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Feb 05, 2020, 11:12 AM
Gravity is patient............
Thread OP
Discussion

Triflight with INAV or Betaflight


I am starting this thread as a placeholder for the RC explorer tricopter LR with INAV and triflight (Or betaflight with triflight). The forum at rcexplorer has issues and I'm sure will be gone sooner rather than later.

In order to maintain comms with everyone from that forum I am hopeful we can agree to move the discussion here.
Last edited by billyd60; Nov 24, 2020 at 11:51 AM.
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Feb 05, 2020, 04:54 PM
Registered User
I will be modifying this post with the latest updates and known working setups and hopefully everything someone needs to get a tricopter working. I will add working setups to this post as I find them.

Firmware
Triflight firmware builds are built and maintained by jihlein (be sure to thank him)

3D printed parts
billyd60 has provided .stl files of the improved impossible tilt mount. (also send him a thanks)
You can find his files on thingiverse (and throughout this thread)
https://www.thingiverse.com/thing:4103499
You will need 3 pieces for the tilt mechanism.
Servo Mount - there are several different ones for the different frames and different servo combos
Back Mount - also different versions
Motor Mount - see above
You will also need 2 bearings - 3mm x 6mm x 2.5mm (search on Amazon)
Parts list and exploded view of the improved impossible tilt
https://www.rcgroups.com/forums/show...&postcount=148

If you aren't sure which ones to order, look at this link, or ask in the thread.
https://www.rcgroups.com/forums/show...&postcount=274

Voltage Regulator
Recommend a voltage regulator for the servo (either from a PDB or a seperate regulator).
Most servos will take a higher voltage and that will increase the speed and torque.

Flight Controllers
Flight controller boards that are known to work are KakuteF4V2, KakuteF7, KakuteF7HDV, Matek405Ctr, and Matek405Std
Below is the wiring for each board
Mapping info from this page
https://github.com/wunderlins/inav/b...f0p5/README.md

KakuteF4V2
Actuator / Pad / Comment - Direction
Motor 1 / M3 / tail - CCW
Motor 2 / M2 / front right - CCW
Motor 3 / M1 / front left - CW
Tail Servo / LED
Feedback / RSI / Servo feedback wire

KakuteF7 / KakuteF7HDV
Actuator / Pad / Comment - Direction
Motor 1 / M3 / tail - CCW
Motor 2 / M2 / front right - CCW
Motor 3 / M1 / front left - CW
Tail Servo / M5
Feedback / RSI / Servo feedback wire

MatekF405xxx
Actuator / Pad / Comment - Direction
Motor 1 / M2 / tail - CCW
Motor 2 / M3 / front right - CCW
Motor 3 / M4 / front left - CW
Tail Servo / M1
Feedback / RSI? / Servo feedback wire

Servos
Some of the servos used in this thread
Bluebird 210DMH or 22HV - (very hard to find)
KST-DS215MG - needs to be reversed using cli command
TORQ CL0508

Betaflight
Latest Betaflight builds based on 4.2.4
https://www.rcgroups.com/forums/show...&postcount=536
source code on github
https://github.com/jihlein/betaflight/tree/4p2p4tf0p5
Betaflight builds use the unified hex targets. After downloading the correct FW, go to
https://github.com/betaflight/unifie...onfigs/default and get the correct target for your Flight Controller and use the CLI to update it.
After saving, make the following changes in the CLI
Code:
mixer TRI
feature TRIFLIGHT
If servo attached to LED pad (KakuteF4V2)
Code:
resource SERVO 1 C08
resource LED_STRIP 1 NONE
If servo attached to M5 (KakuteF7 / KakuteF7HDV)
Code:
resource MOTOR 5 none
resource SERVO 1 C09
For Matek405CTR mapping
Code:
resource MOTOR 1 C07
resource MOTOR 2 C08
resource MOTOR 3 C09
resource SERVO 1 C06
If you don't have a feedback wire
Code:
tri_servo_feedback = VIRTUAL
After setting up your ports, receiver, etc. power on the copter and move your rudder stick. Looking from behind, if the tail moves in the opposite direction of your stick, then your servo is moving correctly. If it moves in the same direction, you need to reverse it. Use this CLI command.
Code:
set tri_servo_direction = REVERSE
iNav
Latest iNav builds based on 2.5.2
https://www.rcgroups.com/forums/show...&postcount=537
source code on github
https://github.com/jihlein/inav/tree/2p5p2tf0p5

Code:
feature TRIFLIGHT
If you don't have a feedback wire, make this change with CLI
Code:
tri_servo_feedback = VIRTUAL
After setting up your ports, receiver, etc. power on the copter and move your rudder stick. Looking from behind, if the tail moves in the opposite direction of your stick, then your servo is moving correctly. If it moves in the same direction, you need to reverse it. Use this CLI command.
Code:
set tri_servo_direction = REVERSE

My current setup is -
Baby Tricopter frame with EMAX RSII-2206 2300KV motors, Kakute F4 V2, Kakute 4-in-1 esc, KST-DS215MG servo (it flies, but still need to tune it)
Last edited by jhendrix; Dec 11, 2020 at 04:27 PM. Reason: Adding all information needed to get tricopter working
Feb 05, 2020, 07:24 PM
Registered User
Would it be possible to put together a list of servos that can be used to replace the rcexplorer BMS-210DMH servo? (with or without the feedback wire). I can't find and BMS-210 or 22HV servos in stock anywhere.
The problem I'm having, is all my servos, that are the same size, have a smaller output shaft / spline, so it won't fit in the tilt mechanism and the bolt won't screw into the hole.
The servos need to be 12mm wide, have a 25T spline, accept an M3 bolt, and the output shaft has to be the proper distance from the edge.
Feb 06, 2020, 05:59 AM
Boaters are nice people.
I have a couple of these underway, it's 12 mm wide, if it accepts a M3 bolt and has a 25T spline, is something I can tell you when they arrive...
https://nl.aliexpress.com/item/32882...c00wX41ib&mp=1

Please define: 'the proper distance from the edge.'

Regards, Jan.
Feb 06, 2020, 08:11 AM
Gravity is patient............
Thread OP
Quote:
Originally Posted by jhendrix
Would it be possible to put together a list of servos that can be used to replace the rcexplorer BMS-210DMH servo? (with or without the feedback wire). I can't find and BMS-210 or 22HV servos in stock anywhere.
The problem I'm having, is all my servos, that are the same size, have a smaller output shaft / spline, so it won't fit in the tilt mechanism and the bolt won't screw into the hole.
The servos need to be 12mm wide, have a 25T spline, accept an M3 bolt, and the output shaft has to be the proper distance from the edge.
I had listed several servos that will work in a post that got deleted on rcexplorer. I'll list them again. But of course their splines will be different. The solution to that is to use my version of the impossible tilt on Thingiverse here: https://www.thingiverse.com/thing:4103499

That print allows the use of any of these servos:

I am not sure of the feasibility of modding these with a feedback wire, but I feel like the cheaper ones should be no problem. I would guess they could all be modded.

Budget: Emax ES08MA II
Middle range: Hitec HS-65MG or 65HB
MIddle range: KST-215, Torq CL0508
High range: MKS HV93
Last edited by billyd60; Nov 24, 2020 at 11:52 AM.
Feb 06, 2020, 01:35 PM
Registered User
Quote:
Originally Posted by pompebled
Please define: 'the proper distance from the edge.'
When the servo is mounted in it's holder, the spline needs to be the correct height from the tail to go into the tilt mechanism.

I think I might get the new version of the impossible tilt and not have to worry about the spline
Feb 07, 2020, 12:43 PM
Gravity is patient............
Thread OP
Quote:
Originally Posted by jhendrix
When the servo is mounted in it's holder, the spline needs to be the correct height from the tail to go into the tilt mechanism.

I think I might get the new version of the impossible tilt and not have to worry about the spline
It's possible the alternative servos I listed (and others I didn't) will not have their spline centers at the same distance along the length of the servo, causing a height mismatch between the motor mount and the servo. If the spline position is too low, you could shim the servo up the corresponding amount in the servo holder. If it is too high, you could shim the "back support" (the part that holds the motor mount) up the corresponding amount.

Or if anyone buys a particular servo and there is a mismatch, post the info here and I can mod the thingiverse design to suit. The other area that could vary is the servo arm. That could cause a mismatch with my design as well, although I think modding for this would be easy to do post print, e.g. drilling holes in the needed places, or opening up clearance for the face of the servo arm where it meets the print, etc.
Feb 11, 2020, 11:36 AM
Registered User
Dear jhendrix, is this INAV with Triflight inplemented on it?

Quote:
Originally Posted by jhendrix
I think this is great, several of my posts have disappeared from rcexplorer
Here are the links to jihlein's repos
inav
https://github.com/jihlein/inav/tree/2p3p0tf0p5
Betaflight
https://github.com/jihlein/betaflight/tree/4p1p1tf0p5
Feb 11, 2020, 01:22 PM
Registered User
Yes it is, and here's the link to the newest iNav version:

https://github.com/jihlein/inav/tree/2p4p0tf0p5

which is iNav 2.4.0 with my customized version of triflight 0.5
Feb 11, 2020, 02:25 PM
Registered User
Woga65's Avatar
Quote:
Originally Posted by jihlein
Yes it is, and here's the link to the newest iNav version:

https://github.com/jihlein/inav/tree/2p4p0tf0p5

which is iNav 2.4.0 with my customized version of triflight 0.5
I am waiting for rc2 to become the final release before i merge it to my variable pitch version of INAV.
It would be nice to have the triflight extensions too so i would like to have a look at it.
Feb 11, 2020, 04:28 PM
Registered User
The above branch is based on 2.4.0-RC2 for what it's worth.....
Feb 12, 2020, 07:26 PM
Registered User
Awesome, I will take a look, Thanks!

Quote:
Originally Posted by jihlein
Yes it is, and here's the link to the newest iNav version:

https://github.com/jihlein/inav/tree/2p4p0tf0p5

which is iNav 2.4.0 with my customized version of triflight 0.5
Feb 17, 2020, 09:37 AM
Gravity is patient............
Thread OP
Good news. INAV 2.4 now has rpm filtering. This is a great feature on betaflight and has a potentially dramatic effect on flight performance. Unfortunately in INAV bidirection dshot is not supported. So in order to use rpm filtering you have to connect the T pad of the AIKON 32 esc's to a single free UART rx pad and set that uart to esc telemetry. INAV uses this info to do its rpm filter. RPM filter is a great feature because it minimizes the amount of filtering that the processor has to perform reducing workload on the processor and also it is a more accurate and effective means of filtering which means getting good behavior in all sorts of flight conditions is much easier.

There are several other INAV settings that have to be changed as well. Pawel Spychalski has youtube videos on esc telemetry and rpm filtering. He's a major contributor to INAV code.

I am going to be adding this to my tricopter LR. The Kakute F4 V2 has a UART rx specifically intended for use with esc telemetry. R5
Last edited by billyd60; Feb 17, 2020 at 10:53 AM.
Feb 17, 2020, 02:17 PM
Gravity is patient............
Thread OP
I did the wiring but can't get it to work. Does triflight use uart 5 for anything?
Feb 18, 2020, 10:34 PM
Registered User
No, uart 5 should work as you define it. I wired my Tri LR with the serial telemetry wires, but have not tried it with inav as of yet.
Last edited by jihlein; Feb 18, 2020 at 10:41 PM.


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