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I’ve been away for a long time and am also sad to see RCE is closing down. I can only imagine that the tri business is a tough one though, and I’m glad that I got to be a part of the David Windestal tricopter era.
I dusted off my V4 and flew it today and seemed to find a solution to my tail-wagging problems I described in #61543 thanks to the replies I received. I ended up setting the following under “Rate Stabilization (Inner-Loop)”:
Yaw P = 75
Yaw I = 50
Yaw D = 0
I also set ActuatorSettings->MotorInputOutputCurveFit = 0.8 as was suggested.
The V4 flew beautifully today both LOS and FPV even though it was breezy and I had a lot of fun. Thanks as always for the help and I’m going to continue enjoying my V4 while it lasts.
@jihlein, sounds good. I think that the extra beeps will make it a more intuitive user experience.
I am out and flying, and that’s good, but I’m noticing some very strong yaw oscillations during high-throttle punch outs. Not even jamming it full-throttle, and then cutting it off, but even just steadily raising the throttle to 100% and then backing off relatively slowly. Its seems like whenever I get in the 80-90% throttle range the tail servo starts wagging rapidly and gets worse the more I raise the throttle.
I was reading David’s tuning tips on the first post of the thread and after reading, I set YawBoost to 0 and DynamicYawMaxThrottle to 0. Previously they were both set to 1. I then went flying again. Strangely, it doesn’t seem like either of these changes made a real significant impact (if any) on the V4’s flight performance. I then went looking again for parameters that seemed strange, and I did notice that the Yaw PIDs from AutoTune do look a little odd. I have zeroed out the D gain on Yaw as was suggested by David’s video, but the I term seems huge. Perhaps this is contributing to the overly-active tail?
Any tips would be greatly appreciated, and please see the attached screen-grabs of my TriFlight and PID settings.
@jihlein, thanks for having a glance over my outputs tab, as well as helping me fix my mixer settings. Everything seems to be working now.
Took the V4 out last night and this morning, and completed AutoTune and ServoCal. I noticed that with ServoCal, that when I enable it, I hear it start beeping a few times, but I never hear the “ServoCal completed” tones that we used to hear back on betaflight. Is this normal? It has done at least something as my MotorThrustFactor is now 30.6957. Does this seem like a reasonable value for the V4?
I am FINALLY finding some time to start playing with my V4 again (Integrated F3FC) and I have been following David’s video (as well as I have read several posts from this thread). Everything seemed to be going well until I attempted to fly, and noticed (before I got off the ground) that my Roll/Pitch stick didn’t seem to be doing anything. I then hooked it up to the GCS and identified a couple things that seemed questionable to me.
The first is the ‘Mixer Level’ settings on the ‘Vehicle’ tab. See that in the attached screengrab that my mixer is set to yaw 50% and roll and pitch are both 0%. Is this the source of my problem? If so, what are the appropriate mixer settings?
The other thing I found odd was that on the ‘Outputs’ tab I found through trial and error that the S Motor was output ch1, the Tail Servo was output ch2, the NE motor was ch3, and the NW motor was ch4. This is clearly different than what I see in David’s video, but it’s what made the right motors/servo respond correctly to the sliders. Would someone mind taking a look at the attached screengrab to verify that I have things set up correctly on this page? Anyone with a V4 or Mini Tri have similar output channel mappings?
Thank you for any tips or advice.
Awesome! Unfortunately I won’t be able to test immediately because I’m away from my tri now, but I look forward to trying it when I get back. What’s that other thread? Is there any other info there that would be helpful? Thank you for all your work on this.
@jihlein, any updates on functionality for the integrated f3fc? I’m interested in getting my V4 up and going on dRonin.
I agree with the features above.
I would also like to see:
1. F4 FC not because it’s needed but just because that’s the way things have gone (greater support going forward)
2. Integrated FC frame but with a soft-mounted gyro. Maybe something like this:
3. Possibly a move back to separate PDB and FC. I love the sleekness and looks of the current integrated frame but sometimes I think it would be cool to be able to more easily swap flight controllers. I’m kind of torn on this one…
It is a really fun place to fly. The 3D environment makes things fun. As far as camera goes, it’s just a Mobius action cam at 1080p 30 fps. I used to have jello but then I switched to loosely mounting my camera with some Velcro on the bottom, and a loose strap around it.
Thanks for the tip! I’ll look into that.
I would agree that the HD looks very nice with the 6 inch props. I’m interested to hear about performance with the 7 inch.
Here’s a video of one of my recent flights. Having lots of fun but the infamous wobble is definitely present. I’ve been experimenting with gains but I believe this flight was on default PIDs (maybe slightly higher on P and D).
I’ve also been doing some experimenting with props. But I’ve gone bigger. The flight below is with 9×5. I thought I’d try slightly bigger because I fly at higher altitude (~5000 ft).
Looking good RCEfan!
That’s an interesting idea to go to a 6 inch tri-blade prop. Do you think that it will provide similar thrust and current draw as compared to the stock 8″ blades?
As far as tuning/settings go, what do you feel has made the biggest difference in improving your oscillations so far? What are your current PID’s?
Nice! Mine is working now too. First I tried just switching my SD card to a much higher quality one (similar to the one you posted above) but I didn’t get a noticeably better result. Then I cut my sample rate to 1/2. Now it started looking like the snap of your log from a few posts ago. Finally I set my baud rate to 250000 and it appears to be working as expected.
Thanks again for the help!
Thank you lauka and RCEfan,
I’ll fiddle with my logging rate to see if I can get it right.
I also found Here that I might be using an SD card that’s known to be unreliable so that could be contributing too. I’ll report back on my findings.
@lauka Thanks for the tip. I’ll try lowering the
tri_yaw_boostparameter and report how it goes. I noticed that my
tri_tail_servo_speedwere both quite a bit higher than RCEfan’s (possibly because I’m using 6V on my servo?) so maybe that explains why my yaw is acting so much more aggressive in comparison.
@biggestRCEfan, sorry about that, looks like I misread an earlier post!
Tried V8 and many of your settings, and it’s working pretty good! Thanks again for the diff. It seems like I’m seeing some of the same tendencies that you are seeing. I posted my diff and flight experience over on the new yaw thread here
As far as the oscillation goes, it’s definitely still there for me but it might be slightly less now. Will have to continue trouble shooting that now but I’m hopeful that betaflight will have all of the necessary ‘knobs’ to tune it out. I’m particularly interested in playing with the notch filter but I need to get a data-logger first.
Just flashed v8 to my tricopter V4 and it seems pretty nice. I am having the same behavior that @biggestRCEfan is having where sudden yaw input leads to significant pitch deflection. When airmode is off, the pitch deflection due to sudden yaw is much less, but as a consequence, when I punch out, I get un-commanded pitch deflection. Kinda interesting. Anyway here is my diff and I’m working on acquiring a datalogger.
# diff # Triflight 0.7 Beta 2 - new control test v8 / RCEXPLORERF3 3.1.7 Sep 10 2017 / 11:15:56 (ca5d4df) name RCE_V4 servo 5 1079 1919 1483 40 40 100 -1 feature -RX_SERIAL feature RX_PPM feature CURRENT_METER serial 0 1 115200 57600 0 115200 aux 0 0 1 1600 2000 aux 1 28 3 950 1300 aux 2 1 0 1000 1250 aux 3 2 0 1375 1675 aux 4 31 2 1650 2000 rxfail 4 s 1100 rxfail 7 s 1925 set align_board_pitch = 180 set gyro_lpf = 188HZ set moron_threshold = 32 set deadband = 10 set yaw_deadband = 10 set tri_tail_motor_thrustfactor = 110 set tri_tail_servo_speed = 307 set failsafe_off_delay = 50 set failsafe_throttle = 1350 set failsafe_procedure = AUTO-LAND set baro_hardware = AUTO set pid_process_denom = 1 profile 0 set yaw_accel_limit = 10.000 set p_pitch = 44 set i_pitch = 26 set d_pitch = 25 set p_roll = 47 set i_roll = 30 set d_roll = 25 set p_yaw = 200 set i_yaw = 20 set d_yaw = 33 rateprofile 0 rateprofile 0 set rc_rate = 85 set rc_rate_yaw = 85 set rc_expo = 30 set rc_yaw_expo = 30 #