Triflight usage has gone wider than just RCExplorer specific firmware, a lot of people, including me, are using it on other tricopters with different flight controllers and it’s very discouraging to get such not evident misbehaviour. When feedback wire is connected, I term is close to zero while hovering.Īs seen from logs, tail motor initially gets more thrust from flight controller, which is later compensated by PID loop.Īlso I got unusual results from TailTune: “tri_tail_motor_thrustfactor” value is around 60, while normally it should be around 95. That means it compensates some constant force (excessive thrust from tail motor in this case). I term on pitch axis has constantly high value when virtual servo is used.

I’ve changed flight controller to RMRC DODO, changed rear ESC (yes, it’s calibrated properly), but same issue with pitch axis arises – tricopter tilts forward on takeoff and on quick trottle increase.īelow are screenshots of logs of two consequent flights, one with “tri servo feedback = VIRTUAL”, other with feedback wire. I’m almost 100% shure that it isn’t hardware problem. There is definitely some bug with virtual servo on F3 flight controllers. I can check it on saturday and prove or deny my findings. What do you think about this, it would be absolutely great if you could make firmware build with default cleanflight airmode behaviour for me to try. I really have no clear solution to propose, but I think that active I-term may help, disabling integrator in airmode is probably not best solution. Just in case – tri_tail_motor_thrustfactor has nothing to do in this situation, it only compensates aerodynamic forces caused by propeller moving through the air, not forces caused by acceleration/deceleration of motor and you wrote that Triflight 0.5 beta 2 uses integrator disable instead of the original Cleanflight Air mode one? When you suddenly drop throttle to a minimum, ESC brakes, motor decelerates, and counteracting force rotates tricopter CCW, but that can’t be easily corrected due to a luck of thrust. I mean that when throttle is increasing and motor is accelerating, counteracting force rotates tricopter clockwise and PID loop successfully corrects this, because there is enough tail authority on high RPM. I found that on fast throttle drop tail drifts CCW, probably, due to a force caused by ESC braking. I investigated logs and got some conclusions, let me explain… Worth to mention I’m using braking ESCs (it’s important in this case). I can not correct this with PIDs no matter what i try. Any time i punch the throttle and then drop it to a minimum, tail blows away counterclockwise. Another problem that I faced with is heavy tail drift on throttle drop.

Rmrc dodo cleanflight firmware