[bhuism]

Good news, v6 build flies well for me, no complains. Maybe some uncommanded yaw movement here and there, particularly at end of roll.

https://drive.google.com/open?id=0ByiRgpuS3Fxsa19uQUxlNjBqU00

I need to re-do filter tuning later.

baby tri / emax 2205 2300kz / bff3 / Dalprop Cyclone T5046C / Racerstar RS35A

@lkaino, thanks a bunch for getting everybody in the air, awesome work.

Attachments:

1. 

   IMG_20170624_172725.jpg
   

[bhuism]

Arg, sorry Lauka for not seeing that, tri_yaw_boost = 0 was the problem, when tri_yaw_boost is set to default all is fine, dshot and all, Ill fly some this afternoon 🙂

[bhuism]

hmm, some progress, after a full chip ersae flash of v6 with this diff the tail servo DOES work, should be relative easy to find now, what causes the servo to not move. I’ll continue this afternoon.

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

[bhuism]

@lkaino, awesome work!! ‘tail servo’ (=servo feedback) shows valid values again with the v6 build +/- 100 deg, see log.

Strange thing now is that servo output angle stays fixed at 100.4 deg. And thus the servo does not move at all.

This log was made on the bench, props off, and I keep the tri in my hand move it around a little, and give it some stick inputs.

https://drive.google.com/open?id=0ByiRgpuS3FxsMEdXRTN6bUl0WlU

motors spin fine, unarmed tail tune was consistent:

tri_tail_servo_speed = 311
tri_tail_servo_speed = 306
tri_tail_servo_speed = 326

any ideas?

flashed with full chipt erase, and this diff:

# diff
# Triflight 0.7 Beta 2 – new control test v6 / BETAFLIGHTF3 3.1.7 Jun 23 2017 / 14:31:15 (0110b62)
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_sync_denom = 2
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 = 318
set tri_servo_feedback = EXT1
set tri_yaw_boost = 0
set pid_process_denom = 1
set blackbox_rate_denom = 3
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 = 170
set d_notch_cut = 70
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]

A, that sounds logical, I’ll look into that.

Is ‘tail servo feedback’ the same as ‘tail servo’ in the bb log? And it has nothing to do with servo feedback being on a non standard pin on the BFF3?

#define EXTERNAL1_ADC_PIN PA6

keep u posted.

[bhuism]

Here a screenshot from posted log above, when I enabled airmode this happens:

‘motor correction’ goes from 999 to 27211
motor 1 goes from 0% to 100%
tail motor feedback goes from 78 to 2046

Earlier in the log, when airmode was still disabled I see a correlation between ‘tail motor feedback’ and ‘motor 1’. Which I guess happens later again, when airmode is enabled when tail motor feedback goes to 2046 for some reason.

extra info, with:

tri_yaw_boost = 0

this does NOT happen, motor 1 stays quiet, so it has something to do with the math there.

Attachments:

1. 

   motor1100.jpg
   

[bhuism]

@lkaino, flashed it, with full chip erase. Still have the strange behavior that when I enable air mode, motor 1 goes to 100% (props off, this was on the bench) still scary.

I did get a clean bb log which shows the behavior.

https://drive.google.com/open?id=0ByiRgpuS3FxsbEgwU0FFWTVmY00

looking at the log with the patched bb log viewer (nice angled tail motor Lauka!) I can’t figure it out why it would do that.

When the weird motor-1-to-100%-issue is fixed I can fly some (or keep airmode disabled) 🙂

# diff
# Triflight 0.7 Beta 2 – new control test v5 / BETAFLIGHTF3 3.1.7 Jun 22 2017 / 21:42:32 (105de70)
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_sync_denom = 2
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 = 318
set tri_servo_feedback = EXT1
set pid_process_denom = 1
set blackbox_rate_denom = 3
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 = 170
set d_notch_cut = 70
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]

@lkaino, happy to help with dshot testing, on bff3 as you know. Just tell me when you’ve committed a dshot fix, I can build my target myself.

[bhuism]

@swissfreak, another BFF3 FC on a baby tri 🙂 maybe you will have the same servo oscillations (don’t hope so) as I see.

Happy to hear the reason why blackbox explorer does not work with debug_mode=TRI, cause I was looking into that as well.

[bhuism]

Nice flying! for some reason my motor 1 goes to full wheb I enable airmode using the new_control branche. Blackbox also doesn’t play nice when this happens (no log, or incomplete log file), I will investigate further tomorrow.

[bhuism]

😀 great! am looking forward what the cause is of this.

0.7 beta2 flies great, first 2 packs flying fpv ever 🙂

[bhuism]

Hmm, sorry to be de deliverer of bad news, but I can’t get rid of yaw oscillations with the new_control code, flashed with full chip erase, redid unarmed tail tune (tri_tail_servo_speed = 308), and verified min/mid/max of the servo.

I tried combinations:

* lowpass filtering on 50hz for P-yaw and D-yaw
* every combination of high/low p-yaw and d-yaw
* half default tri_yaw_boost (120)

All have some form of slow and/or fast yaw oscillation.

baby tri / bff3 fc / emax 2400kv / bluebird DMS-210DMH / 1500mah bat

Attachments:

1. new_control.zip

[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

[bhuism]

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

[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.

[Author]

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