Over the weekend I decided it would be a good idea to build a tricopter from scratch with the spare Power Pack A motors I have laying around. So far I have completed the build and all the motors work, my DIY servo mechanism works well and the servo direction is correct. The board is mounted 90 degrees off which I have accounted for.
I'm using my reject Naze 32 rev 5 board. My rev 6 is in my quad. Both are running cleanflight.
I tested tricopter out and immediately observed that the yaw compensation is not moving correctly. If the model is rotated right by hand on the desk the yaw motor will tilt to the left instead of the the right. This reaction instead of stopping the rotation and keeping the model aligned in the air causes it to spin faster.
I tried to reverse the gyro, but the only command I came across in the CLI that I thought may help was yaw_control_direction = 1, I set it to -1 and all it does is reverse the servo.
I came across someone else who was using a CC3D and manage to fix a similar problem by reversing the gyro. Does anyone else know how to reverse the gyro for Naze 32 boards on Cleanflight?
The graphic shown on the setup page does rotate in the correct direction however.
I will continue to work on it but if anyone has a suggestion or solution.
UPDATE WORKED IT OUT, it was as simple as I thought.
Well I feel like a bit of an idiot now.
Anyway after 3 or so hours of trying to figure this out I found a direction and rate setting on the servos tab. I previously tried using this to change the direction the FIRST TIME but for what ever reason the servos are listed from 0-7 on the servo tab. I jumped over the the motor tab to make sure the servos were getting imput from my controller and the movements from rotating the quad by hand. On the motor tab the servos are listed to 1-8 so I was changing settings on servo 6 on the servo tab when I really should have been messing around with servo 5.
Anyway I will leave this here for anyone else with a similar problem. Short story, you don't need to reverse the gyro, the direction and rate tab in the last column on the servo page allows you to reverse the imput from the board to the servo so the motor tilts in the correct direction to counter any undesirable movement.
Now I know how to display the settings in CLI so I guess it wasn't all a loss
just write 'set' to see the current settings and 'set' along with the command to change a setting in that list.
Any tips on programming PIDs for a maiden of a custom build?
If anyone else has any DIY tricopters they would like to share.
I'm using my reject Naze 32 rev 5 board. My rev 6 is in my quad. Both are running cleanflight.
I tested tricopter out and immediately observed that the yaw compensation is not moving correctly. If the model is rotated right by hand on the desk the yaw motor will tilt to the left instead of the the right. This reaction instead of stopping the rotation and keeping the model aligned in the air causes it to spin faster.
I tried to reverse the gyro, but the only command I came across in the CLI that I thought may help was yaw_control_direction = 1, I set it to -1 and all it does is reverse the servo.
I came across someone else who was using a CC3D and manage to fix a similar problem by reversing the gyro. Does anyone else know how to reverse the gyro for Naze 32 boards on Cleanflight?
The graphic shown on the setup page does rotate in the correct direction however.
I will continue to work on it but if anyone has a suggestion or solution.
UPDATE WORKED IT OUT, it was as simple as I thought.
Well I feel like a bit of an idiot now.
Anyway after 3 or so hours of trying to figure this out I found a direction and rate setting on the servos tab. I previously tried using this to change the direction the FIRST TIME but for what ever reason the servos are listed from 0-7 on the servo tab. I jumped over the the motor tab to make sure the servos were getting imput from my controller and the movements from rotating the quad by hand. On the motor tab the servos are listed to 1-8 so I was changing settings on servo 6 on the servo tab when I really should have been messing around with servo 5.
Anyway I will leave this here for anyone else with a similar problem. Short story, you don't need to reverse the gyro, the direction and rate tab in the last column on the servo page allows you to reverse the imput from the board to the servo so the motor tilts in the correct direction to counter any undesirable movement.
Now I know how to display the settings in CLI so I guess it wasn't all a loss
just write 'set' to see the current settings and 'set' along with the command to change a setting in that list.
Any tips on programming PIDs for a maiden of a custom build?
If anyone else has any DIY tricopters they would like to share.
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