Home Forums Everything about the Baby Tricopter 6S Tri-Baby build (Matek F405-AIO)

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  • #40681
    Kevin_Erik
    Moderator

    Started work on the Tri-Baby and already have the motors and servos attached to the FC. If all goes well I should be able to test fly Monday / Tuesday of next week.

    FullSizeRender

    IMG_1023

    IMG_1028

    IMG_1025

    IMG_1027

    IMG_1024

    IMG_1029

    IMG_1026

    Reference the following thread for F405 wiring info: https://rcexplorer.se/forums/topic/matek-f405-fcs/

    Motors: Emax LS2207-2550kv, later build plans for F80-1900kv @ 6S or EMAX LS2207-1900kv
    ESC: Tricopter standard 35A (45 burst)
    FC: Matek F405-AIO
    Propellers: HQ 5x4x3BN
    VTX: Matek 5.8G VTX-HV W/ BFCMS CONTROL
    Receiver: Frsky R-XSR with Telemetry
    Camera: RunCam Micro
    LiPo: 1800 mAh later builds plan for 6S 1300 or 1550.
    Capacitors: 1000uf @ 25v (Battery) 470uf @ 35v (ESC’s)
    Firmware: See Attached link at bottom of first thread.
    Servo Feedback: Uses the RSSI pad and is set via Betaflight CLI.

    Final resource mapping used:
    # resource
    resource BEEPER 1 C13
    resource MOTOR 1 C06
    resource MOTOR 2 C07
    resource MOTOR 3 C08
    resource MOTOR 4 C09
    resource MOTOR 5 A15
    resource SERVO 1 A08
    resource PPM 1 A03
    resource LED_STRIP 1 B06
    resource SERIAL_TX 1 A09
    resource SERIAL_TX 2 A02
    resource SERIAL_TX 3 C10
    resource SERIAL_TX 4 A00
    resource SERIAL_TX 5 C12
    resource SERIAL_RX 1 A10
    resource SERIAL_RX 2 A03
    resource SERIAL_RX 3 C11
    resource SERIAL_RX 4 A01
    resource SERIAL_RX 5 D02
    resource I2C_SCL 1 B06
    resource I2C_SDA 1 B07
    resource LED 1 B09
    resource LED 2 A14
    resource SPI_SCK 1 A05
    resource SPI_SCK 2 B13
    resource SPI_SCK 3 B03
    resource SPI_MISO 1 A06
    resource SPI_MISO 2 B14
    resource SPI_MISO 3 B04
    resource SPI_MOSI 1 A07
    resource SPI_MOSI 2 B15
    resource SPI_MOSI 3 B05
    resource ESCSERIAL 1 A03
    resource ADC_BATT 1 C05
    resource ADC_RSSI 1 B01
    resource ADC_CURR 1 C04

    PID Defaults for 3.2.2

    P_Roll = 40
    I_Roll = 40
    D_Roll = 30

    P_Pitch= 58
    I_Pitch = 50
    D_Pitch = 35

    P_Yaw= 70
    I_Yaw = 45
    D_Yaw = 20

    #40682
    Kevin_Erik
    Moderator

    Mediafire link to BLHeli-32, this one works with the “Aikon” AK32 35A 6S BLHeli_32 ESC’s: http://www.mediafire.com/file/3py2dgw629hy3x9/BLHeliSuite32_32302.zip

    Here are my current settings for the ESC’s:

    BLHeliSuite32ESC overview_180119_1

    Here is a copy of the Diff or at least the important parts:

    # Triflight on Betaflight 3.2.2 v2 / MATEKF405 (MKF4) 3.2.2 Dec 31 2017 / 15:24:22 (30f68c8) MSP API: 1.36

    # resources
    resource MOTOR 5 NONE
    resource MOTOR 6 NONE
    resource SERVO 1 A08
    resource SERIAL_TX 11 A15

    # mixer

    # servo
    servo 5 989 1883 1432 100 -1

    # feature
    feature MOTOR_STOP
    feature DYNAMIC_FILTER

    # map
    map TAER1234

    # serial
    serial 30 32 115200 57600 0 115200

    # master
    set gyro_notch1_hz = 0
    set gyro_notch2_hz = 0
    set motor_pwm_protocol = DSHOT1200
    set failsafe_kill_switch = ON
    set servo_center_pulse = 1520
    set servo_pwm_rate = 240
    set tri_tail_servo_speed = 270
    set tri_servo_feedback = RSSI
    set pid_process_denom = 1
    set dterm_lowpass_type = PT1
    set dterm_notch_hz = 0
    set p_pitch = 29
    set p_roll = 20
    set p_yaw = 35
    set i_yaw = 20
    set d_yaw = 40
    set i_level = 25

    #40686
    Kevin_Erik
    Moderator

    16-Jan-2018

    Completed In-House tail-calibration and test hover today.
    All went Great!

    See attached blackbox log. Please note that this flight is with PID’s that are 1/2 the default and that only Dynamic filtering is active.

    Kevin

    Attachments:
    1. LOG00015.zip
    #40687
    Kevin_Erik
    Moderator

    Build and first test flight completed!

    IMG_2737
    IMG_2738
    IMG_2735
    IMG_2736

    Next, will fine tune stuff and prep for the first flight outside.

    #40691
    Kevin_Erik
    Moderator

    Here is some usefull information about Bluebird servos: https://www.blue-bird-model.com/news_detail/15.htm?cfrom=1

    Looks like the BMS-210DMH Servo we are using has a max Frequency of 250hz. This maybe important for the correct CLI settings such as “servo_pwm_rate”. Should also note that the Servo center position isn’t 1500 but instead 1520us. (“servo_center_pulse”)

    This video shows one possible solution (ferrite core) to servo-flutter or in our case Tail-Wag: https://www.youtube.com/watch?v=sEp4VT6NL6o

    #40754
    Kevin_Erik
    Moderator

    A Gyro Soft Lowpass Frequency [HZ] setting of “20Hz” all but removes the Tail-Servo jitter when stationary. Will reset the PID’s back to defaults and contnue tuning the Tri-baby from there.

    Note: I salvaged a simple ferrite-core from an old Microsoft mouse and now have it installed over the servo cable. With this I have elevated the flight controller board slightly higher to allow the ferrite-core to fit. There is also the advantage that the tail servo’s axis is now closer to the FC-Gyro ‘s “Center”. Hoping that this will make the yaw more responsive and less prone to oscillations.

    Updated “Diff”

    # version
    Triflight on Betaflight 3.2.2 v2 / MATEKF405 (MKF4) 3.2.2 Dec 31 2017 / 15:24:22 (30f68c8) MSP API: 1.36

    # resources
    resource MOTOR 5 NONE
    resource MOTOR 6 NONE
    resource SERVO 1 A08
    resource SERIAL_TX 11 A15

    # servo
    servo 5 1018 1886 1520 100 -1

    # feature
    feature MOTOR_STOP
    feature DYNAMIC_FILTER

    # map
    map TAER1234

    # serial
    serial 30 32 115200 57600 0 115200

    # aux
    aux 0 0 0 1800 2100
    aux 1 1 2 900 1200
    aux 2 2 2 1300 1700
    aux 3 37 1 1800 2100

    # master
    set gyro_lowpass_hz = 10
    set gyro_notch1_hz = 0
    set gyro_notch2_hz = 0
    set motor_pwm_protocol = DSHOT1200
    set failsafe_kill_switch = ON
    set bat_capacity = 1800
    set ibata_scale = 165
    set servo_center_pulse = 1520
    set servo_pwm_rate = 240
    set tri_tail_servo_speed = 291
    set tri_servo_feedback = RSSI
    set pid_process_denom = 1
    set dterm_lowpass_type = PT1
    set dterm_notch_hz = 0
    set i_level = 25

    #40757
    Kevin_Erik
    Moderator

    Removed the ferrite-core and have noticed that the jitter has returned but not as strongly a it once was. I still have the gyro LPF set to 20Hz so it proves that in combination this works well. However, i beleive having more than one winding throught the core os required to make it worth the added weight and complexity.

    Currently using Yaw PID’s of 35 / 15 / 40

    #40762
    Kevin_Erik
    Moderator

    Did a flight today despite the resent bad weather and the Tri-Baby behaved really well.
    I think I am making signifigant progress as the only issue seams to be the low frequency oscillation.
    I may drop the Yaw-I down a wee bit to see if this helps.

    FullSizeRender

    Kevin

    #40763
    Kevin_Erik
    Moderator

    Changed the Yaw-I to 10 from 15.
    p_pitch = 58
    i_pitch = 50
    d_pitch = 35
    p_roll = 40
    i_roll = 40
    d_roll = 30
    p_yaw = 35
    i_yaw = 10
    d_yaw = 40

    #40775
    Kevin_Erik
    Moderator

    Was able to do a full throttle punchout today! Baby-Tri drew over 100 Amps, while shooting 100 meters into the air. Still seeing a bit of I-term low freq Oscilation so I may drop the i_yaw down a bit more.

    Note: I can record video on the Baby-Tri, only the mini can record video.

    #40785
    Kevin_Erik
    Moderator

    Used the following settings today and saw a nice reduction in WAG and Oscillation. Will do a test flight outside shortly to confirm everything.

    **PID Tab**
    Roll: 40 / 40 / 30 (Stock Roll)
    Pitch: 58 / 50 / 35 (Stock Pitch)
    Yaw: 40 / 25 / 20
    D-Term Lowpass Filter: PT1
    Gyro Soft Lowpass Frequency [Hz]: 100hz
    D Term Lowpass Frequency [Hz] = 110
    Yaw Lowpass Frequency [Hz] = 10
    Dynamic Filter is active

    Note: All other filters disabled

    **CLI Settings**
    acc_lpf_hz = 10
    tri_dynamic_yaw_boost = 300

    #40794
    Kevin
    Participant

    How much does this weigh?

    #40816
    Kevin_Erik
    Moderator

    With 1800 mAh battery, it’s 500.5 grams. (flight ready) With the correct sized 4S battery it should be about 440-450 grams combined. This is without the landing gear, which by the way I’ve removed. (Those skids were an extra 10-15 grams)

    For the record, this Tri is hella-fast!

    Edit: With a new antenna I have coming, the Tri should weigh-in at 495g using the 1800 mAh LiPo.

    #40830
    Kevin_Erik
    Moderator

    Note to self…

    Too the following can cause severe yaw oscilations:
    -low CLI “servo_pwm_rate” < 100-150
    -low CLI “servo_lowpass_hz” < 10 hz
    -Motor arming during first 2-5 seconds. (should stabilize)
    -Ground effect
    -Overly heigh P & I-Term

    #40834
    Kevin_Erik
    Moderator

    Current “Diff” atached.

    Note: Added Anti-Gravity (3) to fix yaw instability during punch-outs, Lowered Roll P and Yaw I by 5 each (from stock values), TPA set to .2 @ 1500. Hoping that the term changes and the TPA (Throttle PID Attenuation) help offset the oscillations encounted during sharp turns.

    Attachments:
    1. Diff-1-30-2018.txt
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