[Bengt]

I think I was in the same situation. Got it to work.
See report in post #58913

[Bengt]

0.7b3 + original minitri = ok (almost)

I picked up my old minitri (with integrated NAZE) that had been resting for two years. Found out I couldn’t connect with the updated configurator so I took a chance on upgrading from 0.5 to 0.7b3.
Most things on default, except for radio and rates. Performed motor calibration. Performed the whole tail tune procedure.
It flies reasonable well for me. So far only angle mode, but pretty aggressive.

One new issue. Sometimes when I arm, one of the motors will not start. I tried once to give it a little more throttle, but of course it just flipped over. Dis-arm and arm usually work.
Wanted to see what the BLHeli suite said about the ESC’s, but couldn’t get that pass-through to work.
Any ideas?

[Bengt]

There are basically only two requirements for the tailtune. Both has to be ok for some time. Apart from selecting mode and start flying, but it looks as you’ve passed that.
First; the radio sticks must be within the deadband ranges.
Second; the yaw gyro must be stable.

The first can be checked on bench, and you say you’ve done that.
I assume you already checked https://github.com/lkaino/Triflight/blob/master/docs/Triflight%20Checklist.md.
The second criteria is a bit tight.
We are working on a version where this criteria loosens up gradually until it can pass. There is no official version out yet with this function.
You need a very calm day. I you can see the servo moving it’s probably not stable enough. A slight imbalance can do that, prop or motor (one of my motors is not perfect anymore, after a hard landing, which is partly why I created that function.)

What I would do is to start at bench again. Check the mechanical (spline) center. Do the bench tail tune accurately, and check for balance.

If it still won’t work you can resort to a manual trial-and-horror method. Reduce the YAW I and look at the yaw when you give throttle. Trim the tri_tail_motor_thrustfactor, using something like a binary search (half-interval search), until good enough.
Horrible, as you need to connect a computer for every change.

It is also possible that you have a bad gyro or a bad accelerometer. I once had to trash a board because of a bad accelerometer, so it can happen. You will need Blackbox or a replacement board to check.

[Bengt]

Use release 0.5
Read here.

[Bengt]

@LitterBug,

Changing prop type will require a new inflight tuning. The result of this tuning is the ratio between thrust and torque and is mainly a property of the prop itself. Cell count should not matter here. Errors in the thrust to torque ratio will introduce yaw when you add thrust.

Changing either prop type or cell count (i.e. weight) may change the dynamics of the whole copter and thus it may need different PID tuning.

[Bengt]

Sweden have two separate government agencies dealing with different topics here.
First we have Transportstyrelsen which is the CAA. They care about airworthiness and safe aviation.
Then we have Datainspektionen. They care about personal integrity.

Transportstyrelsen have a proposal out for review where they try to harmonise with expected European rules. Most parts for the better but still lacking understanding for the hobby. The rule change was said to be very urgent last spring, but it’s still not completed. When they finish it may get easier. We will see.

Datainspektionen pushed their case to the highest court and won. Any cameras on drones are now in the same category as fixed surveillance cameras in the streets and require the same permissions. Absolutely no understanding for the hobby.

At the same time we do have organisations like Missing People who can save lives using camera drones with experienced pilots on a voluntary basis. Such experience can only come from the serious, but maybe disorganised, hobbyists.

[Bengt]

Some FliteTest stuff now available in Sweden at RCFlight. Some kits, foam boxes and various pieces.

[Bengt]

Lol. Been there.
I once did a big loop that finished too low. Flat belly into the grass.
Spinning fast after takeoff.
It was interesting to see how the spinning slowed down and stopped. That was the I in the PID in action. I could fly it carefully the 25m back to me.
In my case a zip tie had snapped.

I guess a lot of people fly around having the mechanical servo center a little off. I think that is ok, after proper tuning, as long as you never never come to the mechanical limits in the servo.
I understand you did a proper bench tail tune but skipped the hover tune. It worked because you managed to get the center close enough to your previous position. For soft flying the I term will absorb a lot. If there is no tendency to yaw when you push the throttle hard I’d say it’s close enough. No need to repeat the hover tuning. At least not urgent.

Maybe you have a broken spline or a broken cog inside the servo. Or maybe you are lucky.

[Bengt]

First two things to check:
– Check in Configurator receiver tab that your stick mid values are within the deadband tolerance. Maybe you have some trim in your TX?
– Check prop balance.

[Bengt]

Looks familiar. See here.

[Bengt]

I use a Lemon Sat Rx and it should work the same.

The advice I followed are referenced in this post.

[Bengt]

A normal servo have mechanical limits.
You can find a lot of instructions on how to convert a servo to continuous rotation.
Some robotics people do this to get a cheap motor. You don’t want that here.
If it does like that you have a bad servo.

[Bengt]

@lauka, you already have a wiki in your top menu.
It works already. I could create and delete a page using the gui.

Open it and to the right you see “Clone this wiki locally”. Clone it to a local git repo. Add my repo as a remote and fetch. Merge master and push to your githup repo.

I cannot push for you into your fork. No write access for that. Has to be collaborator.
I haven’t found any way to store pictures in the wiki any other way than via git push. Not perfect.

Normal text creation/edit seems to work with the gui and for most users the this gui is almost easy.
It is required to sign in before writing.

As a wiki system it is primitive. On Github everything must be git. MediaWiki would be much nicer but that requires a hosting service.

Doing it with .md files is still an option. Same same, except for the free edit access.

[Bengt]

I played with the github wiki format to see if I could improve the checklist.
Try it here.

I have not made every little subject as a separate page. That is on purpose; Sometimes it’s good with a printed paper where I can tick off things and be off-line. And for that I like it to be sequential rather than topic oriented. Like a checklist.

You can do all of this with normal md files in the doc folder too but the wiki format is more open to everyone without any git knowledge required.

@lauka, if you like it you can clone it and push into your own fork and we can all share it from there.
The wiki itself a a normal git repo (which allows any major rework to be done locally and then released with one commit and push).

[Bengt]

Well there is a way to do it in-flight but it’s not recommended. (I’ve seen people misunderstand just little, and turn off motors while flying.)
The safe way is to check in-flight but adjust safely disarmed on ground using stick commands. Read here.

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