Comments (3)
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.
from pid-analyzer.
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.
from pid-analyzer.
Thanks Flo!
A few things i forgot to mention...
-
Tricopters use a lot of D-Term to smooth out the Servo / Yaw response.
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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
Triflight on Betaflight 3.2.2 v2 / MATEKF405 (MKF4) 3.2.2 Dec 31 2017 / 15:24:22 (30f68c8) MSP API: 1.36
resources
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
servo 5 1141 2093 1563 100 -1
feature
feature DYNAMIC_FILTER
map
map TAER1234
serial
serial 30 32 115200 57600 0 115200
aux
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
adjrange 0 0 3 900 1175 9 4
adjrange 1 0 3 1400 1600 10 4
adjrange 2 0 3 1800 2100 11 4
master
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
from pid-analyzer.
Related Issues (20)
- Cant't use on 500Hz HOT 2
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- if it is python, then why no linux? HOT 4
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- Unable to run on ubuntu server HOT 2
- ZeroDivisionError: integer division or modulo by zero
- UnicodeDecodeError: 'ascii' codec can't decode byte 0xcd in position 0: ordinal not in range(128) HOT 2
- Higher version python cannot run ?
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