Triflight 0.7 Beta 2

[swissfreek]

I’m currently rebuilding my baby tricopter to use an extra TBS PowerCube that I have laying around. It’s the version with the FPVision and the 2-in-1 ESCs that comes with the QQ190 and RotorX Atom V3. My question is, where do I hook up servo feedback? There’s an RSSI input on the FPVision, but from what I can tell, this goes straight to the OSD, so that won’t be useful. I assume I will use the servo output pins on the Colibri Race to control the servo. There’s also a PPM input for the RX Port, which I won’t use because I’m connecting my CrossFire receiver to one the other UART, so could I use this for servo feedback? I’m not sure if I can use any of the motor pins since they are all connected to ESCs in the stack (even though only three will be used). Looking for whatever guidance you guys may have…

[bhuism]

@lkaino, Yes, this was all careful LOS flying (am on vacation, don’t want to break stuff I can replace now), and in general, I don’t dare to use the goggles yet, but I will.

What do you mean by back and forth, I think the rccommand[roll] is all me 🙂 you mean this as attached? gyro oscillations seems to be within acceptable limits.

Attachments:

1. 

   Screenshot-from-2017-06-11-21-06-41.png
   

[mcstan]

I’m trying to decide if I should get a DYS F4 Pro Flight Controller With OSD or the betaflightf3 for my 2nd build

I know bhuism has already worked out the betaflightF3 fc so that is the safe bet. but the DYS has some nice choice too and being F4 and it looks like it has RSSI and ppm

anyways what are the key factors to look for in an FC for triflight?

[bhuism]

@mcstan, What are the F4 specific aspects that you are looking in a FC? more cpu power? more serial ports? that are the only things I can think off top off my head, I am probably missing some good advantages?

Lauka, explained to me in the beta1 thread, exactly why some pin’s can or can’t be used for the feedback wire. Has something to be with being on the same dma channel, I’m sure i forgot. I don’t think you will run into problems remapping the servo output, just servo feedback can be troublesome.

I bought the betaflight f3 simply because of the good support + large user base.

[mcstan]

@bhuism

I was looking at the Dys one because it was 6 pounds cheaper than the betaflightF3 and the club people told me to stay away from it I also I could plug in a 1 in 4 ESC to it.. and make my build lighter and super neat

[Minidarren83]

today i managed to get out and get a fpv flight in

in the video at 1min i start a climb over the trees and am going to try a dive back under by cutting throttle pitch forward and roll left then recover dive to swing back under the trees but as you can see as i cut the throttle it jerks wildly to the right and pitch back which i was not expecting at all lol.

i have attached the blackbox log from the flight at 15s-19s i am flying through the trees giving no input to the yaw but you can see on the yaw gyro it sways back and forth and at 55s is where i start the climb over the trees with the unexpected swing after throttle cut

[Minidarren83]

the blackbox log was too large to upload it is the second log of 4mins33s that is of interest and here is a dump of my settings

https://drive.google.com/file/d/0B1KXek5FDI4pUldJUU9YbjF1MnM/view?usp=sharing

i had to lower d_yaw to stop servo waggle and also yaw motor correction to 4 as any higher would cause yaw on partial and full throttle cuts

# dump
# Triflight 0.7 Beta 2 / SPRACINGF3 3.1.7 Jun 4 2017 / 13:44:00 (1698ba5)
name –
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 NONE
resource MOTOR 8 NONE
resource MOTOR 9 NONE
resource MOTOR 10 NONE
resource MOTOR 11 NONE
resource MOTOR 12 NONE
resource SERVO 1 A02
resource SERVO 2 A03
resource SERVO 3 NONE
resource SERVO 4 NONE
resource SERVO 5 NONE
resource SERVO 6 NONE
resource SERVO 7 NONE
resource SERVO 8 NONE
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 4 NONE
resource SERIAL_TX 5 NONE
resource SERIAL_TX 6 NONE
resource SERIAL_TX 7 NONE
resource SERIAL_TX 8 NONE
resource SERIAL_TX 9 NONE
resource SERIAL_TX 10 NONE
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 4 NONE
resource SERIAL_RX 5 NONE
resource SERIAL_RX 6 NONE
resource SERIAL_RX 7 NONE
resource SERIAL_RX 8 NONE
resource SERIAL_RX 9 NONE
resource SERIAL_RX 10 NONE
resource SERIAL_RX 11 B04
resource SERIAL_RX 12 B00
mixer TRI

mmix reset

servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1046 1986 1580 40 40 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1
smix reset

feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -OSD
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -SDCARD
feature -VTX
feature -RX_SPI
feature -SOFTSPI
feature -ESC_SENSOR
feature -FEATURE_ANTI_GRAVITY
feature VBAT
feature INFLIGHT_ACC_CAL
feature RX_SERIAL
feature MOTOR_STOP
feature FAILSAFE
feature BLACKBOX
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACC_CALIBRATION
beeper ACC_CALIBRATION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
map TAER1234
serial 0 1 115200 57600 0 115200
serial 1 0 115200 57600 0 115200
serial 2 64 115200 57600 0 115200
led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0
mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0
mode_color 7 0 3
aux 0 0 1 1300 1700
aux 1 28 0 1350 2100
aux 2 1 0 900 1300
aux 3 2 0 1350 1700
aux 4 13 1 1700 2100
aux 5 17 2 1700 2100
aux 6 31 3 1700 2100
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0
adjrange 12 0 0 900 900 0 0
adjrange 13 0 0 900 900 0 0
adjrange 14 0 0 900 900 0 0
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h
set task_statistics = ON
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rc_interp = AUTO
set rc_interp_ch = RP
set rc_interp_int = 19
set rssi_invert = OFF
set input_filtering_mode = OFF
set fpv_mix_degrees = 0
set max_aux_channels = 14
set debug_mode = NONE
set min_throttle = 1045
set max_throttle = 2000
set min_command = 1000
set digital_idle_percent = 4.500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT600
set motor_pwm_rate = 480
set disarm_kill_switch = ON
set gyro_cal_on_first_arm = OFF
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serial_update_rate_hz = 100
set gps_provider = NMEA
set gps_sbas_mode = AUTO
set gps_auto_config = ON
set gps_auto_baud = OFF
set gps_wp_radius = 200
set nav_controls_heading = ON
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set beeper_inversion = ON
set beeper_od = OFF
set serialrx_provider = SPEK2048
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autorst = 1
set tlm_switch = OFF
set tlm_inversion = ON
set sport_halfduplex = ON
set frsky_default_lat = 0.000
set frsky_default_long = 0.000
set frsky_gps_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_int = 5
set pid_in_tlm = OFF
set bat_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set vbat_hysteresis = 1
set ibat_scale = 400
set ibat_offset = 0
set mwii_ibat_output = OFF
set current_meter_type = ADC
set battery_meter_type = ADC
set bat_detect_thresh = 55
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set gyro_lpf = OFF
set gyro_sync_denom = 2
set gyro_use_32khz = OFF
set gyro_lowpass_type = PT1
set gyro_lowpass = 100
set gyro_notch1_hz = 400
set gyro_notch1_cut = 300
set gyro_notch2_hz = 200
set gyro_notch2_cut = 100
set moron_threshold = 48
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 9
set yaw_deadband = 9
set thr_corr_value = 0
set thr_corr_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set tri_unarmed_servo = OFF
set servo_center_pulse = 1500
set servo_lowpass_hz = 400
set servo_lowpass = OFF
set servo_pwm_rate = 50
set gimbal_mode = NORMAL
set channel_forwarding_start = 4
set tri_tail_motor_thrustfactor = 54
set tri_tail_servo_speed = 300
set tri_servo_feedback = VIRTUAL
set tri_motor_acc_yaw_correction = 4
set tri_motor_acceleration = 0.180
set tri_yaw_boost = 400
set tri_dynamic_yaw_maxthrottle = 38
set airmode_start_throttle = 1350
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = AUTO
set acc_lpf_hz = 10
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set baro_hardware = NONE
set mag_hardware = NONE
set mag_declination = 0
set pid_process_denom = 2
set blackbox_rate_num = 1
set blackbox_rate_denom = 8
set blackbox_device = SPIFLASH
set blackbox_on_motor_test = OFF
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0
set ledstrip_visual_beeper = OFF
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
profile 0

set gps_pos_p = 15
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 34
set gps_posr_i = 14
set gps_posr_d = 53
set gps_nav_p = 25
set gps_nav_i = 33
set gps_nav_d = 83
set pidsum_limit = 0.500
set pidsum_limit_yaw = 0.500
set d_lowpass_type = BIQUAD
set d_lowpass = 100
set d_notch_hz = 260
set d_notch_cut = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_thresh = 350
set anti_gravity_gain = 3.000
set setpoint_relax_ratio = 100
set d_setpoint_weight = 100
set yaw_accel_limit = 10.000
set accel_limit = 0.000
set iterm_windup = 50
set yaw_lowpass = 0
set p_pitch = 39
set i_pitch = 50
set d_pitch = 20
set p_roll = 24
set i_roll = 40
set d_roll = 27
set p_yaw = 70
set i_yaw = 35
set d_yaw = 30
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 50
set i_level = 50
set d_level = 100
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_sensitivity = 55
set level_limit = 55
rateprofile 0
rateprofile 0

set rc_rate = 100
set rc_rate_yaw = 100
set rc_expo = 0
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70
set tpa_rate = 10
set tpa_breakpoint = 1650

[bhuism]

a, check, go for it then. Do you have a schematic?

[LitterBug]

@lkaino, I have not played with PIDs or yaw parameters yet. Planning on bumping up servo voltage to 6V on my new build and using my AUX3 channel to make in-flight tuning adjustments. Going to use my original build to do some initial testing on the new Float yaw.

[LitterBug]

@lkaino I tested my new build Baby Tri with the 2450kv motors today at the field after switching to 6V for the servo. Servo speed before and after adding a jumper on the BabyPDB for 6V:
Before 5.23V Speed= 273
After 5.93V Speed= 308

Stock PIDs and yaw settings with just the voltage change made it fly much better than last time out at the field. Now that I have tested that, and tested the alternate yaw control on my other frame, I will be switching to the alternate yaw on this frame too. Try to get video up of this test soon as well. So both firmwares are looking pretty good even on stock settings for both my builds.

Cheers!
LitterBug

[bhuism]

@lkaino, I’m afraid I see heavy, slow, yaw oscillations with the new_control branch. Even with P_yaw at 10. en D_yaw at 0. Log attached, I don’t see this behavior in the beta2 branch with everything the same. ‘new control’ log attached.

# diff
# Triflight 0.7 Beta 2 – new control test / BETAFLIGHTF3 3.1.7 Jun 13 2017 / 07:57:18 (3baeba5)
name baby
resource MOTOR 1 B07
resource MOTOR 4 NONE
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource MOTOR 9 NONE
resource SERVO 1 B09
resource PPM 1 NONE
servo 5 1091 1941 1515 40 40 100 -1

map TAER1234
serial 0 32 115200 57600 0 115200
serial 2 8192 115200 57600 0 115200
aux 0 0 0 1300 2100
aux 1 28 0 900 2100
aux 2 26 0 1300 2100
aux 3 31 1 1300 2100
rxfail 5 s 1000
set rssi_channel = 7
set debug_mode = GYRO
set digital_idle_percent = 1.140
set motor_pwm_protocol = DSHOT150
set frsky_vfas_precision = 1
set bat_capacity = 1500
set ibat_scale = 247
set gyro_sync_denom = 2
set gyro_notch1_hz = 0
set gyro_notch2_hz = 190
set gyro_notch2_cut = 90
set deadband = 2
set yaw_deadband = 2
set tri_tail_servo_speed = 318
set tri_servo_feedback = EXT1
set pid_process_denom = 1
set blackbox_rate_denom = 2
set osd_units = METRIC
set osd_cap_alarm = 1300
set osd_time_alarm = 6
set osd_vbat_pos = 2445
set osd_rssi_pos = 2433
set osd_flytimer_pos = 2059
set osd_ontimer_pos = 374
set osd_flymode_pos = 2381
set osd_horizon_pos = 200
set osd_current_pos = 2456
set osd_mah_drawn_pos = 2425
set osd_craft_name_pos = 289
set osd_pid_yaw_pos = 384
set osd_power_pos = 2393
set vcd_video_system = 2
profile 0

set d_notch_hz = 170
set d_notch_cut = 70
set p_yaw = 60
set d_yaw = 10
rateprofile 0
rateprofile 0

set rc_expo = 50
set rc_yaw_expo = 40
set thr_expo = 90
set roll_srate = 75
set pitch_srate = 75

Attachments:

1. log.zip
2. log-1.zip

[lauka]

@bhuism: Wow, your copter wobbles a LOT :).

Something has gone wrong there. Did you do full flash erase when flashing? Did you redo the unarmed speed measurement?

We could move this discussion to the new control type thread.

[LitterBug]

Raw video from the field yesterday conditions were pretty windy. Baby Tri #2, Cobra 2207 2450kv motors, Strix 5×4.5×3 6V Servo test.
WARNING: LOUD VIDEO FEED

Had some serious yaw action on throttle chop near the end, other than that flying pretty decent for Default PIDs and yaw settings. Ground tailtune completed. Servo speed = 308. No inflight tailtune done due to high winds.

Cheers!
LitterBug

[teopbako]

Motors don’t work.
They don’t initialize either.
Also when i move the Motor 1 slider fast (in Motos Tab) it adds a big YAW movement for an instance.
I am using SPRacingF3 running 0.7 beta2 and motors are connected to 1,2,3 outputs and servo to 7.
Servo works as it should.

[lauka]

@teopbako: Are you using correct motor protocol? How do you observe the big yaw movement? Is the motor spinning or how does it generate yaw movement?

[Author]

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