[bhuism]

thanks @jihlein, I will consider builder a firmware with these sensors disabled then

[bhuism]

Hi All, am trying to get my matek f405 working on dronin git rev eb19d7b, 2 (simple) questions

1) in ‘flight modes’ the bottom mode called in my gcs is ‘ServoCal’ (not ‘TailTune’ as in video) guess thats ok.

2) in gcs I get a sensor error (see image below) but the gyro is fine, how can I disable this sensor, or can that only be done at compile time? (I am not very familiar with dronin)

I do see at line 53:

https://github.com/jihlein/dronin/blob/myDronin/flight/targets/matek405/fw/pios_config.h#L53

(and 54 and 55)

some hardware defined, the matek f405 aio, I am using has no baro or mag sensor

any help is greatly appreciated

Attachments:

1. 

   gcs.png
   

[bhuism]

Ha, kewl, there was no mention of this, end of the week my vacation starts, then I’ll fly the latest and greatest triflight again, keep u posted

[bhuism]

@lkaino, I read on the betaflight 3.2 wiki this:

“Improved ITerm windup handling for tricopter”

I’m sure you knew this allready, just checking

btw: I’m considering adding a bug to betaflight for bringing bang yaw-D in the configurator and lua scripts

[bhuism]

I use:

resource SERVO 1 B09

B09 is PWM output 4 (motor 4)

So solder servo signal (to PWM4)

please read:

https://github.com/betaflight/betaflight/wiki/Betaflight-resource-remapping

cheers!

[bhuism]

@Chip, see https://github.com/lkaino/Triflight/wiki/BFF3-Feedback-wire

Can u use pwm1?

[bhuism]

@swissfreek, can u try oneshot? I have my tri flying happily on BFF3, conform:

https://github.com/lkaino/Triflight/wiki/BFF3-Feedback-wire

Can u measure if the esc signal pads have a oneshot/pwm signal?

[bhuism]

Check your modes 🙂

[bhuism]

I flew great with:

#define TRI_SERVO_SATURED_GYRO_ERROR (100.0f)

Allmost stock:

I replaced the servo gear, don’t know how much any slop will degrade the performance, but better be sure, and replaced my old escs with blheli_32 ones.

Didn’t analyse the logs yes.

https://drive.google.com/open?id=0ByiRgpuS3FxsY3ZnN3hib1piYUk
https://drive.google.com/open?id=0ByiRgpuS3FxsaEZueFpxSzFPLXc
https://drive.google.com/open?id=0ByiRgpuS3FxsMEJvZzdoVTFFbmc
https://drive.google.com/open?id=0ByiRgpuS3FxsZTgzM2NyV04zVXM

Just LOS flying.

ps: @lkaino, I hope you will merge betaflight 3.2.x as well, cause blheli_32 can not be programmed through betaflight 3.1.x.

# diff
# Triflight 0.7 Beta 2 – new control test v6 / BETAFLIGHTF3 3.1.7 Jul 2 2017 / 15:59:59 (fc9f38d)
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

serial 0 32 115200 57600 0 115200
serial 2 8192 115200 57600 0 115200
aux 0 0 0 1300 2100
aux 1 28 0 1750 2100
aux 2 26 0 1300 2100
aux 3 31 1 1300 2100
rxfail 5 s 1000
set rssi_channel = 7
set digital_idle_percent = 1.500
set motor_pwm_protocol = DSHOT150
set frsky_vfas_precision = 1
set bat_capacity = 1500
set ibat_scale = 247
set gyro_notch1_hz = 0
set gyro_notch2_hz = 190
set gyro_notch2_cut = 90
set deadband = 1
set yaw_deadband = 1
set tri_tail_servo_speed = 320
set tri_servo_feedback = EXT1
set blackbox_rate_denom = 4
set osd_units = METRIC
set osd_cap_alarm = 1500
set osd_time_alarm = 0
set osd_vbat_pos = 2437
set osd_rssi_pos = 2433
set osd_flytimer_pos = 2443
set osd_ontimer_pos = 374
set osd_flymode_pos = 12
set osd_vtx_channel_pos = 2456
set osd_horizon_pos = 200
set osd_current_pos = 408
set osd_mah_drawn_pos = 2451
set osd_craft_name_pos = 289
set osd_pid_yaw_pos = 384
set osd_power_pos = 345
profile 0

set d_notch_hz = 180
set d_notch_cut = 80
rateprofile 0
rateprofile 0

set rc_expo = 50
set rc_yaw_expo = 20
set thr_expo = 80
set roll_srate = 75
set pitch_srate = 75

[bhuism]

PC3 is RSSI on the CLRACINGF4 board:

https://github.com/betaflight/betaflight/blob/master/src/main/target/CLRACINGF4/target.h#L116

Can u use that, that’s the ‘normal’ way of connecting feedback wire.

[bhuism]

Very kewl Jaakko, ik need to need up on this stuff

[bhuism]

@sirpoonga where do you see the triflight hex for your CLRACINGF4?

If I read the code correctly, EXT1 is not defined for CLRACINGF4,

Pin PC3 is used for feedback wire

as per:

https://github.com/lkaino/Triflight/blob/0_7_beta2/src/main/target/OMNIBUSF4/target.h#L194

How this CPU pin is broken out on that board I don’t know

[bhuism]

Quick flight with just some rolls and little bit of LOS with the head of new_control branch:

(Triflight 0.7 Beta 2 – new control test v6 / BETAFLIGHTF3 3.1.7 Jun 25 2017 / 11:24:00 (fc9f38d))

https://drive.google.com/open?id=0ByiRgpuS3FxsWHA5dnQ5SjlnMHc

I’ve added yaw_lowpass but I think that made the uncommanded yaw moment worse. Also even alittle bit of yaw during a roll is killing, expect 45 to 90 degree uncommanded yaw at end of roll, when you throttle up to catch the tri.

Also ending of yaw’s is soft to my taste, and not locked in. I see that d_yaw is lower that earlier versions, maybe I’ll try to up d_yaw later.

# diff
# Triflight 0.7 Beta 2 – new control test v6 / BETAFLIGHTF3 3.1.7 Jun 25 2017 / 11:24:00 (fc9f38d)
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

serial 0 32 115200 57600 0 115200
serial 2 8192 115200 57600 0 115200
aux 0 0 0 1300 2100
aux 1 28 0 1750 2100
aux 2 26 0 1300 2100
aux 3 31 1 1300 2100
rxfail 5 s 1000
set rssi_channel = 7
set digital_idle_percent = 1.500
set motor_pwm_protocol = DSHOT150
set frsky_vfas_precision = 1
set bat_capacity = 1500
set ibat_scale = 247
set gyro_notch1_hz = 0
set gyro_notch2_hz = 190
set gyro_notch2_cut = 90
set deadband = 1
set yaw_deadband = 1
set tri_tail_servo_speed = 307
set tri_servo_feedback = EXT1
set blackbox_rate_denom = 4
set osd_units = METRIC
set osd_cap_alarm = 1500
set osd_time_alarm = 0
set osd_vbat_pos = 2437
set osd_rssi_pos = 2433
set osd_flytimer_pos = 2443
set osd_ontimer_pos = 374
set osd_flymode_pos = 12
set osd_vtx_channel_pos = 2456
set osd_horizon_pos = 200
set osd_current_pos = 408
set osd_mah_drawn_pos = 2451
set osd_craft_name_pos = 289
set osd_pid_yaw_pos = 384
set osd_power_pos = 345
profile 0

set d_notch_hz = 180
set d_notch_cut = 80
set yaw_lowpass = 90
rateprofile 0
rateprofile 0

set rc_expo = 50
set rc_yaw_expo = 20
set thr_expo = 80
set roll_srate = 75
set pitch_srate = 75

[bhuism]

default is definitly 20

diff showdefaults

shows:

#set tri_motor_acc_yaw_correction = 20
set tri_motor_acc_yaw_correction = 0

[bhuism]

I left tri_motor_acc_yaw_correction default, maybe the default should be 0 then? I’ll set it to 0 from now on.

I see what you mean about the read values, I have no idea why that would be, in the betaflight configurator (and in flight) everything looks+is fine 🙂

[Author]

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