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Nov 09, 2015, 05:58 PM
Build, fly, crash, repeat :-D
DigitalEntity's Avatar
Quote:
Originally Posted by ize.man
my sd card seems to be a bit too slow (even though it's class 10) so it set those parameters:

Code:
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
will there still be enough data for you DE to debug?
Should be enough given you don't have large gaps in your log. I observed that gaps tend to appear in the most interesting parts of the log
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Nov 09, 2015, 06:05 PM
Registered User
no. with these parameters set i get a continuing data stream. can't test at the moment as it's midnight here atm and stormy weather. so not ideal test conditions i hope for good weather next morning.
Nov 10, 2015, 03:01 AM
Registered User
i was able to do some bb logging today. first 15s is the copter sitting on the ground, armed, almost no throttle. you can see it lifting one or the other arm a bit. but not enough to take off. and all motors don't run the same.
when i add a bit throttle to make it lift it just flips erraticly. this should be around 18s. i remove throttle, and it lands on it's feet and i repeat the procedure.
i hope someone can read those logs and give some interpretation of what is happening here
and here is the dump:

Code:
Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# Cleanflight/NAZE 1.11.0 Nov  8 2015 / 02:53:52 (98038aa)
# pflags
# Persistent config flags: 0x00000000
# dump master

# mixer
mixer QUADX
mmix reset
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature RX_PPM
feature VBAT
feature SOFTSERIAL
feature FAILSAFE
feature TELEMETRY
feature DISPLAY
feature ONESHOT125
feature BLACKBOX


# map
map RETA1234


# serial
serial 0 129 115200 57600 0 115200
serial 1 128 115200 57600 0 115200
serial 30 0 115200 57600 0 115200
serial 31 0 115200 57600 0 115200


# led
led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:D:WF:0
led 15 8,8:D:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0


# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

set looptime = 3500
set emf_avoidance = 0
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = 0
set rc_smoothing = 1
set input_filtering_mode = 0
set min_throttle = 1050
set max_throttle = 1850
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set disarm_kill_switch = 1
set auto_disarm_delay = 5
set small_angle = 25
set reboot_character = 82
set gps_provider = 1
set gps_sbas_mode = 0
set gps_auto_config = 1
set gps_auto_baud = 0
set inav_accz_unarmedcal = 1
set inav_dead_reckoning = 0
set inav_gps_delay = 200
set inav_w_z_baro_p =  1.000
set inav_w_z_baro_v =  0.500
set inav_w_z_gps_p =  0.300
set inav_w_z_gps_v =  0.300
set inav_w_xy_gps_p =  1.000
set inav_w_xy_gps_v =  2.000
set inav_w_xy_dr_v =  0.250
set inav_w_z_res_v =  0.500
set inav_w_xy_res_v =  0.500
set inav_w_acc_bias =  0.010
set inav_max_eph_epv =  1000.000
set inav_baro_epv =  100.000
set nav_use_midrc_for_althold = 1
set nav_throttle_tilt_comp = 1
set nav_lock_until_takeoff = 0
set nav_user_control_mode = 0
set nav_dterm_cut_hz = 15
set nav_wp_radius = 300
set nav_max_speed = 250
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set pos_hold_deadband = 20
set alt_hold_deadband = 50
set nav_min_rth_distance = 500
set nav_rth_alt_mode = 4
set nav_rth_altitude = 1000
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 15
set nav_fw_dive_angle = 15
set nav_fw_cruise_thr = 56335
set nav_fw_min_thr = 1300
set nav_fw_max_thr = 1900
set nav_fw_pitch2thr = 20
set serialrx_provider = 0
set spektrum_sat_bind = 0
set telemetry_switch = 0
set telemetry_inversion = 1
set frsky_default_lattitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = 0
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 112
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = 0
set current_meter_type = 1
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 90
set max_angle_inclination = 500
set gyro_lpf = 42
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = 1
set servo_lowpass_freq = 400
set servo_lowpass_enable = 0
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_kill_switch = 0
set failsafe_throttle_low_delay = 100
set failsafe_procedure = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = 0
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0
set acczero_x = 0
set acczero_y = 0
set acczero_z = 0
set accgain_x = 4096
set accgain_y = 4096
set accgain_z = 4096

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# dump profile

# profile
profile 0

# aux
aux 0 2 0 1500 2100
aux 1 3 1 1300 1700
aux 2 10 1 1700 2100
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 3 900 1100 6 2
adjrange 1 0 3 1200 1325 7 2
adjrange 2 0 3 1375 1500 8 2
adjrange 3 0 3 1550 1650 9 2
adjrange 4 0 3 1700 1800 10 2
adjrange 5 0 3 1950 2100 11 2
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set nav_alt_p = 30
set nav_alt_i = 150
set nav_alt_d = 0
set nav_vel_p = 80
set nav_vel_i = 50
set nav_vel_d = 50
set nav_pos_p = 15
set nav_pos_i = 0
set nav_pos_d = 0
set nav_posr_p = 90
set nav_posr_i = 15
set nav_posr_d = 1
set nav_navr_p = 14
set nav_navr_i = 2
set nav_navr_d = 80
set deadband = 0
set yaw_deadband = 0
set throttle_tilt_comp_str = 0
set default_rate_profile = 0
set gimbal_mode = 0
set gyro_soft_filter = 0
set acc_soft_filter = 3
set baro_tab_size = 7
set baro_noise_lpf =  0.350
set mag_declination = 400
set pid_controller = 2
set p_pitch = 40
set i_pitch = 30
set d_pitch = 23
set p_roll = 40
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_pitchf =  1.500
set i_pitchf =  0.400
set d_pitchf =  0.030
set p_rollf =  1.500
set i_rollf =  0.400
set d_rollf =  0.030
set p_yawf =  2.500
set i_yawf =  1.000
set d_yawf =  0.000
set level_horizon =  3.000
set level_angle =  5.000
set sensitivity_horizon = 75
set p_level = 90
set i_level = 10
set d_level = 100
set dterm_cut_hz = 40
set pterm_cut_hz = 0

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 90
set rc_expo = 65
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_rate = 0
set pitch_rate = 0
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500

#
Nov 10, 2015, 04:30 AM
Build, fly, crash, repeat :-D
DigitalEntity's Avatar
Quote:
Originally Posted by ize.man
i was able to do some bb logging today. first 15s is the copter sitting on the ground, armed, almost no throttle. you can see it lifting one or the other arm a bit. but not enough to take off. and all motors don't run the same.
when i add a bit throttle to make it lift it just flips erraticly. this should be around 18s. i remove throttle, and it lands on it's feet and i repeat the procedure.
i hope someone can read those logs and give some interpretation of what is happening here
and here is the dump:

Code:
Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# Cleanflight/NAZE 1.11.0 Nov  8 2015 / 02:53:52 (98038aa)
# pflags
# Persistent config flags: 0x00000000
# dump master

# mixer
mixer QUADX
mmix reset
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature RX_PPM
feature VBAT
feature SOFTSERIAL
feature FAILSAFE
feature TELEMETRY
feature DISPLAY
feature ONESHOT125
feature BLACKBOX


# map
map RETA1234


# serial
serial 0 129 115200 57600 0 115200
serial 1 128 115200 57600 0 115200
serial 30 0 115200 57600 0 115200
serial 31 0 115200 57600 0 115200


# led
led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:D:WF:0
led 15 8,8:D:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0


# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

set looptime = 3500
set emf_avoidance = 0
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = 0
set rc_smoothing = 1
set input_filtering_mode = 0
set min_throttle = 1050
set max_throttle = 1850
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set disarm_kill_switch = 1
set auto_disarm_delay = 5
set small_angle = 25
set reboot_character = 82
set gps_provider = 1
set gps_sbas_mode = 0
set gps_auto_config = 1
set gps_auto_baud = 0
set inav_accz_unarmedcal = 1
set inav_dead_reckoning = 0
set inav_gps_delay = 200
set inav_w_z_baro_p =  1.000
set inav_w_z_baro_v =  0.500
set inav_w_z_gps_p =  0.300
set inav_w_z_gps_v =  0.300
set inav_w_xy_gps_p =  1.000
set inav_w_xy_gps_v =  2.000
set inav_w_xy_dr_v =  0.250
set inav_w_z_res_v =  0.500
set inav_w_xy_res_v =  0.500
set inav_w_acc_bias =  0.010
set inav_max_eph_epv =  1000.000
set inav_baro_epv =  100.000
set nav_use_midrc_for_althold = 1
set nav_throttle_tilt_comp = 1
set nav_lock_until_takeoff = 0
set nav_user_control_mode = 0
set nav_dterm_cut_hz = 15
set nav_wp_radius = 300
set nav_max_speed = 250
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set pos_hold_deadband = 20
set alt_hold_deadband = 50
set nav_min_rth_distance = 500
set nav_rth_alt_mode = 4
set nav_rth_altitude = 1000
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 15
set nav_fw_dive_angle = 15
set nav_fw_cruise_thr = 56335
set nav_fw_min_thr = 1300
set nav_fw_max_thr = 1900
set nav_fw_pitch2thr = 20
set serialrx_provider = 0
set spektrum_sat_bind = 0
set telemetry_switch = 0
set telemetry_inversion = 1
set frsky_default_lattitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = 0
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 112
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = 0
set current_meter_type = 1
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 90
set max_angle_inclination = 500
set gyro_lpf = 42
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = 1
set servo_lowpass_freq = 400
set servo_lowpass_enable = 0
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_kill_switch = 0
set failsafe_throttle_low_delay = 100
set failsafe_procedure = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = 0
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0
set acczero_x = 0
set acczero_y = 0
set acczero_z = 0
set accgain_x = 4096
set accgain_y = 4096
set accgain_z = 4096

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# dump profile

# profile
profile 0

# aux
aux 0 2 0 1500 2100
aux 1 3 1 1300 1700
aux 2 10 1 1700 2100
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 3 900 1100 6 2
adjrange 1 0 3 1200 1325 7 2
adjrange 2 0 3 1375 1500 8 2
adjrange 3 0 3 1550 1650 9 2
adjrange 4 0 3 1700 1800 10 2
adjrange 5 0 3 1950 2100 11 2
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set nav_alt_p = 30
set nav_alt_i = 150
set nav_alt_d = 0
set nav_vel_p = 80
set nav_vel_i = 50
set nav_vel_d = 50
set nav_pos_p = 15
set nav_pos_i = 0
set nav_pos_d = 0
set nav_posr_p = 90
set nav_posr_i = 15
set nav_posr_d = 1
set nav_navr_p = 14
set nav_navr_i = 2
set nav_navr_d = 80
set deadband = 0
set yaw_deadband = 0
set throttle_tilt_comp_str = 0
set default_rate_profile = 0
set gimbal_mode = 0
set gyro_soft_filter = 0
set acc_soft_filter = 3
set baro_tab_size = 7
set baro_noise_lpf =  0.350
set mag_declination = 400
set pid_controller = 2
set p_pitch = 40
set i_pitch = 30
set d_pitch = 23
set p_roll = 40
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_pitchf =  1.500
set i_pitchf =  0.400
set d_pitchf =  0.030
set p_rollf =  1.500
set i_rollf =  0.400
set d_rollf =  0.030
set p_yawf =  2.500
set i_yawf =  1.000
set d_yawf =  0.000
set level_horizon =  3.000
set level_angle =  5.000
set sensitivity_horizon = 75
set p_level = 90
set i_level = 10
set d_level = 100
set dterm_cut_hz = 40
set pterm_cut_hz = 0

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 90
set rc_expo = 65
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_rate = 0
set pitch_rate = 0
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500

#
Since recently in iNav board alignment is in deg*10. You have set align_board_yaw = 90, thats not 90 degrees, that's 9 (nine!) degrees in build 1108. You have to go to CLI and set align_board_yaw = 900. I mentioned it earlier in the thread and in the docs.

It also looks like you have too much vibration and/or too much P/D on your pitch/roll PIDs. Try set set gyro_soft_filter = 1 (or 2, or 3) and see if your gyro trace gets cleaner.
Nov 10, 2015, 04:50 AM
Registered User
shame on my for not reading THIS doc i thought i've read them all. mea culpa!
the PIDs are all default. so if i fly cleanflight all looks fine (more or less, it can be improved of course).
i will set those parameters and test again. will take 8h though until i can post results.
when you say the gyro traces needs to be "cleaner" you mean "less spikes" correct? so i know what to look for.
Nov 10, 2015, 04:54 AM
Registered User
another strange thing i found was that only motor #2 and #3 are revving up and have a much higher rpm than #1 and #4. is this caused by wrong align_board_yaw?
Nov 10, 2015, 05:04 AM
Build, fly, crash, repeat :-D
DigitalEntity's Avatar
Quote:
Originally Posted by ize.man
shame on my for not reading THIS doc i thought i've read them all. mea culpa!
the PIDs are all default. so if i fly cleanflight all looks fine (more or less, it can be improved of course).
i will set those parameters and test again. will take 8h though until i can post results.
when you say the gyro traces needs to be "cleaner" you mean "less spikes" correct? so i know what to look for.
Yes, less spikes - better. This vibration gets amplified by P and D and gets to motors. Quad may still fly well, but getting rid of vibration will cool down your ESCs and motors and give you some additional 10-20% flight time. It'll also make the quad more stable.
Nov 10, 2015, 05:06 AM
Build, fly, crash, repeat :-D
DigitalEntity's Avatar
Quote:
Originally Posted by ize.man
another strange thing i found was that only motor #2 and #3 are revving up and have a much higher rpm than #1 and #4. is this caused by wrong align_board_yaw?
It might. Hard to tell when quad is tumbling on the floor
Nov 10, 2015, 05:34 AM
Registered User
Quote:
Originally Posted by DigitalEntity
It might. Hard to tell when quad is tumbling on the floor
. when was the 10x multiplicator for yaw heading introduced? was it in 1026? because 1026 behaves exatly like 1108 on my quad.
Nov 10, 2015, 05:40 AM
Build, fly, crash, repeat :-D
DigitalEntity's Avatar
Quote:
Originally Posted by ize.man
. when was the 10x multiplicator for yaw heading introduced? was it in 1026? because 1026 behaves exatly like 1108 on my quad.
Board alignment changed with 6-point accelerometer calibration, so yes 1026 was the first build with this change.
Nov 10, 2015, 06:48 PM
Registered User
Hi DE and guys,
Today i tested 1108, very happy, it worked really good

Testing Digital Entity INAV Ver 1108 (6 min 43 sec)



Daniel

CLI dump

# dump

# version
# Cleanflight/NAZE 1.11.0 Nov 8 2015 / 02:53:52 (98038aa)
# pflags
# Persistent config flags: 0x00000001
# dump master

# mixer
mixer QUADX
mmix reset
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature RX_PPM
feature VBAT
feature MOTOR_STOP
feature GPS
feature FAILSAFE


# map
map AETR1234


# serial
serial 0 1 115200 57600 0 115200
serial 1 2 115200 57600 0 115200


# led
led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:WF:0
led 15 8,8:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0


# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

set looptime = 3000
set emf_avoidance = 0
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = 0
set rc_smoothing = 1
set input_filtering_mode = 0
set min_throttle = 1150
set max_throttle = 1850
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set disarm_kill_switch = 1
set auto_disarm_delay = 20
set small_angle = 25
set reboot_character = 82
set gps_provider = 1
set gps_sbas_mode = 0
set gps_auto_config = 1
set gps_auto_baud = 0
set inav_accz_unarmedcal = 1
set inav_dead_reckoning = 0
set inav_gps_delay = 200
set inav_w_z_baro_p = 1.000
set inav_w_z_baro_v = 0.500
set inav_w_z_gps_p = 0.300
set inav_w_z_gps_v = 0.300
set inav_w_xy_gps_p = 1.000
set inav_w_xy_gps_v = 2.000
set inav_w_xy_dr_v = 0.250
set inav_w_z_res_v = 0.500
set inav_w_xy_res_v = 0.500
set inav_w_acc_bias = 0.010
set inav_max_eph_epv = 1000.000
set inav_baro_epv = 100.000
set nav_use_midrc_for_althold = 0
set nav_throttle_tilt_comp = 1
set nav_lock_until_takeoff = 0
set nav_user_control_mode = 0
set nav_dterm_cut_hz = 15
set nav_wp_radius = 300
set nav_max_speed = 250
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set pos_hold_deadband = 20
set alt_hold_deadband = 30
set nav_min_rth_distance = 500
set nav_rth_alt_mode = 4
set nav_rth_altitude = 1000
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 15
set nav_fw_dive_angle = 15
set nav_fw_cruise_thr = 56335
set nav_fw_min_thr = 1300
set nav_fw_max_thr = 1900
set nav_fw_pitch2thr = 20
set serialrx_provider = 0
set spektrum_sat_bind = 0
set telemetry_switch = 0
set telemetry_inversion = 0
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = 0
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = 0
set current_meter_type = 1
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 2700
set max_angle_inclination = 500
set gyro_lpf = 42
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = 1
set servo_lowpass_freq = 400
set servo_lowpass_enable = 0
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1300
set failsafe_kill_switch = 0
set failsafe_throttle_low_delay = 100
set failsafe_procedure = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = 0
set magzero_x = -32
set magzero_y = -163
set magzero_z = 155
set acczero_x = 55
set acczero_y = 21
set acczero_z = -239
set accgain_x = 4116
set accgain_y = 4092
set accgain_z = 4057

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# dump profile

# profile
profile 0

# aux
aux 0 1 1 900 1700
aux 1 4 1 900 1700
aux 2 3 2 900 1650
aux 3 10 2 900 1375
aux 4 9 0 900 1400
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set nav_alt_p = 30
set nav_alt_i = 150
set nav_alt_d = 0
set nav_vel_p = 80
set nav_vel_i = 50
set nav_vel_d = 50
set nav_pos_p = 30
set nav_pos_i = 0
set nav_pos_d = 0
set nav_posr_p = 90
set nav_posr_i = 15
set nav_posr_d = 1
set nav_navr_p = 14
set nav_navr_i = 2
set nav_navr_d = 80
set deadband = 0
set yaw_deadband = 0
set throttle_tilt_comp_str = 0
set default_rate_profile = 0
set gimbal_mode = 0
set gyro_soft_filter = 0
set acc_soft_filter = 3
set baro_tab_size = 7
set baro_noise_lpf = 0.350
set mag_declination = -89
set pid_controller = 2
set p_pitch = 22
set i_pitch = 15
set d_pitch = 23
set p_roll = 23
set i_roll = 15
set d_roll = 23
set p_yaw = 30
set i_yaw = 45
set d_yaw = 0
set p_pitchf = 2.500
set i_pitchf = 0.250
set d_pitchf = 0.015
set p_rollf = 2.500
set i_rollf = 0.250
set d_rollf = 0.015
set p_yawf = 3.000
set i_yawf = 1.000
set d_yawf = 0.000
set level_horizon = 3.000
set level_angle = 3.000
set sensitivity_horizon = 75
set p_level = 22
set i_level = 0
set d_level = 100
set dterm_cut_hz = 40
set pterm_cut_hz = 0

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 90
set rc_expo = 65
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_rate = 0
set pitch_rate = 0
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500

#
Last edited by DanielRC2; Nov 10, 2015 at 06:57 PM.
Nov 10, 2015, 08:08 PM
Build, fly, crash, repeat :-D
DigitalEntity's Avatar
Quote:
Originally Posted by DanielRC2
Hi DE and guys,
Today i tested 1108, very happy, it worked really good

https://youtu.be/huL35yy2KvY


Daniel
Congratulations on successful testing! It's good to knoq that 1108 is working.
Nov 10, 2015, 08:25 PM
Registered User
Quote:
Originally Posted by DigitalEntity
Congratulations on successful testing! It's good to knoq that 1108 is working.
Thanks for such good job, DE ... sadly i haven't black box yet...
However the weather es nice, spring here in the south... i'm going to try RTH asap.
Question... RTH altitude is in cm? 1000 = 10m
Last edited by DanielRC2; Nov 10, 2015 at 08:42 PM.
Nov 10, 2015, 08:54 PM
Build, fly, crash, repeat :-D
DigitalEntity's Avatar
Quote:
Originally Posted by DanielRC2
Thanks for such good job, DE ... sadly i haven't black box yet...
However the weather es nice, spring here in the south... i'm going to try RTH asap.
Question... RTH altitude is in cm? 1000 = 10m
Yes, RTH altitude is in cm. It's 10m by default.
I woudln't be able to do much without the help of people from this thread. It's hard to catch some good flyable weather here, i.e. now it's sunny and calm, but -10 deg will make your fingers freze to the sticks
Nov 10, 2015, 09:48 PM
Registered User

Nav in cleanflight


Any word on when this Nav code might get integrated into the main branch of Cleanflight?


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