Testing – Triflight rebased on 3.2.2 Betaflight

[lauka]

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.

Attachments:

1. triflight_bf_3.2.2_v1_RCEXPLORERF3.hex_.zip
2. triflight_bf_3.2.2_v1_BETAFLIGHTF3.hex_.zip
3. triflight_bf_3.2.2_v1_NAZE.hex_.zip
4. triflight_bf_3.2.2_v1_COLIBRI_RACE.hex_.zip
5. triflight_bf_3.2.2_v1_SPRACINGF3.hex_.zip
6. triflight_bf_3.2.2_v1_DOGE.hex_.zip

[MadPoet]

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

[Terje]

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.

[MadPoet]

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.

[Kevin_Erik]

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.

[Kevin_Erik]

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.

[fomoco_44]

@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.

[fomoco_44]

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

[lauka]

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

[Kevin_Erik]

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

[lauka]

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

[Sam Lane]

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!

[ianlh]

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.

[lauka]

Here’s the v2 with the Yaw D term fixed. There was an issue with the filter initialization.

No other changes in this one.

Attachments:

1. triflight_bf_3.2.2_v2_SPRACINGF3.hex_.zip
2. triflight_bf_3.2.2_v2_DOGE.hex_.zip
3. triflight_bf_3.2.2_v2_COLIBRI_RACE.hex_.zip
4. triflight_bf_3.2.2_v2_NAZE.hex_.zip
5. triflight_bf_3.2.2_v2_BETAFLIGHTF3.hex_.zip
6. triflight_bf_3.2.2_v2_RCEXPLORERF3.hex_.zip

[Kevin_Erik]

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

[Author]

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