Home Forums Everything about everything else Testing – Triflight rebased on 3.2.2 Betaflight

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  • #40318
    lauka
    Participant

    Here are the first HEXs for testing the Betaflight 3.2.2 rebased Triflight.

    I have only tested this on the RCEXPLORERF3 target on table, I haven’t yet flown this.

    Please be extremely careful with this, start with props off and check that the basic features are working for you.

    The PIDs are betaflight defaults so at least the yaw axis will require some tuning.

    #40328
    MadPoet
    Participant

    Loaded beta 4 (?) on my Baby Tricopter today. Just waiting for a good time to do the in air tail tune. Bench tune completed, seems a little twitchy on the bench. I’ll give it a in air tune as soon as I can.

    Thanks Lauka!


    # diff
    # Triflight on Betaflight 3.2.2 v1 / RCEXPLORERF3 (REF3) 3.2.2 Dec 10 2017 / 11:00:57 (a4b55d1) MSP API: 1.36
    servo 5 1042 1815 1418 100 -1

    aux 0 0 3 1700 2100
    aux 1 1 2 900 1300
    aux 2 2 2 1300 1700
    aux 3 13 4 1400 2100
    aux 4 27 0 900 1300
    aux 5 28 2 1700 2100
    aux 6 37 1 1700 2100
    set tri_tail_servo_speed = 347
    profile 0

    rateprofile 0

    #40329
    Terje
    Moderator

    Freezing today, so only managed to do initial testing. Installs on the RCEIntegratedF3 board and can be configured. Tail tuning: Angle settings can be set. Tail tuning: Armed mode can be initiated. Batteries died due to low temp, so no further testing possible.

    #40332
    MadPoet
    Participant

    I managed to get the baby tricopter out last night between the rain and the dark. The tail wags furiously left and right until I get to about 30% throttle then it calms down. I was unable to get a in air tail tune.

    I get the same with triflight .7 Beta 3, the tail wags like crazy to about 20-30% throttle then calms down. But on triflight .7 Beta 2, no issues, calm tail, hovers, flies smooth. I’ll have to learn more about tuning to discern if this behavior is tunable.

    #40335
    Kevin_Erik
    Moderator

    A bit of Tail-Wag before liftoff has always been an issue. That’s regardless of motors / props / firmware used. I normally run with the Yaw / Servo filtering active and the Yaw P-gain about 20% lower from stock. While this does help, it hasn’t cleared it up completely.

    It’s possible that the copter is reacting to vibrations / propwash while on the ground as I’ve observed that the copter does spring-around slightly, causing the servo to react. It’s also possible that this is being induced from the “Ground Effect” as I see less Wag when the Copter is ducted. Obviously, after lifting off and maintaining at least 2 ft of clearance from the ground the Wag is mostly gone. What could help here is to angle the motor mounts by 3-5 degrees so that the wash and ground effects are being directed away from the copter’s body.

    Note: Currently running with 1st and 2nd Notch filter disabled. Motors still run cool and the Copter does run significantly smoother. (Triflight 0.7 Beta 3 / RCEXPLORERF3 3.1.7 Oct 21 2017 with T-Motor F80-1900kv, Master-Air-Screw 6×4.5×3 Race Props, 4S-1800mah LiPo) Typically see 7.6 to 8 Amps draw during hover.

    #40336
    Kevin_Erik
    Moderator

    Would it be possible to scale the Servo’s P-Gain of the copter depending on the motors throttle position or copters altitude? My reasoning being that during the initial lift off desensitizing the servo could help alleviate Tail-Wag for some copters.

    #40347
    fomoco_44
    Participant

    @Lauka,

    I’ve managed to get two flights in so far, both had a lot of yaw wobble/oscillations when compared back to Beta 3, even though I carried across the same PID’s from Beta 3. I’ll upload the BB logs and diff settings shortly.

    One thing I did notice was ‘tri_motor_acceleration = 18’ will only accept values from 1-100, whereas previous Triflight versions had ‘tri_motor_acceleration = 0.18’, so I’m not sure if the scaling factor of this input has been accounted for in the BF3.2 release?

    Also, both tail tunes completed successfully.

    #40362
    fomoco_44
    Participant

    I’ve had a quick look at the logs and it looks like the Dterm has been disabled for yaw, and greatly diminished for roll and pitch. Does this make sense??

    Here is the video and logs:
    https://1drv.ms/v/s!Akrjv9THYPIkadWASywc23vFNGw
    https://1drv.ms/t/s!Akrjv9THYPIkanRsexYbVOuumz8
    Sync: 32.896 or thereabouts

    Stock MiniTri except for Gemfan 6040BN props

    Plus the Diff dump:
    # diff
    # Triflight on Betaflight 3.2.2 v1 / RCEXPLORERF3 (REF3) 3.2.2 Dec 10 2017 / 11:00:57 (a4b55d1) MSP API: 1.36
    name Mini Tri
    servo 5 1072 1954 1470 100 -1

    feature AIRMODE
    feature ANTI_GRAVITY
    feature DYNAMIC_FILTER
    map TAER1234
    serial 1 128 115200 57600 0 250000
    serial 2 1 115200 57600 0 115200
    aux 0 0 0 1800 2000
    aux 1 37 1 1300 1700
    set gyro_sync_denom = 2
    set baro_hardware = NONE
    set rc_interp_ch = RPYT
    set serialrx_provider = SPEK2048
    set blackbox_p_ratio = 16
    set motor_pwm_protocol = MULTISHOT
    set align_board_pitch = 180
    set bat_capacity = 1600
    set current_meter = ADC
    set ibata_scale = 350
    set tri_tail_motor_thrustfactor = 116
    set tri_tail_servo_speed = 322
    set deadband = 1
    set yaw_deadband = 1
    set pid_process_denom = 2
    profile 0

    set vbat_pid_gain = ON
    set p_pitch = 40
    set i_pitch = 45
    set p_roll = 45
    set i_roll = 43
    set d_roll = 40
    set d_yaw = 60
    set d_level = 100
    rateprofile 0

    set rc_rate = 130
    set rc_rate_yaw = 130
    set roll_srate = 75
    set pitch_srate = 75
    set yaw_srate = 75

    #40363
    lauka
    Participant

    @fomoco_44: Thanks for the logs! Yeah seems that the yaw D is not working. I will check what’s wrong with that.

    #40374
    Kevin_Erik
    Moderator

    Once Yaw-D been resolved, I’d DL the next update and provide logs / video for you.

    #40405
    lauka
    Participant

    I’m quite busy before Christmas, but I will have a week of vacation next week. I will look at the D-term then.

    #40535
    Sam Lane
    Participant

    Hey guys, following this thread as im very interested in the progress being made.
    Lauka, your comtributions to this community are simply incredible, thank you for your time sir!
    Im taking a look at the BF3.2 rebase, and trying to get it running on the MatekF405 as mentioned in a few previous threads.

    Thanks once again!

    #40537
    ianlh
    Participant

    I too would like to see this on the F405, this is an excellent board, as long as its not the AIO version. I have it running with the BF software, but would love to use the triflight on it.

    #40538
    lauka
    Participant
    #40566
    Kevin_Erik
    Moderator

    Moved my post to it’s own thread as it was getting a bit long in the tooth.

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