Beans. RCHacker #78
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- Опубліковано 7 лют 2025
- Squeezing the secret beans out of cleanflight.
Yes I have a racing quad, and have been having fun tuning it. This is a recent flight after adjusting a setting that is probably overlooked by many people.
If you are using BLHeli with oneshot125 try increasing the max throttle to 1950 in cleanflight. You will see the difference it made for me when I maiden this in the next video. An ESC calibration will probably also help.
I'm still learning and working my way through all the tuning FUD out there, even resorting to reading source code. I am sure that there is still more performance to get out of this quad and once I get my head around it all I will be doing some tuning videos.
This quad was provided by www.nextfpv.com...
Cobra 2204/2300kV
ZTW 12A with BlHeli and oneshot125
4S 1800 60C Nanotech
5040 DAL props.(balanced)
NAZE 32
250 size frame (ZMR ish).
Measured at 50A flat out.
Thank you for watching, please consider supporting my work.
www.rchacker.co...
I'll be looking forward to the tuning videos.
Nice video! The beeps in the end reminded me of the beeps on for example mcd restaurants when the fries are ready and such =D haha..
love the sound of those motors.
Some quick tips-
If you are using oneshot, and the refresh rates are 500, your looptime should be about 2000 minimum... 600 refresh rates and it can drop to 1700. (some PID controllers you can go lower)
Try setting deadband and yaw deadband to about 3 to 6 depending on what your radio is and shows on the rc calibration page in cleanflight.
Max throttle on a futaba is 1950- min is 1050 and mid is 1520, - again- not sure what radio you are using.
If you fly horizon or angle mode- then you should change the acc lpf factor in the cli from 4 to 100
if you are not having any magnetic interference issues, then you can turn off the emf avoidance in cli, and if you fly rate mode, then turn the acc off in cli to free up processing power.
Based on his vid, I think you need to maybe lower your looptime, check your TPA, and drop the P or increase I a tad to eliminate those flutters on accel and decel.
+Hiway Thanks a lot for the feedback. I've already lowered the P, and I will have a play with the loop times. I'm using a taranis and naze32. emf and turning off the acc I was not aware of ill try that out too. TPA was .26 with a breakpoint of 1500. I've since added some expo on the taranis to smooth out the yaw. (seems there is no separate value)
all rate mode.
Thanks again.
+Hiway the whole dump if you're interested.
# dump
# version
Cleanflight/NAZE 1.8.1 Apr 2 2015 / 17:06:11 (988ae2d)
# dump master
# mixer
mixer QUADX
# 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 RX_PPM
feature VBAT
feature FAILSAFE
feature TELEMETRY
feature ONESHOT125
# map
map AETR1234
# 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:D:WF:0
led 15 8,8:D: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 = 3500
set emf_avoidance = 0
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set input_filtering_mode = 0
set min_throttle = 1150
set max_throttle = 1980
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set disarm_kill_switch = 1
set auto_disarm_delay = 5
set small_angle = 25
set flaps_speed = 0
set fixedwing_althold_dir = 1
set serial_port_1_functions = 5
set serial_port_1_msp_baudrate = 5
set serial_port_1_telemetry_baudrate = 0
set serial_port_1_blackbox_baudrate = 5
set serial_port_1_gps_baudrate = 4
set serial_port_2_functions = 0
set serial_port_2_msp_baudrate = 5
set serial_port_2_telemetry_baudrate = 0
set serial_port_2_blackbox_baudrate = 5
set serial_port_2_gps_baudrate = 4
set serial_port_3_functions = 0
set serial_port_3_msp_baudrate = 5
set serial_port_3_telemetry_baudrate = 0
set serial_port_3_blackbox_baudrate = 5
set serial_port_3_gps_baudrate = 4
set serial_port_4_functions = 0
set serial_port_4_msp_baudrate = 5
set serial_port_4_telemetry_baudrate = 0
set serial_port_4_blackbox_baudrate = 5
set serial_port_4_gps_baudrate = 4
set reboot_character = 82
set gps_provider = 0
set gps_sbas_mode = 0
set gps_auto_config = 1
set gps_auto_baud = 0
set serialrx_provider = 0
set spektrum_sat_bind = 0
set telemetry_switch = 0
set telemetry_inversion = 0
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = 0
set frsky_vfas_precision = 0
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 = 0
set current_meter_type = 1
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = -90
set max_angle_inclination = 500
set gyro_lpf = 42
set moron_threshold = 32
set gyro_cmpf_factor = 600
set gyro_cmpfm_factor = 250
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set acc_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = 0
# dump profile
# profile
profile 0
# aux
aux 0 1 0 1750 2100
aux 1 2 0 1300 1700
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
aux 20 0 0 900 900
aux 21 0 0 900 900
aux 22 0 0 900 900
aux 23 0 0 900 900
aux 24 0 0 900 900
aux 25 0 0 900 900
aux 26 0 0 900 900
aux 27 0 0 900 900
aux 28 0 0 900 900
aux 29 0 0 900 900
aux 30 0 0 900 900
aux 31 0 0 900 900
aux 32 0 0 900 900
aux 33 0 0 900 900
aux 34 0 0 900 900
aux 35 0 0 900 900
aux 36 0 0 900 900
aux 37 0 0 900 900
aux 38 0 0 900 900
aux 39 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
# servo
servo 0 1020 2000 1500 30 -1
servo 1 1020 2000 1500 30 -1
servo 2 1020 2000 1500 100 -1
servo 3 1020 2000 1500 100 -1
servo 4 1020 2000 1500 100 -1
servo 5 1020 2000 1500 100 -1
servo 6 1020 2000 1500 100 -1
servo 7 1020 2000 1500 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 = 1
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 = 1
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set yaw_direction = 1
set tri_unarmed_servo = 1
set servo_lowpass_freq = 400
set servo_lowpass_enable = 0
set default_rate_profile = 0
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_min_usec = 985
set failsafe_max_usec = 2115
set gimbal_flags = 1
set acc_lpf_factor = 4
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = 1
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_controller = 3
set p_pitch = 28
set i_pitch = 30
set d_pitch = 23
set p_roll = 28
set i_roll = 30
set d_roll = 23
set p_yaw = 81
set i_yaw = 45
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 = 200
set i_level = 20
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1
# dump rates
# rateprofile
rateprofile 0
set rc_rate = 100
set rc_expo = 70
set thr_mid = 50
set thr_expo = 0
set roll_rate = 26
set pitch_rate = 26
set yaw_rate = 24
set tpa_rate = 26
set tpa_breakpoint = 1500
#
RCHacker
A few things- you are using old firmware- more recent versions are out.
I know some folks like the PID 3, which is a direct fork of the old 2.3 multiwii I believe, but you should try PID 1 unless you are having yaw issues. The deadband will help with the twitches and reduce the need for expo- which you have at 70 on the rc in the dump, and is normally left at 65. Check the receiver tab in cleanflight and look at the variations that are jumping around- I beieve midrc for the taranis is 1500- so if you see it jumping from 1498 to 1502 then your deaband will be 5. the cli command for that is set deadband=x (with "x" being your determined value) and set yaw_deadband=x (same as above)
Your looptime is at default- 3500, and on anything smaller than a 450 and even that, it is way too high. CLI for that is set looptime=xxxx, and I suggest you set it at about 2500 to start, and tell me which esc's you have and what firmware they are running and I can do better- oneshot means you are using blheli I presume, but find the refresh rates on those escs to get the precise looptime. that is your flutter right there. that 3500 looptime. Fix it brother, and enjoy some smooth response.
+Hiway My ESCs are ZTW12A with BLHeli and oneshot125 written on them. their manual says up to 600Hz refresh rate. So try 1700? and I presume also a set motor_pwm_rate=600. The taranis is pretty solid, only jitters by one. What happens if you set the looptime too low? Thanks again ill try this all out.
+RCHacker Quick LOS flight, and it did not explode seems quicker. will let you know once i get it out in the open again.
2:56 - "Moooo"
+Spoif These cows are pretty used to being buzzed.
RCHacker Ha ha... They look pretty chilled out. I wonder if they're thinking, "I bet it would be great to fly FPV... if it wasn't for these hooves."
Sweet! :)
Wow, that thing is pulling some serious G's!!
How the hell can you keep standing straight? I can't even sit down without moving.. :P
+gilgameshismist Too many video games as a kid. :) I do get a bit sick sometimes.
There is something very odd about the start of this video. Why are those cows moving in such a strange way ?
+UKHeliBob Australian dancing cows... There is a bit of time acceleration happening right to just before i take off.
TPA
+Rob B TPA was .26 with a breakpoint of 1500 add more?
+RCHacker yup, definitely still have too much p at high throttle