1450 1550
set min_throttle = 1035
set serialrx_provider = SPEK2048
set ibat_scale = 300
set tri_tail_motor_thrustfactor = 47
set tri_tail_servo_speed = 402
set blackbox_rate_denom = 6

Cheers!
LitterBug

EDIT: Did some LOS in the back yard. I can see low speed yaw oscillation just hovering around. Don’t remember seeing that last night with old yaw control on Beta2. Blackbox log HERE. Other than that, the traces are really clean on this build. None of the other oscillations that I had previously on roll/pitch/yaw.

[Minidarren83]

Tried v6 again last week all was going well tried a few dives and still kept getting the loss of controll when going zero throttle almost like not having airmode on then did a stupid thing tried a power loop. Went up and back cut the throttle God knows where it threw me so I attempted to level out but it was too late so I have one dead trifecta

Attachments:

1. 

   20170724_021820-1200x1600.jpg
   

[LitterBug]

@Minidarren83, I had thought about rebuilding my TriFecta but decided to go with an RCE Mini Tricopter instead. The trifecta was just not built for any abuse, and I’m pretty good at smacking the ground and trees. Mine could see flight again with a little work. Depending on where you are and what it would cost, I could send it to you for parts.

Cheers!
LitterBug

[Author]

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