[LitterBug]

@lauka,
Interesting… I was doing all my LOS testing in angle mode. I can see how the extra vibes from higher pitched props could get amplified by that. Not sure how much work it would be for you to code, but I’d be willing to test BetaFlight based TriFlight. I have a Trifecta that could be thrown back together to have multiple platforms and FCs for testing too. I’ve been thinking about setting up a dev environment. Haven’t coded much in 20ish years, but could still use it to poke around and compile test versions.

Cheers!
LitterBug

[LitterBug]

Definitely seems smooth in my tiny plot flying LOS. Can’t seem to get the drift out of it to get a tailtune. Going to put it away for now and work on one of my quads.

Cheers!
LitterBug

EDIT: Here’s where my settings and servo tune are currently:

feature -BLACKBOX
feature RX_SERIAL
map TAER1234
serial 1 64 115200 57600 0 115200
set serialrx_provider = SPEK2048
set min_throttle = 1050
set disarm_kill_switch = OFF
set tri_tail_motor_thrustfactor = 50
set tri_tail_servo_speed = 286
set failsafe_procedure = 1
aux 0 0 1 1450 2050
aux 1 1 0 1450 1550
aux 2 2 0 1950 2050
aux 3 12 2 1450 1550
aux 4 27 1 1450 2050
aux 5 28 2 1950 2050
servo 5 977 1864 1446 100 -1
set yaw_deadband = 4
set acc_trim_pitch = -36
set acc_trim_roll = -30
set p_pitch = 33
set i_pitch = 22
set d_pitch = 20
set p_roll = 39
set i_roll = 23
set d_roll = 27
set d_level = 100
set rc_expo = 70
set rc_yaw_expo = 75
set roll_rate = 45
set pitch_rate = 45
set yaw_rate = 80

[LitterBug]

FYI, I have my FC hard mounted. I may throw some rubber bobbins on it.

Cheers!
LitterBug

[LitterBug]

Bumped Gyro and PID back to 2000. Hover test is fine. Getting some drifting so can’t get a tail tune. But at least I got the heat out. Would be nice to see some BB logs to see what is different between 0.5 and 0.6. 🙂 I can do more limited LOS / tailtune stuff in my limited back yard. Haven’t tried FPV in my limited space and not enough daylight to head out to the field.

Cheers!
LitterBug

[LitterBug]

For Shiggles, I put some lower pitch props on. Heat is gone. Going to bump Gyro/PID back up. Was running fine with these same props every time I went back to 0.5. Maybe something in the filtering

Cheers!
LitterBug

[LitterBug]

Parameters that I have changed from default 0.6 RC2:

feature -BLACKBOX
feature RX_SERIAL
map TAER1234
serial 1 64 115200 57600 0 115200
set serialrx_provider = SPEK2048
set min_throttle = 1050
set disarm_kill_switch = OFF
set tri_tail_motor_thrustfactor = 50
set tri_tail_servo_speed = 305
set failsafe_procedure = 1
aux 0 0 1 1450 2050
aux 1 1 0 1450 1550
aux 2 2 0 1950 2050
aux 3 12 2 1450 1550
aux 4 27 1 1450 2050
aux 5 28 2 1950 2050
servo 5 1018 1864 1446 100 -1
set yaw_deadband = 4
set p_pitch = 33
set i_pitch = 22
set d_pitch = 20
set p_roll = 39
set i_roll = 23
set d_roll = 27
set d_level = 100
set rc_expo = 70
set rc_yaw_expo = 75
set roll_rate = 45
set pitch_rate = 45
set yaw_rate = 80

[LitterBug]

Ran again with the “recommended” settings, Same thing. Front motors are getting hot, servo is really twitchy.
Doing Tasks over and over, the Gyro and PID Rate/hz are jumping all over. Still looks like CPU. I’m going to try knocking the Gyro/PID down and see if it gets better.

Cheers!
LitterBug

EDIT

# version
# TriFlight 0.6/RCEXPLORERF3 1.14.0 Nov 16 2016 / 18:22:15 (d4d6b2d)
# status
System Uptime: 20 seconds, Voltage: 0 * 0.1V (1S battery - NOT PRESENT), System load: 0.32
CPU Clock=72MHz, GYRO=MPU6000, ACC=MPU6000
PIDd: 448, GYROd: 449, I2C Errors: 4, registry size: 51

# tasks
Task list          max/us  avg/us rate/hz maxload avgload     total/ms
 0 -       SYSTEM       3       0       9    0.5%    0.5%         0
 1 -         GYRO     249     198    1709   43.0%   34.3%     10851
 2 -          PID      98      51    1706   17.2%    9.2%      3632
 3 -        ACCEL     219     185     993   22.2%   18.8%      5209
 4 -     ATTITUDE      64      33      92    1.0%    0.8%       156
 5 -           RX      86      55      49    0.9%    0.7%       104
 6 -       SERIAL    3013       2      95   29.1%    0.5%        85
 7 -      BATTERY      12       0      48    0.5%    0.5%         6
 8 -       BEEPER       9       0      95    0.5%    0.5%        15

# tasks
Task list          max/us  avg/us rate/hz maxload avgload     total/ms
 0 -       SYSTEM       3       0       9    0.5%    0.5%         0
 1 -         GYRO     249     198    1824   45.9%   36.6%     15377
 2 -          PID      98      51    1828   18.4%    9.8%      5145
 3 -        ACCEL     219     185     928   20.8%   17.6%      7388
 4 -     ATTITUDE      64      33      99    1.1%    0.8%       222
 5 -           RX      86      55      48    0.9%    0.7%       147
 6 -       SERIAL   11207       2      93  104.7%    0.5%        99
 7 -      BATTERY      12       0      49    0.5%    0.5%         9
 8 -       BEEPER       9       0      93    0.5%    0.5%        22

# tasks
Task list          max/us  avg/us rate/hz maxload avgload     total/ms
 0 -       SYSTEM       3       0       9    0.5%    0.5%         0
 1 -         GYRO     249     198    1477   37.2%   29.7%     17349
 2 -          PID      98      51    1479   14.9%    8.0%      5805
 3 -        ACCEL     219     185     902   20.2%   17.1%      8338
 4 -     ATTITUDE      64      33      99    1.1%    0.8%       250
 5 -           RX      86      55      49    0.9%    0.7%       166
 6 -       SERIAL   11207       2      94  105.8%    0.5%       111
 7 -      BATTERY      12       0      48    0.5%    0.5%        10
 8 -       BEEPER       9       0      92    0.5%    0.5%        24

[LitterBug]

Just ran with bone stock TF 0.6 RC2 settings. Same deal with the Hot motors. Tried changing thrust factor to 50, Same deal. Now that I know what to watch for, I’m only doing a quick 10 second hover test and not even getting into the tailtune. Beeper isn’t crunchy any more, but the motors and the servo are jumping all around. Getting ready to try “David’s” settings.

Cheers!
LitterBug

[LitterBug]

I’ll suggest that he poke his head in this thread…. 😉

Cheers!
LitterBug

[LitterBug]

@lauka Awesome. I will give this update a test tonight.

Cheers!
LitterBug

EDIT: PS. Josh said he is trying to work out the tail tune before he posts any Tri tuning videos. 😉

[LitterBug]

0.5 and 0.6 status, tasks, and version information from my F3FC

0.5

# status
System Uptime: 3391 seconds, Voltage: 1 * 0.1V (1S battery - NOT PRESENT), System load: 0.09
CPU Clock=72MHz, GYRO=MPU6000, ACC=MPU6000
Cycle Time: 992, I2C Errors: 4, registry size: 45
# tasks
Task list          max/us  avg/us rate/hz maxload avgload     total/ms
 0 -       SYSTEM       8       0       9    0.5%    0.5%       125
 1 -     GYRO/PID     445     339    1010   45.4%   34.7%   1178028
 2 -        ACCEL     228     187     991   23.0%   19.0%    699805
 3 -       SERIAL    2943       2      99   29.6%    0.5%     33934
 4 -       BEEPER      14       0      99    0.6%    0.5%      1877
 5 -      BATTERY      13       0      48    0.5%    0.5%       899
 6 -           RX      89      58      49    0.9%    0.7%     13675
# version
# TriFlight 0.5/F3FC 1.13.0 Jul 24 2016 / 11:56:10 (400

0.6

# status
System Uptime: 25 seconds, Voltage: 1 * 0.1V (1S battery - NOT PRESENT), System load: 0.35
CPU Clock=72MHz, GYRO=MPU6000, ACC=MPU6000
PIDd: 653, GYROd: 651, I2C Errors: 4, registry size: 51
# tasks
Task list          max/us  avg/us rate/hz maxload avgload     total/ms
 0 -       SYSTEM       3       0       9    0.5%    0.5%         0
 1 -         GYRO     250     197    1543   39.0%   30.8%     12726
 2 -          PID     214     160    1543   33.5%   25.1%     10209
 3 -        ACCEL     222     185     799   18.2%   15.2%      6120
 4 -     ATTITUDE      65      33      99    1.1%    0.8%       215
 5 -           RX      62      30      49    0.8%    0.6%       101
 6 -       SERIAL    3351       2      99   33.6%    0.5%       245
 7 -      BATTERY      11       0      47    0.5%    0.5%         9
 8 -       BEEPER       5       0      99    0.5%    0.5%         6
# version
# TriFlight 0.6/RCEXPLORERF3 1.14.0 Nov  5 2016 / 17:12:24 (67dd596)

LB

[LitterBug]

Just looked at CPU Load in CleanFlight Conigurator for my Baby Tri in it’s current 0.5 config. 0%.
It was floating in 40-50% when I had 0.6 running on it.

Cheers!
LitterBug

[LitterBug]

@swissfreek not sure what you mean by “stock”. Stock firmware, hardware, CleanFlight settings? I should be able to give 0.6 another try sometime this week. I didn’t want to spend much time on it last weekend since the weather was good and we aren’t going to have many more great flying days like we had. Mine on 0.6 was definitely pegged on CPU. The 5 second countdown beeper was distorted when starting the in-flight tail-tune in addition to the motors being very gritty. I should have more time to poke around, grab status and tasks, etc… I may have inadvertently botched up some setting(s). Looking at a diff between default 0.6 settings for example, I somehow had min_check at 1000 and max_check at 2000. That’s not stock or my normal settings and I usually leave those stock. I have the results of the diff of the 0.6 defaults and my final dump beore reverting back to 0.5 shown below.

feature -BLACKBOX
feature RX_SERIAL
map TAER1234
serial 1 64 115200 57600 0 115200
set min_check = 1000
set max_check = 2000
set serialrx_provider = SPEK2048
set min_throttle = 1050
set disarm_kill_switch = OFF
set failsafe_procedure = 1
aux 0 0 1 1450 2050
aux 1 1 0 1450 1550
aux 2 2 0 1950 2050
aux 3 12 2 1450 1550
aux 4 27 1 1450 2050
aux 5 28 2 1950 2050
servo 5 1035 1887 1447 100 -1
set p_level = 50
set i_level = 50

My build:
Stock Components:
RCExplorer Baby Tricopter
RCExplorer F3FC Racing FC
RCExplorer Baby PDB
BMS-210DMH Servo
Not quite stock but certainly adequate:
DYS XS30A ESCs running BLH_S 16.4
EDGE Racing 2206 2100kv motors

I’ve been re-reading the whole “Triflight Setup Guide” thread as well as the “Triflight Checklist.md” on GitHub. Going to start again from scratch with 0.6. I’m game for exploring and open for suggestions. If I burn up the current motors, I have new better ones arriving tomorrow anyway. I’ll download the firmware again and make sure the files match. Maybe I got a corrupt file.

Cheers!
LitterBug

EDIT: Diff of Triflight 0.5 default settings vs what I have been flying:

feature -BLACKBOX
feature RX_SERIAL
feature CURRENT_METER
map TAER1234
serial 1 64 115200 57600 0 115200
set serialrx_provider = SPEK2048
set min_throttle = 1040
set disarm_kill_switch = OFF
set tri_tail_motor_thrustfactor = 46
set tri_tail_servo_speed = 268
set failsafe_procedure = 1
aux 0 0 1 1475 2025
aux 1 1 0 1450 1550
aux 2 2 0 1950 2050
aux 3 12 2 1450 1550
aux 4 27 1 1450 2025
aux 5 28 2 1950 2050
servo 5 1105 1975 1539 40 40 100 -1
set p_level = 50
set i_level = 50
set rc_expo = 83
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 80

[LitterBug]

I noticed the baby tri on Josh’s wall too. LOL

Cheers!
LitterBug

[LitterBug]

Different profiles for 3S, 4S, props, etc.

I have been playing around with a Baby Tri for several months now and am just getting comfortable enough with the differences in how it flies compared to my quads to really dig into the tuning. I think some of my issues may be related to changing back and forth between 3S and 4S, and/or changing between different style props without rerunning the in-flight tailtune.

Am I wrong in thinking it would be beneficial to run the in-flight tail tune and compare values with differing Props, and Batteries? It seems to me that sometimes it flies really smooth, and other times it is very waggly, and I wonder if that depends on changes in thrust made by different props and battery cell counts?

Cheers!
LitterBug

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