[Fosch]

OK, I did some tests again this WE :

-The tail motor still stop spinning after arming right after an in-air tail tune (need to push throttle to start).
-The tail has some strange behavior after flips, changing the orientation of the tricopter which is not easy to handle and could lead to crashes in LOS.

In conclusion, I will probably stop this project at this point because I can’t spend hours and hours to tune it properly (if it is possible to get something clean on this build…). Quadcopters are more adapted for LOS Acro and my needs.

Anyway, thanks a lot for your help all along this build 🙂

[Fosch]

1)The issue comes after a “in-air Tailtune”

2)I’m using a feedback wire from the servo

3)Motors spin when armed is checked

4)ESC protocol: DSHOT600 (I tried DSHOT300 too)

5)Motor(s) setting : see attached picture please

6)MATEK F405 STD

Maybe a root cause… I changed the ServoMaxAngle to 35°. I will restart all my tuning from Zero with 40°.

Attachments:

1. 

   Output-2.jpg
   

2. 

   RC-input-1.jpg
   

3. 

   RC-input-2.jpg
   

[Fosch]

Hi

Finally I just did a very simple test regarding the tail motor that doen’t spin in idle after tail tuning :

I switched “S” motor channel and “NW” motor channel in dRonin.
=> “NW” motor didn’t spin in idle, while “S” motor spinned properly in idle.

My conclusion is :
– The ESCs are not damaged
– A parameter of the tail tuning has an impact on the signal which is sent to the tail ESC.

If weather is fine this week-end, I will try to tune it again (4th attempt)

[Fosch]

Sorry I can’t spend too much time right now on my hobbies…

What I don’t understand :

Why does the tail motor works fine with un-tuned parameters, and not so well after tuning ? There is obviously something coming from the firmware or the settings I apply.
(and maybe in addition an issue with the motor or the ESC that I will troubleshot later)

[Fosch]

Please see the video and the description below

https://youtu.be/pAUj4XosrOU

I checked that there is no screw “ground issue”
I haven’t Ohm-tested the motor yet

[Fosch]

Front-right motor burnt,
While tail motor doesn’t start (or clogged) after arming (but starts after applying throttle)

This issue happens only after a tail tune, not with default parameters.
When I check using the GCS tab, all 3 motors start to spin exactly at the same value (72).

Question : is the motor speed right after arming equal to the idle value defined in the output tab ? or is it another speed value ?

PS: To be sure, I will check if there could be a ground issue due to motor screws.

[Fosch]

I have 4 ESCs in BLHeli simply because it is a 4-in-1 ESC and all 4 wires are connected, initially to flash all ESCs to the last BLHeli firmware 🙂

OK, so now it flies, not too bad I would say, but still a lake of stability after hard acro :

https://youtu.be/MaiL_zso_xw

I already increased the DynamicYawMinThrottle to 3 and the YawBoost to 5, but still some Yaw after a punchout when I cut throttle :

https://youtu.be/deI6GyLfNtE

And right after a Tail Tune, the tail motor doesn’t start or clogged when armed. It starts to spin after increasing the throttle. I tried to increase motor idle speed, without success.

[Fosch]

Thank you Kevin_Erik for all the details.

# Always “Default” the Stability-Tab PID’s first!
It seems that all tuned values (like Tau, Beta, etc.) must be reset in my case before re-autotuning, not only PIDs.
I would suggest to add a button in the GCS to erase ALL tuned values

# Arming
Finally I’m able to arm now ! Explanation :
When I changed MotorSpinWhileArmed to TRUE in the “Ststem” tab, it doesn’t save it. I must click the cell in the output tab to get it working

If weather is good today, I will try to re-tune. I’m just afraid about the overheat from yesterday, I hope another motor or ESC will not fry when I will put full power…

Attachments:

1. 

   System.jpg
   

2. 

   Motor-Spin.jpg
   

[Fosch]

OK thanks, I just forgot to SAVE after enabling Autotune…

Now I’m not able to arm. Is it due to the fact that the throttle is not detected as LOW ?

EDIT : I’m using “arm by switch” option

Attachments:

1. 

   Input-not-arming.jpg
   

[Fosch]

I’m trying to setup all manually…

Can you please check the attached picture.
-Are the input command values correct ?
-I don’t understand the message from the CONFIG box. What to do ?

Thanks

Attachments:

1. 

   input-tab.jpg
   

[Fosch]

-NE motor burnt
-ESCs were “NOT in SYNC with MASTER” because ‘max throttle’ was not the same for all ESCs, so I correct it. But My Master is ESC_1 and is not linked to the tail motor. See picture.

I reset all PID to default, as well as all Triflight values (Tau, Beta, etc) Maybe it is the key before re-autotuning

Now it flies again, at least in hover. I just auto-tune in the underground carpark (no violent oscillation), however :

-After the auto-tune, Yaw PID values were extremely high (about 5 times too high, and highlited is orange in GCS). I decreased manually Yaw P & I (and put D to 0) to be able to take-off again for tail-tune.

-After this last tail-tune, the tail motor is now twitching in idle (stop-start-stop-start) like if idle was too low. But when I import the previous settings, the motor works fine again in idle, with the same idle value in GCS, i.e. 100)

I will re-tune again tomorrow…

Attachments:

1. 

   BLHeli.jpg
   

[Fosch]

It seems at least one motor is Burt.

If the 4-in1 ESC is safe, I will probably try to tune it again, but how to deal with the auto-tune to avoid to burn something again?
As I said, sometime the auto-tune is very violent (high frequency oscillation), causing motor overheat…

[Fosch]

Well, not good news…

I tried to re-autotune. The twitching during autotune was very very violent, until the 3 motors stopped and tricopter falls on the floor. Motors were so hot that I couldn’t touch them. Then I waited for the motors to cool down and when I tried to take off again, magic smoke appears… 🙁
I don’t know yet if it is the 4-in-1 ESC or one motor.

[Fosch]

Just a basic question…

I’m using DSHOT600.
Input tab shows “Max 1793”. Does that mean that ESCs will receive a signal of 1793us maximum (i.e. not full power) or is it ‘converted’ to 2000us before being sent to the ESCs ?

Attachments:

1. 

   RC-input.jpg
   

[Fosch]

As you suggested, I did again the manual servo calibration.
Do you mean that you manually setup the servo at 40° and then set the ServoMaxAngle value to 35° ?

PS : On the video, the tail tune was re-done just before (my MotorThrustFactor is now 8.82)

[Author]

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