KK Firmware 1.6 for Tricopter reversing yaw gyro
Hi, I had a good read through the steps people have taken to reverse the yaw gyro on a kk board using KK's V1.6 tricopter firmware. Neither the standard "turn roll pot to zero" or "use M5 connector for servo" options worked for me. In the end the sequence which seemed to work for me was this -
1) Turned the Roll pot to max
2) Powered on the Tx with all sticks centred.
3) Powered on the Tricopter - blue led flashed continuously.
4) Turned off the Tricopter.
5) Turned the Roll pot to min.
6) Turned on the Tricopter - blue led flashed three times then stopped.
7) Moved the yaw stick left right - blue led flashed continuously.
8) Turned off the Tricopter.
9) Set Roll pot back to about 50%
10) Turned on the Tricopter - tail server was now reacting the correct way - i.e. tilting away from the direction I move the tail rather than with it.
So possibly the led confirmation codes have changed in KK's 1.6 firmware? Odd that I could not find any documentation on the web that KK had written when he coded this version? Heaven knows what the sequence could be for the other functions.
Also, according to David from Rcexplorer.se the three pots have been assigned to -
Roll - P Term for Roll and Pitch
Pitch - I Term for Roll and Pitch
Yaw - P Term for Yaw.
This is to allow control over the P/I values for the PID code 1.6 now uses.
Having said all this I was running on Minsoo Kim's V2.5 Firmware before trying all this out and the setup for that was very much as David had documented on his site. KapteinKuk just decided to do it differently in 1.6.
Personally I think the KK 1.6 felt more stable in the air than Minsoo's 2.5 firmware. It's not self trimming like the 2.5 firmware however once you have trimmed it on the Tx via the sub trim option it sits very nicely in the air.
Hi, I had a good read through the steps people have taken to reverse the yaw gyro on a kk board using KK's V1.6 tricopter firmware. Neither the standard "turn roll pot to zero" or "use M5 connector for servo" options worked for me. In the end the sequence which seemed to work for me was this -
1) Turned the Roll pot to max
2) Powered on the Tx with all sticks centred.
3) Powered on the Tricopter - blue led flashed continuously.
4) Turned off the Tricopter.
5) Turned the Roll pot to min.
6) Turned on the Tricopter - blue led flashed three times then stopped.
7) Moved the yaw stick left right - blue led flashed continuously.
8) Turned off the Tricopter.
9) Set Roll pot back to about 50%
10) Turned on the Tricopter - tail server was now reacting the correct way - i.e. tilting away from the direction I move the tail rather than with it.
So possibly the led confirmation codes have changed in KK's 1.6 firmware? Odd that I could not find any documentation on the web that KK had written when he coded this version? Heaven knows what the sequence could be for the other functions.
Also, according to David from Rcexplorer.se the three pots have been assigned to -
Roll - P Term for Roll and Pitch
Pitch - I Term for Roll and Pitch
Yaw - P Term for Yaw.
This is to allow control over the P/I values for the PID code 1.6 now uses.
Having said all this I was running on Minsoo Kim's V2.5 Firmware before trying all this out and the setup for that was very much as David had documented on his site. KapteinKuk just decided to do it differently in 1.6.
Personally I think the KK 1.6 felt more stable in the air than Minsoo's 2.5 firmware. It's not self trimming like the 2.5 firmware however once you have trimmed it on the Tx via the sub trim option it sits very nicely in the air.
