Tri-copter Drifts to right in angle and/or Horizon.

[BranBepic]

Tri-copter Drifts to right in angle and/or Horizon.

V3.5 tri-Copter with electronics kit from RC explorer and using all setting and pids recommended on website.
All end points are set and used servo setup tool. Flys perfect in acro mode as for first 25 seconds of flight video. Props balanced and etc been a real prolem for a week now.

Tri-Copter flight drift.

clean flight setting

[JB_Jacobo]

I would say , try to calibrate accl once more, maybe that’s the thing.

[BranBepic]

I’ve tried that at least 5-10 times already even used the marble block table at work digital level everything. I can see the tail servo wanting to tilt more and more as I don’t give it stick input but the yaw is fine just rolls to the right.

[LeoTheHuman]

Is the roll stable, or does it roll more and more? Can you counteract that with a stick in a certain position, or you have to move the stick further and further from center? In the first case, acc trim is your friend, in the second one – your accelerometer gets drift from vibration.

[BranBepic]

The roll seems to pick up more and more after releasing stick input and I have to keep about 30-60% stick input to keep it from drifting away. I’ll try balancing the props tomorrow and putting some acc trim in.Even trying to take off from ground level I can see the front right motor not getting as much input just trying to take off.

[BranBepic]

Small update, I ran the motors in clean flight with the props OFF, the accelerometer was at all 0’s. While throttling up in acro mode there is even input on all 3 motors but upon switching to angle mode motor and slowly giving it throttle I can see in cleanflight motor 3 wants to throttle up way more than the others motors, I’ll do a screen recording after work and upload. Very confused on this as the accelerometer was recalibrated to at 0 and props were off with little input throttle and there were huge motor differences only in the angle/horizon mode.

[LeoTheHuman]

I guess your FC accelerometer picks up drift from vibrations. Balancing the motors and propellers is probably your best chance. Or just fly acro! (:

[BranBepic]

Yes I’ve been flying acro for now, but how is it possible for the props to be off and it’s sitting on the table perfectly still then when armed in angle and giving just minor 5% throttle I can immediately see in clean flight motor 3 is throttling way more than the other motors they were all just uneven all over the place, can it be that sensitive with the PROPS OFF. I’m only asking because my little junk plastic Dromida quad would have better hardware being as everything has been smashed and changed multiple times destroyed so bad yet can be trimmed and stays in one spot compared to a over $300 tricopter which can’t even equally throttle the motors up with accelerometer on sitting on the table with NO PROPS and barely any throttle input.

[RCExplorer – David]

The reason for the motor to spin up more and more is because the PID loop isn’t getting any feedback. If it detects any movement at all in the accelerometer it’s going to increase the throttle of one motor to try to counteract it. It starts with a small throttle change and then it checks if the angle has been achieved. If not it increases the throttle more and so on. It creates a positive feedback loop instead of a negative one.
The Dromida is designed specifically for those motors and propellers. It has a hardcoded feedback loop specifically made for that setup. Where as the Tricopter is running a firmware that is made to work with all setups. The power of the code is immense and you decide exactly how the platform should behave and feel. The problem with a very large tuning envelope is that it’s possible to find yourself in the suboptimal performance range.

As a pretty crude comparison; The dromida is a Prius and the Tricopter (and other DIY multirotors) are more like a F1 car. The Prius works flawless throughout it’s performance range where as on a F1 car the difference of having the camber of by 1° will completely ruin the performance.

[sscott]

@BranBepic, I have the exact same problem with the mini tri drifting to the right in angle mode. Did you ever find a viable solution to this?

[BranBepic]

@sscott, it was eventually fixed by upgrading my triflight firmware which differs then what is in the download in the preconfig section of the webpage where the instructions are, hope that helps.

[sscott]

Ok thanks. So which version did you upgrade to?

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