Triflight 0.7 Beta 1

[PieterC]

Cool thanks Dave. This makes way more sense. I looked at the links before but not as closely as this. Thank again for coming to the rescue with more leads. I will give this another go in a few days.
Your help is much appreciated.

[LitterBug]

Flashed all new build BabyTri#2 with TriFlight 0.7 Beta 1. Have gone through initial config and on ground tailtune. Tail values for this build came out to:
servo 5 1096 1930 1487 40 40 100 -1
set tri_tail_servo_speed = 294

Everything is looking good so far. Need to finish up FPV installation and should be ready to hit the air later this week.

Cheers!
LitterBug

[Josh]

Ive flashed TriFlight 0.7 Beta 1 onto my Naze32 Rev6 but I’m only getting input to the tail motor. when sliding the motor master up, only the tail motor spins up. Also no response at all from the tail servo.

I flashed stock Betaflight Naze firmware onto the board and got a normal response from all motors and servos. After flashing back to Triflight, still no motor or servo response except for the rear motor.

While on Triflight and connected to Betaflight configuration and powering the copter with a battery, the front motors/ESCs chirp every 3 seconds or so but that’s it. No other activity from them.

Any ideas?

[lauka]

What kind of CPU load do you have on the naze? Need to check if betaflight has changed the resource mappings for naze.

[DaveL]

Can someone post a diff or dump for a V4 ?
Thanks
DaveL

[jfdelhove]

Hello ,

same mapping issue with rxexplorer Naze on rcexplorer Mini tri and the release 0.7 beta 1.

My cpu load is 16%

regards

Jean-François

I also flashed my Baby tri with the rxexplorer F3 , all OK .

[Josh]

Lauka, here is the status info after connecting to the Naze

# status
System Uptime: 11 seconds
Voltage: 1 * 0.1V (0S battery – NOT PRESENT)
CPU Clock=72MHz
Stack size: 2048, Stack address: 0x20005000
I2C Errors: 0, config size: 1268
CPU:12%, cycle time: 1053, GYRO rate: 949, RX rate: 49, System rate: 9

[jfdelhove]

Hi i finnaly managed to reasign the mapping to use the connections used in previous versions .

here is the mapping modified :

# diff
# Triflight 0.7 Beta 1 / NAZE 3.1.6 Apr 9 2017 / 12:59:47 (bf500bf)
resource MOTOR 1 B06
resource MOTOR 2 B07
resource MOTOR 3 B08
resource MOTOR 4 NONE
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource SERVO 1 A08
servo 5 1000 2000 1500 40 40 100 -1

feature -RX_PPM
feature RX_SERIAL
map TAER1234
serial 1 64 115200 57600 0 115200
aux 0 0 2 1700 2100
aux 1 1 0 900 1300
aux 2 2 0 1300 1700
set serialrx_provider = SBUS
set align_board_pitch = 180
set tri_unarmed_servo = ON

will now tune this setup .

if you need help to change the resources mapping pls ask .

rgds

Jean-François

[bassmaniac]

Hi Luaka, in this release what are the default PIDS for, big v4, mini tri, or baby tri. ?? Thanks for the great work.

[lauka]

Okay, seems that betaflight broke the servo support on targets when implementing the resource changes. I’ll fix at least the naze target for next release.

@bassmaniac: PIDs are tuned on baby with stock electronics.

Have been thinking of trying to swap the directions of the front motors. That might help with the known issue linked in the release notes.

[TheZoq2]

I have been trying to configure the latest triflight on a RMRC seriously DODO flight controller but I can’t get servo output to work. I flashed the RMDO hex file using the cleanflight configurator (I used betaflight for the rest of the setup)

Based on other discussions in this thread, I believe the issue is because of the new resource feature in betaflight. By default, the resource mapping looked like this:

resource BEEPER 1 C15
resource MOTOR 1 A06
resource MOTOR 2 A07
resource MOTOR 3 A11
resource MOTOR 4 A12
resource MOTOR 5 B08
resource MOTOR 6 B09
resource MOTOR 7 A02
resource MOTOR 8 A03
resource PPM 1 A00
resource PWM 1 A00
resource PWM 2 A01
resource PWM 3 B11
resource PWM 4 B10
resource PWM 5 B04
resource PWM 6 B05
resource PWM 7 B00
resource PWM 8 B01
resource LED_STRIP 1 A08
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A14
resource SERIAL_TX 3 B10
resource SERIAL_TX 11 B05
resource SERIAL_TX 12 B01
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A15
resource SERIAL_RX 3 B11
resource SERIAL_RX 11 B04
resource SERIAL_RX 12 B00

Since there is no servo here, I tried using the resource servo <n> <pin> command to bind the servo to an output but none of the combinations of n and pin worked. For pin, I tried most of the pins that motors are connected to which as far as I understand it is what you should do.

Most people seem to bind servo 1 to one of those pins, but when I look at the motors tab, servo 6 is the servo that seems like its used for the tail, all others are stationary at 1500. If I bind servo 6, it doesn’t show up when I run resource list which indicates that it is wrong. Binding servo 1 doesn’t seem to work either.

I also tried moving motor 3 to motor 4 and that worked. For reference, this is my current mapping after some experimentation:

# resource list
IO
A00: PPM 
A01: FREE 
A02: FREE 
A03: FREE 
A04: ADC_BATT 
A05: ADC_CURR 
A06: MOTOR 1
A07: MOTOR 2
A08: FREE 
A09: SERIAL_TX 1
A10: SERIAL_RX 1
A11: FREE 
A12: MOTOR 3
A13: FREE 
A14: FREE 
A15: FREE 
B00: FREE 
B01: FREE 
B02: ADC_RSSI 
B03: LED 1
B04: FREE 
B05: FREE 
B06: I2C_SCL 1
B07: I2C_SDA 1
B08: SERVO 1
B09: FREE 
B10: FREE 
B11: FREE 
B12: FLASH_CS 
B13: SPI_SCK 2
B14: SPI_MISO 2
B15: SPI_MOSI 2
C13: MPU_EXTI 
C14: FREE 
C15: BEEPER 
F00: FREE 
F01: FREE 
F03: FREE 
F04: FREE 

DMA:
DMA1 Channel 1: FREE
DMA1 Channel 2: FREE
DMA1 Channel 3: FREE
DMA1 Channel 4: FREE
DMA1 Channel 5: FREE
DMA1 Channel 6: FREE
DMA1 Channel 7: FREE
DMA2 Channel 1: ADC
DMA2 Channel 2: FREE
DMA2 Channel 3: FREE
DMA2 Channel 4: FREE
DMA2 Channel 5: FREE

# resource
resource BEEPER 1 C15
resource MOTOR 1 A06
resource MOTOR 2 A07
resource MOTOR 3 A12
resource MOTOR 5 B08
resource MOTOR 6 B09
resource MOTOR 8 A03
resource SERVO 1 B08
resource SERVO 5 B09
resource SERVO 6 A02
resource PPM 1 A00
resource PWM 1 A00
resource PWM 2 A01
resource PWM 3 B11
resource PWM 4 B10
resource PWM 5 B04
resource PWM 6 B05
resource PWM 7 B00
resource PWM 8 B01
resource LED_STRIP 1 A08
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A14
resource SERIAL_TX 3 B10
resource SERIAL_TX 11 B05
resource SERIAL_TX 12 B01
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A15
resource SERIAL_RX 3 B11
resource SERIAL_RX 11 B04
resource SERIAL_RX 12 B00

I should add that there is no output at all on any of the pins I have tried binding the servo to. The servo doesn’t seem to be torquqed and checking the pins with an osciloscope shows a constant 0 volts or possibly no signal at all

Am I doing something wrong here?

Edit: I think I may have solved it. Turns out that the copter has to be armed for the servo to move.

[jfdelhove]

Yes , copter has to be armed for the servo to move .
Or set tri_unarmed_servo = ON

rgds
Jean-François

[nhansen7231]

I just tested this out today, my set up is the mini tricopter, original motors Naze Fc frame and I completed the tail tune and I have an issue of constant yaw drift to the right. It goes in a 360 in about 20 seconds, I tried changing the p and the I gain, but it had no effect. I will shoot a video of it tomorrow if that helps.

[fpvlog]

Hey guys!

I’m so happy the 0.7 beta is out!! Thanks lauka!!

I tried it on my baby tri and it does a weird yaw input on turns sometimes… maybe the pids are made to carry a gopro and I didn’t have it for tests. It’s dark now so I can’t try anymore.

Tomorrow I’ll post a video of what it does.

The tail tuning went very well and very fast! I was impressed!

Anyway, it feels better than before but it’s still a bit weird during turns… maybe I want it to fly like a quad too much. I don’t know…

[lauka]

It shouldn’t be doing any weird yaw movement on normal flying. We need to figure out the reason for those, for that a blackbox would be awesome, but a video might help also.

[Author]

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