TwitchFrames Mini-Tri 175 Build Log

[jhitesma]

Saw you on IRC, you had the big guns helping you out

I always forget about the 2nd setting on the hardware page. One to set which function is on the port, one to set what protocol. I had the same problem setting up my spektrum sat on the twitch 230 when I put dRonin on it (BTW - it flies better with dronin than I ever had it flying with anything else!)

The one thing I've heard about autotune on tri's is that the experimental yaw tuning doesn't do well for them. So I'd suggest trying without that first Then if the pitch roll setting seem to be working well and you're feeling brave try the yaw optional suggested yaw settings.

 

[Twitchity]

Just because I was curious I decided to do a quick hover inside. The moment the tri leaves the ground the tail violently shakes back and forth. Did you have this issue Cranial?

And yes, I was on the IRC tonight getting some help in which they were very helpful! Just have one more tricopter issue (above) to solve now.

 

[Twitchity]

I don't know what it is, but the tricopter is extremely unpredictable and impossible to keep in the air even for a few seconds. I've tried adjusting the PIDs but it doesn't help enough. The autotune feature is something I really want, but damn this is turning out to be a much larger headache than it should be. Default PID settings in CF let me hover just fine, but had a slight tail wobble which was fixed by adjusting the servo frequency. Right now I can either have a tri that shakes violently in the air, or one that doesn't shake but spins out of control.

What gets me is Cranial isn't having any of these issues with his tri, but he's running the rev5 Naze. I can't see the newer revision board being the problem, there has to be something else that I'm missing. If I can't get it figured out by this afternoon I'm going back to Cleanflight, as much as I hate to say it.

 

[jhitesma]

I wish I could be more help, but I have very little tri experience...and none of it was successful and none of it was with dRonin. I was thinking about trying my big tri on dRonin today...but it's a little too windy for test flying things I've had no luck getting to fly in the past.

I'm wondering if it could be something in the servo setup...but I know nothing about servo setup on dRonin.

 

[Twitchity]

That's the only thing I think it could be, but I can't for the life of me figure it out. I swapped back to Cleanflight a little bit ago and the tri is in the air and happy. I wanted to try Gtune, but it doesn't work? Either way, I have a frame that I can fly and tune from there. I may try to get to the local field tomorrow for the races and bring the tri with me and see if I can't beg someone more experienced to help.

I'm just going to leave this CLI dump here so I have an online record of my current settings in the event I need to switch back or someone else is interested in the numbers.

# dump

# version
# Cleanflight/NAZE 1.12.1 Apr 10 2016 / 19:57:39 (d0c90cf)
# dump master

# mixer
mixer TRI
mmix reset
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature VBAT
feature RX_SERIAL
feature FAILSAFE
feature ONESHOT125


# map
map TAER1234


# serial
serial 0 1 115200 57600 0 115200
serial 1 64 115200 57600 0 115200


# led
led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:WF:0
led 15 8,8:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0


# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

set looptime = 1500
set emf_avoidance = OFF
set i2c_highspeed = ON
set gyro_sync = ON
set gyro_sync_denom = 1
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = OFF
set rc_smoothing = ON
set input_filtering_mode = OFF
set min_throttle = 1025
set max_throttle = 2000
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 0
set 3d_deadband_high = 0
set 3d_neutral = 0
set 3d_deadband_throttle = 0
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = OFF
set disarm_kill_switch = OFF
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set gps_provider = NMEA
set gps_sbas_mode = AUTO
set gps_auto_config = ON
set gps_auto_baud = OFF
set serialrx_provider = SBUS
set sbus_inversion = ON
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set max_angle_inclination = 500
set gyro_lpf = 42HZ
set gyro_soft_lpf = 60.000
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set yaw_control_direction = 1
set pid_at_min_throttle = ON
set airmode_saturation_limit = 50
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400.000
set servo_lowpass_enable = OFF
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SERIAL
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# dump profile

# profile
profile 0

# aux
aux 0 0 0 1675 2100
aux 1 20 1 1300 2100
aux 2 0 0 900 900
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# servo
servo 0 1000 1800 1800 90 90 100 -1
servo 1 1000 1500 1800 90 90 100 -1
servo 2 1000 2000 1800 90 90 100 -1
servo 3 1000 2000 1800 90 90 100 -1
servo 4 1000 2000 1800 90 90 100 -1
servo 5 1125 2000 1500 90 90 -100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set gps_pos_p = 15
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 34
set gps_posr_i = 14
set gps_posr_d = 53
set gps_nav_p = 25
set gps_nav_i = 33
set gps_nav_d = 83
set gps_wp_radius = 200
set nav_controls_heading = ON
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 5
set yaw_deadband = 5
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
set gimbal_mode = NORMAL
set acc_cut_hz = 15
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set mag_declination = 0
set pid_delta_method = MEASUREMENT
set pid_controller = MWREWRITE
set p_pitch = 33
set i_pitch = 32
set d_pitch = 25
set p_roll = 33
set i_roll = 32
set d_roll = 25
set p_yaw = 30
set i_yaw = 20
set d_yaw = 0
set p_pitchf = 2.500
set i_pitchf = 0.600
set d_pitchf = 0.060
set p_rollf = 2.500
set i_rollf = 0.600
set d_rollf = 0.060
set p_yawf = 8.000
set i_yawf = 0.500
set d_yawf = 0.050
set level_horizon = 3.000
set level_angle = 5.000
set sensitivity_horizon = 75
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1
set yaw_p_limit = 500
set dterm_cut_hz = 0.000
set gtune_loP_rll = 10
set gtune_loP_ptch = 10
set gtune_loP_yw = 10
set gtune_hiP_rll = 100
set gtune_hiP_ptch = 100
set gtune_hiP_yw = 100
set gtune_pwr = 0
set gtune_settle_time = 450
set gtune_average_cycles = 16

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 125
set rc_expo = 50
set rc_yaw_expo = 0
set thr_mid = 0
set thr_expo = 0
set roll_rate = 42
set pitch_rate = 42
set yaw_rate = 60
set tpa_rate = 35
set tpa_breakpoint = 1500

 

[cranialrectosis]

Sorry Twitch. It's been work, snow, work, snow for a bit here.

I would love to share my PIDs but I can't get dRonin to open the Naze. I upgraded dRonin on my PC and it will only open my Brains (which then auto-update).

The first time I tried to hover the tricopter it toilet bowl wobbled and increased thrust on its own even as I was chopping the throttle. The less throttle I gave it the higher it shot. It was going fast before I got my throttle to 0 and disarmed. It was scary and ugly. The lily won't recover this year.

I cut the default PIDs by 50%. I may have dropped yaw down even more. The shaking seemed to come from Yaw gains. One of the heavies on the IRC convinced me that it is better to be under tuned before you start autotune than be over tuned.

If you give it a shot again, drop the gains by half on a tricopter. See if that isn't mushy but flyable for an autotune. Don't maiden in any mode but acro.

Don't take the first autotune you get, particularly if you find yourself using a lot of stick during the tune. Check out the values autotune wants to set before you let it. It took me 3 tries to get one that was workable and I still tweaked it a bit when I changed servos.

The combination of Naze and tricopter was probably poor on my part. I have been wanting a Brain or RE1 for the tricopter. The quads have been a breeze. The tricopter I think throws 2 new obstacles at you when you use a Naze and if this is your first go at dRonin, that's gonna be rough.

You need an Alien and a Brain or RE1 just to practice on.

 

[Twitchity]

I spent hours trying to get the tricopter to be somewhat manageable on dRonin with the Naze but I just couldn't figure it out. To me the UI isn't very intuitive, but I started with Baseflight so that's the UI that I've learned (thanks to your help when I was getting started) so it's just much easier for me to get a multi in the air.

I do want to try out dRonin again, but I'll definitely need to get a board like the Sparky or Revo before I give it another shot. My next build is going to be mpbiv's SCX-200 but I'll be using the KISS FC on that build. Depending on how well it performs and how easy it is to tune I may be sticking with the KISS FC as it's not that much more than the Naze.

 

[Templar]

where can i get one of these frames?

 

[C0d3M0nk3y]

where can i get one of these frames?

You probably can't unless you convince someone to sell theirs. Twitchity used to make and sell them, but he hasn't done that for a while. I'd suggest checking out RC Explorer's baby tri.

 

[cranialrectosis]

You probably can't unless you convince someone to sell theirs.

Good luck with that...I love mine!