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

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  • #40567
    Kevin_Erik
    Moderator

    @ianlh

    If you don’t mind me asking, how are you performing a Tailtune using the BF files? Far as I know of Tailtune isn’t part of that hex.

    #40577
    lauka
    Participant

    Here’s the Matek F405 hex.

    #40602
    Kevin_Erik
    Moderator

    I’ve 3.2.2 loaded on the Tri-Mini (RCexplorer F3FC)… Will post logs next time I am able to fly.

    Note: Still working on the Tri-baby with the Matek F405.

    Cheers!

    Kevin

    #40603
    Kevin_Erik
    Moderator

    3.2.2 Betaflight, triflight_bf_3.2.2_v2_RCEXPLORERF3.hex_.zip

    Just tried using “tri_unarmed_servo” as it’s supposed to allow the tail servo to be manipulated while the copter is disarmed.

    This function appears to be listing twice when the CLI “GET” when it is used.
    One set shows “ON” while the other set shows “OFF”.

    # get tri_unarmed_servo
    tri_unarmed_servo = ON
    Allowed values: OFF, ON

    tri_unarmed_servo = OFF
    Allowed values: OFF, ON

    Any attempt to set the value to ON, does nothing but setting it to OFF shows:
    # get tri_unarmed_servo
    tri_unarmed_servo = OFF
    Allowed values: OFF, ON

    tri_unarmed_servo = OFF
    Allowed values: OFF, ON

    Not sure if this is a typo or if its an error of sorts.

    Edit: Just played with this some more, pulled a CLI-Dump and saw this:
    set tri_unarmed_servo = ON
    set channel_forwarding_start = 4
    set tri_unarmed_servo = OFF

    Looks like its being enabled then disabled somehow. Any idea if this is deliberate?

    #40604
    fomoco_44
    Participant

    @Lauka,

    I was able to successfully test the BF3.2 V2 code today, and it looks and feels great!….pretty much the same as the BF3.1.7 V8 code using the same PID’s and hardware.

    Here is the log and diff:
    https://1drv.ms/t/s!Akrjv9THYPIka2b09pBeo03FxeY

    # diff
    # Triflight on Betaflight 3.2.2 v2 / RCEXPLORERF3 (REF3) 3.2.2 Dec 29 2017 / 14:29:45 (30f68c8) MSP API: 1.36
    name Mini Tri
    servo 5 1017 1925 1481 100 -1

    feature AIRMODE
    feature ANTI_GRAVITY
    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 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 vbat_max_cell_voltage = 44
    set current_meter = ADC
    set ibata_scale = 350
    set tri_tail_motor_thrustfactor = 118
    set tri_tail_servo_speed = 340
    set deadband = 1
    set yaw_deadband = 1
    profile 0

    set dterm_lowpass_type = PT1
    set p_pitch = 40
    set i_pitch = 45
    set p_roll = 50
    set i_roll = 45
    set d_roll = 40
    set p_yaw = 75
    set d_yaw = 60
    rateprofile 0

    set rc_rate = 130
    set rc_rate_yaw = 130
    set rc_expo = 20
    set rc_expo_yaw = 10
    set roll_srate = 75
    set pitch_srate = 75
    set yaw_srate = 75

    I have the video but haven’t had a chance to upload it yet, let me know if you need it or if the log is good enough 🙂

    Two quick questions:
    1. I’m getting some mild oscillations in both the yaw and pitch axis, and so I’m pretty sure one is driving the other, but I can’t tell which one is the culprit!….do you have any sage advice on how to determine this? I was thinking of raising Pitch P and lowering Yaw P but I would love to hear your advice.

    2. BF3.2 has the Dynamic Filter feature which seems to work pretty good on my other quads, do You see any issue with enabling it(and subsequently disabling the notch filters) on the Tricopter?…I’m not sure how it would handle the tail servo feedback routine/code. I’m trying to avoid turning my MiniTri into another flying-blender-of-death!

    Great work on the code!!

    #40609
    Sam Lane
    Participant

    @fomoco_44

    Concerning your coupled oscillation issue, I would suggest taking a look at your blackbox logs, specifically the P-correction values for Pitch and Yaw. Theyll both roughly approximate sine waves. Whichever wave precedes is the axis driving the oscillation.

    All the best!
    Sam

    #40617
    fomoco_44
    Participant

    @Sam Lane

    Thanks for that, I’ll go back and have a closer look…..my suspicion is that it’s a yaw oscillation driving the pitch axis.

    #40622
    Kevin_Erik
    Moderator

    Tricopter-Mini: Just tried doing a quick Tail-Tune & test hover (in-house) as the weather outside is total crap. Seems as if the Tail servo is non responsive. Won’t respond to RC commands nor will it Tail-Tune.

    Anyone know whats going on ?

    # diff
    # Triflight on Betaflight 3.2.2 v2 / RCEXPLORERF3 (REF3) 3.2.2 Dec 29 2017 / 14:29:45 (30f68c8) MSP API: 1.36
    name Tricopter Mini
    servo 5 1000 2000 1582 100 -1

    feature DYNAMIC_FILTER
    beeper -ON_USB
    map TAER1234
    serial 0 1 115200 57600 0 115200
    serial 1 64 115200 57600 0 115200
    serial 2 128 115200 57600 0 115200
    aux 0 0 0 1800 2100
    aux 1 1 2 900 1300
    aux 2 2 2 1300 1700
    aux 3 37 1 1800 2100
    set gyro_sync_denom = 4
    set gyro_notch1_hz = 0
    set gyro_notch2_hz = 0
    set min_check = 1010
    set max_check = 1990
    set rssi_channel = 16
    set min_throttle = 1160
    set max_throttle = 1900
    set align_board_pitch = 180
    set bat_capacity = 1800
    set current_meter = ADC
    set ibata_scale = 336
    set servo_lowpass_hz = 100
    set tri_tail_motor_thrustfactor = 78
    set tri_tail_servo_speed = 203
    set pid_process_denom = 1
    set dterm_lowpass_type = PT1

    #40623
    mcstan
    Participant

    what is the resource dump look like?

    #40624
    Kevin_Erik
    Moderator

    # resource
    resource BEEPER 1 A00
    resource MOTOR 1 A08
    resource MOTOR 2 B00
    resource MOTOR 3 A04
    resource MOTOR 4 B01
    resource SERVO 1 A07
    resource PPM 1 A01
    resource SONAR_TRIGGER 1 A06
    resource SONAR_ECHO 1 B01
    resource LED_STRIP 1 B08
    resource SERIAL_TX 1 B06
    resource SERIAL_TX 2 A02
    resource SERIAL_TX 3 B10
    resource SERIAL_RX 1 B07
    resource SERIAL_RX 2 A03
    resource SERIAL_RX 3 B11
    resource I2C_SCL 2 A09
    resource I2C_SDA 2 A10
    resource LED 1 B04
    resource LED 2 B05
    resource SPI_SCK 2 B13
    resource SPI_MISO 2 B14
    resource SPI_MOSI 2 B15
    resource ESCSERIAL 1 A08
    resource ADC_BATT 1 A05
    resource ADC_RSSI 1 A06
    resource ADC_CURR 1 B02

    #40627
    Kevin_Erik
    Moderator

    Just pulled a Resource from Hex version Triflight 0.7 Beta 3 / RCEXPLORERF3 3.1.7 Oct 21 2017 / 13:57:41 (17fa321). So far it looks similar enough but I’ll try powering up to see if the Servo will play.

    # resource
    resource BEEPER 1 A00
    resource MOTOR 1 A08
    resource MOTOR 2 B00
    resource MOTOR 3 A04
    resource MOTOR 4 B01
    resource SERVO 1 A07
    resource PPM 1 A01
    resource SONAR_TRIGGER 1 A06
    resource SONAR_ECHO 1 B01
    resource LED_STRIP 1 B08
    resource SERIAL_TX 1 B06
    resource SERIAL_TX 2 A02
    resource SERIAL_TX 3 B10
    resource SERIAL_RX 1 B07
    resource SERIAL_RX 2 A03
    resource SERIAL_RX 3 B11

    #40628
    Kevin_Erik
    Moderator

    So far no luck with either hex loaded. Not sure how but it appears that the servo is dead. I’m at a loss as to how, being that the last few flight went smooth. Is it possible that swapping the hex can cause the servo damage in some way? (doubtful)

    Edit: Spent the last 2 hours taking the Tri-mini apart and have yet to find anything physically wrong with it. Wiring looks great and beyond the servo not working, the Trimini should be flyable. (Motors & Sensors test good) Is the failure rate of the servo’s really this bad or am i having a shit run of luck?

    If this one is dead, then it would be the third servo in under a years time.

    #40629
    MadPoet
    Participant

    Finally sunny and only slightly breezy, I took my Baby Tricopter out for a test, please see below;
    # diff
    # Triflight on Betaflight 3.2.2 v2 / RCEXPLORERF3 (REF3) 3.2.2 Dec 29 2017 / 14:29:45 (30f68c8) MSP API: 1.36
    name Y170
    servo 5 1023 1853 1428 100 -1

    feature RSSI_ADC
    aux 0 0 3 1700 2100
    aux 1 2 2 900 1600
    aux 2 4 2 1800 2100
    aux 3 13 4 1700 2100
    aux 4 27 0 900 1300
    aux 5 28 2 1300 2100
    aux 6 37 1 1700 2100
    set baro_hardware = NONE
    set min_check = 1010
    set max_check = 1910
    set min_throttle = 1040
    set tri_tail_servo_speed = 312
    profile 0

    rateprofile 0

    # get servo_pwm_rate
    servo_pwm_rate = 300
    Allowed range: 50 – 498

    # get tri_tail_motor_thrustfactor
    tri_tail_motor_thrustfactor = 54
    Allowed range: 10 – 400

    two questions, one as per https://github.com/lkaino/Triflight/blob/master/docs/Triflight%20Checklist.md
    “Use the configurator CLI and check tri_tail_motor_thrustfactor. If it’s still 54 (default) it’s likely the tuning failed.”

    Should I assume that it failed and keep trying? Previous attempts, I’ve done this dozens of times with the same result.

    2nd question: As per https://rcexplorer.se/forums/topic/250hz-for-in-openpilot-cc3d-atom-revo/
    indicates that it should be 250, the post is a bit old, I wonder if this still applies.

    My tricopter Specs are;
    RCExplorer F3FC
    BabyPDB – 36x36mm Power Distribution + BEC + Current sensor (REV3)
    – BEC set to 6v for servo
    BMS210 Servo with feedback wire and stainless steel output shaft
    Aikon SEFM 30A BLHeli_S ESC
    Emax RS2205 red bottom motors
    Dalprops T5045
    4s 1400mah

    And as a bonus question; it’s time for me to learn how to tune the baby tricopter. Can anyone recommend articles and video to help me tune the baby tri. I see a little tail wag when I come off the throttle and/or when applying yaw. Still new to this, so can’t really explain it. I have no blackbox logs, I don’t know how to add that to my current set up and current FC doesn’t have any RAM for such logging. I have a cheap camera I can hook up and turn to face the tail motor if it would help, but I would need to remove my VTX. I scavenged a camera and VTX from my X220 (Eachine Wizard) when I installed the new gear into it.

    @Lauka, thank you for your work on this project – even with the tail wag, should I not figure out how to tune it out, this is a blast to fly! I am so glad I ventured into building a tricopter.

    #40631
    mcstan
    Participant

    @kevin ahhh okay.. I didn’t know you had it working before…. servo might be dead then.. I did read somewhere if the timing on the motor outputs pins are the same as the servo output pin and you set the motors to dshot that the servo stop working

    which is why I asked for your resource output… but you have not listed the timings

    @madpost I found if you set all your I and D down and just mess with the P like you would with a normal quoad you see which one is affecting the tail wag.. the only thing I think when tuning a tri-copter is.. instead of hearing the oscillations like with a Quad you see them in the tail wag… well that’s the case with the Yaw P and roll P

    I all so found too much “I” can give you a lot of tail wag

    some people may disagree but this is just my point of view.

    #40632
    Kevin_Erik
    Moderator

    @mcstan

    The timings are the default, OneShot125. Part of why is that the F3FC used for the mini can’t handle anything else as its unable to talk to the esc’s. Same is true for the passthrough… While it can be setup, it doesn’t allow you to reprogram or flash the esc’s. (F3 limitation)

    What I think happened is that the Tailtune hadn’t yet completed and hence the end limits for the Servo had not yet been fully defined. Thus the servo tried to turn past the physical limits of the motor mount, burning up in the process. Granted i have no real way to know this for sure but from what i saw the gears are fine. Cleaned them and reassembled the whole thing. However not before attempting to spin up the servo with the gearing off. Obviously this didnt spin or even move a little.

    Hence there are three possibilities in order of likelihood:
    -Bind & burnt
    -Over voltage (5-6v is norm)
    -Impact damage (not likely as it was working before the hex flash)
    -Bad wiring via internal breakage (its possible but unlikely as i have has this same fault before. What are the odds of two exact failures)

    Would be nice if the Tail tunes defaults before the tune is performed, were somewhat less than the possible limits. This way it would prevent the servo from being burned after a flash.

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