Plasmatree
commented
6 years ago I've also heard that butter uses it? I will include it later in a major update, since this requires a different structure of the plot window.
Open ResinSmoker opened 6 years ago
Plasmatree
commented
6 years ago I've also heard that butter uses it? I will include it later in a major update, since this requires a different structure of the plot window.
Zuldan
commented
6 years ago About 2 years ago Betaflight removed D on yaw. Butterflight has brought it back. Thanks for the great job you're doing Flo. Looking forward to the JB tutorial on this.
ResinSmoker
commented
6 years ago Thanks Flo!
A few things i forgot to mention...
Tricopters use a lot of D-Term to smooth out the Servo / Yaw response.
Getting the Servo tuning right is a matter of balancing between the Yaw and Pitch PID's. Apparently they play off each other as the rear motor is both responsible for Both. The Pitch I-Term in particular is very difficult to adjust in. I've been trying for the last week or so with some measure success (4S-LiPo only) but realize that it could be much better for 6S. Wish there were a way to combine all my logs and to have an Analysis that points to what's wrong or what could be improved upon.
Here is a screenshot of my last flight (4S-LiPo)
Log File 4S
LOG00003.zip
Same tune running 6S-LiPo; possible that oscillations are from high P-Term on Yaw / Pitch
Log File 6S
LOG00002.zip
resource MOTOR 1 C08 resource MOTOR 2 C09 resource MOTOR 3 C07 resource MOTOR 4 NONE resource MOTOR 5 NONE resource MOTOR 6 NONE resource SERVO 1 C06 resource SERIAL_TX 11 A15
servo 5 1141 2093 1563 100 -1
feature DYNAMIC_FILTER
map TAER1234
serial 30 32 115200 57600 0 115200
aux 0 0 0 1800 2100 aux 1 1 2 900 1300 aux 2 2 2 1300 1700 aux 3 28 2 1700 2100 aux 4 37 1 1700 2100
adjrange 0 0 3 900 1175 9 4 adjrange 1 0 3 1400 1600 10 4 adjrange 2 0 3 1800 2100 11 4
set gyro_sync_denom = 2 set gyro_lowpass_hz = 70 set gyro_notch1_hz = 0 set gyro_notch2_hz = 0 set max_check = 1950 set blackbox_p_ratio = 128 set dshot_idle_value = 500 set motor_pwm_protocol = DSHOT1200 set failsafe_off_delay = 30 set failsafe_throttle = 1100 set failsafe_kill_switch = ON set failsafe_procedure = AUTO-LAND set align_board_roll = 180 set bat_capacity = 1000 set ibata_scale = 179 set servo_center_pulse = 1520 set servo_pwm_rate = 250 set servo_lowpass_hz = 40 set tri_tail_motor_thrustfactor = 89 set tri_tail_servo_speed = 264 set tri_servo_feedback = RSSI set pid_process_denom = 1 set debug_mode = NOTCH set dterm_lowpass_type = PT1 set dterm_notch_hz = 0 set vbat_pid_gain = ON set anti_gravity_gain = 3000 (Currently disabled) set setpoint_relax_ratio = 1 set p_pitch = 26 set i_pitch = 24 set d_pitch = 43 set p_roll = 34 set i_roll = 20 set d_roll = 33 set p_yaw = 75 set i_yaw = 20 set d_yaw = 140 set rc_expo = 20 set rc_expo_yaw = 20 set roll_srate = 82 set pitch_srate = 82 set yaw_srate = 82 set tpa_rate = 0
Please show the Yaw D-Term for those flying Tricopters.
Thank you!