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lkaino / Triflight

Triflight flight controller firmware for tricopters
http://rcexplorer.se
GNU General Public License v3.0
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Yaw gyro criteria for tail tune #41

Closed Bengt-M closed 7 years ago

Bengt-M commented 8 years ago

Some people on the forum seems to have trouble with tail tune. After a crash I replaced the NAZE board (again) and the servo and had to do it all over myself. Very hard this time. Maybe my motor is not perfectly balanced anymore but relaxing the gyro requirement made it work. Cheaper than a new motor... So I suggest this limit is available in CLI so anyone can do the same.

lkaino commented 8 years ago

I also noticed that the limit was too tight now.

Good idea, but I hate adding more CLI parameters, there's too many already.

Could we do it so that it starts at 4.0 dps and automatically adds 0.1 to the limit every second if the tune is not progressing. There could be a max limit of 7.0 for example.

Bengt-M commented 8 years ago

Could work too. Will think about it.

Bengt-M commented 8 years ago

Now modified. Should remove the two debug lines (writing to currentProfile->servoConf[6]) after flight test when the wind calms down.

lkaino commented 8 years ago

Ah ignore the other comment in the code then.

lkaino commented 8 years ago

Have you tested this?

Bengt-M commented 8 years ago

Test result from three tests (with the debug write to servo 6). Little windy.

servo 6 57 948 1500 45 45 100 -1 set tri_tail_motor_thrustfactor = 117

servo 6 61 943 1500 45 45 100 -1 set tri_tail_motor_thrustfactor = 130

servo 6 56 976 1500 45 45 100 -1 set tri_tail_motor_thrustfactor = 74

The calculation could get slightly better with proper rounding but I don't think it's worth the effort.

(I guess I need a better aft motor. When it was new I could get good readings with the gyro limit at 3.5)