Home › Forums › Everything about everything else › Triflight 0.6 RC1
Tagged: cleanflight 2.0.0, drift, TriFlight, yaw
- This topic has 101 replies, 18 voices, and was last updated 6 years, 11 months ago by Siclair.
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16 November, 2016 at 23:05 #34928LitterBugParticipant
Bumped Gyro and PID back to 2000. Hover test is fine. Getting some drifting so can’t get a tail tune. But at least I got the heat out. Would be nice to see some BB logs to see what is different between 0.5 and 0.6. 🙂 I can do more limited LOS / tailtune stuff in my limited back yard. Haven’t tried FPV in my limited space and not enough daylight to head out to the field.
Cheers!
LitterBug16 November, 2016 at 23:08 #34929LitterBugParticipantFYI, I have my FC hard mounted. I may throw some rubber bobbins on it.
Cheers!
LitterBug16 November, 2016 at 23:46 #34930LitterBugParticipantDefinitely seems smooth in my tiny plot flying LOS. Can’t seem to get the drift out of it to get a tailtune. Going to put it away for now and work on one of my quads.
Cheers!
LitterBugEDIT: Here’s where my settings and servo tune are currently:
feature -BLACKBOX feature RX_SERIAL map TAER1234 serial 1 64 115200 57600 0 115200 set serialrx_provider = SPEK2048 set min_throttle = 1050 set disarm_kill_switch = OFF set tri_tail_motor_thrustfactor = 50 set tri_tail_servo_speed = 286 set failsafe_procedure = 1 aux 0 0 1 1450 2050 aux 1 1 0 1450 1550 aux 2 2 0 1950 2050 aux 3 12 2 1450 1550 aux 4 27 1 1450 2050 aux 5 28 2 1950 2050 servo 5 977 1864 1446 100 -1 set yaw_deadband = 4 set acc_trim_pitch = -36 set acc_trim_roll = -30 set p_pitch = 33 set i_pitch = 22 set d_pitch = 20 set p_roll = 39 set i_roll = 23 set d_roll = 27 set d_level = 100 set rc_expo = 70 set rc_yaw_expo = 75 set roll_rate = 45 set pitch_rate = 45 set yaw_rate = 80
17 November, 2016 at 12:07 #34942laukaParticipantThanks for testing!
It seems that next thing is to fix the blackbox.
I don’t have high confidence in Cleanflight anymore, check this issue: https://github.com/cleanflight/cleanflight/issues/2494.
Seems like Cleanflight is not so clean anymore. I wonder if Dominic tested the release at all.
I’m seriously thinking of converting over to Betaflight.
17 November, 2016 at 15:04 #34948LitterBugParticipant@lauka,
Interesting… I was doing all my LOS testing in angle mode. I can see how the extra vibes from higher pitched props could get amplified by that. Not sure how much work it would be for you to code, but I’d be willing to test BetaFlight based TriFlight. I have a Trifecta that could be thrown back together to have multiple platforms and FCs for testing too. I’ve been thinking about setting up a dev environment. Haven’t coded much in 20ish years, but could still use it to poke around and compile test versions.Cheers!
LitterBug18 November, 2016 at 00:43 #34959LitterBugParticipantManaged to attempt an in-flight tailtune out at the field. Failed with double beep. Tried a second time, but could not get the drift out again…. Flew 1 pack FPV with the same settings I posted up yesterday. Kinda twitchy, Waggly, and not as smooth as it’s been with 0.5. (possibly due to no in-flight tail tune)
Cheers!
LitterBug20 November, 2016 at 03:33 #34992billydParticipantlitterbug I had to balance my props on the baby they were way out of balance which led to significant vibrations. This might be the cause of your tune failure, not sure. If you haven’t balanced them give it a shot.
Usually these tiny copter props come prebalanced, but the ones that came with my baby kit were out by a mile. Perhaps yours are too.
20 November, 2016 at 07:10 #34995LitterBugParticipant@billyd,
If I switch back to TriFlight 0.5, tailtune works fine, even with the higher pitched props. There is something about the way the 0.6 alpha version works that seems to amplify rather than filter noise. On 0.6 RC2-prerelease, changing from 5050 tri-blades to 5045 tri-blade props made the difference between cooking hot motors in 30 seconds and nearly unflyable, to cool running motors running for 4-5 minutes of somewhat aggressive flying. Both sets of props run cool and have completed tail tunes on 0.5. Both sets are brand new, run true, and appear balanced on my stand.Unfortunately the weather has taken a turn for the worse. Was sunny and 78F Friday, and Saturday was 32F, Rainy, Snowy, windy, and very gusty. Doesn’t look much better today. Not sure when I’ll be able to get out next.
Cheers!
LitterBug20 November, 2016 at 09:45 #34996laukaParticipantI think we just need to wait for the fixes to Cleanflight.
I started looking into the Betaflight rebase but it’s too much work for me ATM, without the parameter groups in Betaflight.
20 November, 2016 at 13:14 #34999LitterBugParticipant@lauka,
No worries. Going to try soft mounting my FC with some rubber bobbins and see what affect that has. I’ve been running them on all my more recent builds.Cheers!
LitterBugAttachments:
21 November, 2016 at 00:11 #35025billydParticipantI mentioned this earlier in the thread that some of the parameters governing gyro lpf and other filtering appear to have changed from .5 to .6. Lauka had asked me to list them but I haven’t been able to get to it and I am not near my shop to check.
Basically if you flash with .6 and try to copy paste a dump from .5 you will see errors for the values that are not accepted if you scroll through cli after you paste the dump. Some of the constant names have changed so the values are not accepted, and other values are different than in .5 for those changed constants.
21 November, 2016 at 04:49 #35028LitterBugParticipant@billyd, I started from “default” and only changed what was needed for the Radio and flight modes. I later added the recommended settings for the baby tri. I don’t like copying cross-version when testing. Usually try to start with as close to default as possible and then add stuff back in and make adjustments. I noticed quite a few changes when I compared default values between releases.
Lines in 0.5 that are not in 0.6
feature -CURRENT_METER set looptime = 1000 set gyro_sync_denom = 1 set current_meter_scale = 360 set current_meter_offset = 0 set multiwii_current_meter_output = OFF set current_meter_type = ADC set gyro_soft_lpf = 95 set dterm_cut_hz = 95
Lines in 0.6 that are not in 0.5
feature AMPERAGE_METER mode_color 6 8 0 mode_color 6 9 0 mode_color 6 10 0 set debug_mode = NONE set telemetry_send_cells = ON set ibus_report_cell_voltage = OFF set amperage_meter_scale = 0 set amperage_meter_offset = 0 set multiwii_amperage_meter_output = OFF set amperage_meter_source = ADC set vbat_hysteresis = 1 set pid_process_denom = 1 set gyro_sample_hz = 2000 set gyro_lowpass_level = NORMAL set gyro_lowpass_hz = 95 set gyro_notch_hz = 0 set gyro_notch_cutoff_hz = 130 set pid_delta_method = MEASUREMENT set yaw_lpf_hz = 0 set dterm_lowpass_level = HIGH set dterm_lowpass_hz = 95 set horizon_tilt_effect = 75 set horizon_tilt_mode = SAFE
Parameters with new default values
set gyro_sync was "ON" now "1" set gyro_lpf was "188HZ" now "OFF" set d_level was "100" now "75" set tri_dynamic_yaw_minthrottle was "235" now "500" set tri_dynamic_yaw_maxthrottle was "50" now "12"
Managed to get the FC soft mounted today. Weather bad still, so no chance to get out. Gave me time to tweak my FPV/OSD setup a bit. Was slightly out of focus, clipping bright areas of the image, and my power field positions were reversed.
Cheers!
LitterBug21 November, 2016 at 17:11 #35034billydParticipantThanks litterbug. I wonder if any of those new parameters are causing any issues…..
22 November, 2016 at 11:48 #35045unseenParticipantIf you fly in angle or horizon mode, Cleanflight 1.14 or 1.14.1 should be avoided at the moment, or any software based on it. The mistakes that have been made with sampling and filtering the accelerometer data mean that there is huge aliasing noise induced into the readings.
I was helping out a user with altitude hold problems on 1.14 over on RCG and looking at his black box logs showed that the accelerometer data was varying as much as +/- 4g within the space of 0.12 seconds.
That’s a physical impossibility!
Cleanflight 1.14 is broken.
8 December, 2016 at 19:59 #35368LitterBugParticipant@lauka , I see there was a 1.14.2-RC1 released on the 6th. Does this fix any of the issues we have been waiting on?
Changes since v1.14.1:
Improve accelerometer filtering.
Fix RSSI reading on OSD.
Add support for SPRacingF3NEO FC/PDB/OSD/VTX FPV Stacking System
Other minor bug fixes.Cheers!
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