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BetaFlight 3D Mode

Posted by Centurian | Nov 14, 2017 @ 12:15 AM | 11,495 Views
Hoping to open dialog to further the development of BetaFlight 3D mode. I'm not a code guy but I'm going to do whatever I can to help anyone willing to dive into working on 3D mode.

I recently set up a 3" lightweight machine for 3D and the following are data and my observations. All input appreciated.

SPECS:
Frame - Froggie 135 true X 3mm plate from: http://www.myrcmart.com/rcx-froggie-...n-p-11551.html
Motors - RCX H1304 5000KV http://www.myrcmart.com/rcx-h1304-50...g-p-10009.html
Flight Controller - Micro 20x20mm Betaflight Omnibus STM32F4 F4 - https://www.banggood.com/Micro-20x20...r_warehouse=CN
ESC - Spedix IS 20A 4in1 2-4S BLHeliS DShot ESC - https://www.banggood.com/Micro-20x20...r_warehouse=CN
VTX - VTX-03 - banggood
Camera - HGLRC microswift clone
Props - initial LOS test in below video Gemfan 2035x4, as mentioned Gemfan 3025x2 BN & finally KK2840x3

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3d edit (5 min 44 sec)


CLI Diff: 3d mode BTFL_cli_FroggieStyle_20171113_225229.txt

CLI Dump: 3d mode dumpBTFL_cli_FroggieStyle_20171113_225636.txt

CLI DIFF:
Code:
# diff

# version
# Betaflight / OMNIBUSF4 (OBF4) 3.2.3 Nov 11 2017 / 21:59:44 (c75fa44ff) MSP API: 1.36

# name
name FroggieStyle

# resources
resource MOTOR 1 B01
resource MOTOR 2 B00
resource MOTOR 3 A02
resource MOTOR 4 A03

# mixer

# servo

# servo mix


# feature
feature 3D
feature AIRMODE
feature ANTI_GRAVITY
feature DYNAMIC_FILTER

# beeper
beeper -ON_USB

# map
map TAER1234

# serial
serial 0 64 115200 57600 0
...Continue Reading
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tricopters, waterfalls & snow

Posted by Centurian | May 04, 2011 @ 01:59 PM | 10,875 Views
Shot this with a gopro/sunnex lens from my tricopter with a stabilized gimbal. Little bit of swimming on yaw as I'd neglected to reset my setting prior to shooting. Raw video, no post processing.

Alsea Falls and Mary's Peak.wmv (6 min 36 sec)

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PID setting for MultiWii Copters

Posted by Centurian | Apr 17, 2011 @ 10:11 PM | 14,814 Views
I orginaly posted this some time back and have been asked multiple times for it, so here it is, easy to find with a few edits from further learning/tuning experience.....

Let me define CSD as transmitter Control Stick Displacement. In the case of MultiWii, 1500 is center, so the control channel receiver output -1500 is CSD. This value will be positive or negative number depending on direction of stick displacement

And define GYRO as the gyro output. The gyro(s) are calibrated to zero at start up. Sense of angular velocity is a positive or negative number depending on direction of rotation. GYRO is a measurement of angular velocity like degrees/second or RPM.

There are 4 items that make up the output of the PID forumula.

1) CSD

2) P is GYRO *times* the P coefficient. "P" will always try to stop any and all angular velocity(pitch, roll or yaw movements). This result drives GYRO back to zero and stops motion.

3) I is the cumulative sum of the CSD - GYRO. This is trying to match the GYRO to CSD meaning the CSD is really trying to act like a request for angular velocity(gyro output). If the angular velocity matches the perceived CSD request for angular velocity the result would be zero. Don't forget it's cumulative, each time it's calculated, it's added to the previous result. So the "I" term can and will "wind up" but is limited to a maxium sum which is about +/-20 degrees of rotation. This "I" term is what I think of as heading...Continue Reading
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