Modérateur : Dehas
Quelle version de Naze tu as ? Acro ou Full ?seb03000 a écrit :je ne peut pas faire le paramétrages du magnétomètre
Comment on procède pour se réglage, sinon voici les réglage.Quant au comportement de ta machine, on dirait un P bien trop haut sur le pitch...
Tu pourrais poster un Dump de ta config ?
J'ai tester sa change rien , mais je suis mieux sur cleanflightSinon, tu as essayé de passer sous Betaflight ?
Code : Tout sélectionner
Entering CLI Mode, type 'exit' to return, or 'help'
# dump
# version
# Cleanflight/NAZE 1.11.0 Nov 28 2015 / 15:30:06 (0c82a7b)
# dump master
# mixer
mixer QUADX
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 VBAT
feature MOTOR_STOP
feature FAILSAFE
feature RX_PARALLEL_PWM
# map
map AETR1234
# serial
serial 0 1 115200 57600 0 115200
serial 1 0 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: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 = OFF
set i2c_overclock = OFF
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 = 1150
set max_throttle = 1890
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 = ON
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 = SPEK1024
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 = 180
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 = ON
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
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 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 2
# aux
aux 0 0 0 1075 1900
aux 1 1 1 1075 1900
aux 2 2 2 1850 2100
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 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 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 = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 2
set gimbal_mode = NORMAL
set acc_lpf_factor = 4
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_controller = MWREWRITE
set p_pitch = 40
set i_pitch = 30
set d_pitch = 23
set p_roll = 40
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_pitchf = 1.400
set i_pitchf = 0.400
set d_pitchf = 0.030
set p_rollf = 1.400
set i_rollf = 0.400
set d_rollf = 0.030
set p_yawf = 3.500
set i_yawf = 0.400
set d_yawf = 0.010
set yaw_p_limit = 500
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 dterm_cut_hz = 0
set pterm_cut_hz = 0
set gyro_cut_hz = 0
# dump rates
# rateprofile
rateprofile 2
set rc_rate = 60
set rc_expo = 65
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_rate = 0
set pitch_rate = 0
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500
# Code : Tout sélectionner
# set mag_hardware=0
mag_hardware set to 0
# set baro_hardware=0
baro_hardware set to 0
# save
Saving
RebootingÿCode : Tout sélectionner
# dump
# version
# BetaFlight Final/NAZE 1.11.0 Oct 23 2015 / 23:20:42 (0186614)
# dump master
# mixer
mixer QUADX
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 VBAT
feature MOTOR_STOP
feature FAILSAFE
feature RX_PARALLEL_PWM
# map
map AETR1234
# serial
serial 0 1 115200 57600 0 115200
serial 1 0 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: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 emf_avoidance = 0
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = 0
set input_filtering_mode = 0
set min_throttle = 1150
set max_throttle = 1850
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 enable_fast_pwm = 0
set retarded_arm = 0
set disarm_kill_switch = 1
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
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 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 = 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 = 180
set max_angle_inclination = 600
set moron_threshold = 32
set imu_dcm_kp = 10000
set imu_dcm_ki = 30
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = 1
set servo_lowpass_freq = 400
set servo_lowpass_enable = 0
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = 0
set failsafe_throttle_low_delay = 100
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 = 0
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0
set beeper_off_flags = 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 1075 1900
aux 1 1 1 1075 1900
aux 2 2 2 1725 2100
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 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 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 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 default_rate_profile = 0
set gimbal_mode = 0
set acc_cut_hz = 15
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 = REWRITE
set p_pitch = 35
set i_pitch = 30
set d_pitch = 18
set p_roll = 40
set i_roll = 30
set d_roll = 18
set p_yaw = 95
set i_yaw = 50
set d_yaw = 10
set p_pitchf = 1.500
set i_pitchf = 0.400
set d_pitchf = 0.020
set p_rollf = 1.500
set i_rollf = 0.400
set d_rollf = 0.020
set p_yawf = 3.900
set i_yawf = 0.900
set d_yawf = 0.000
set level_horizon = 6.000
set level_angle = 6.000
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 dterm_cut_hz = 40
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 = 60
set rc_expo = 70
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 0
set pitch_rate = 0
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500
# 
seb03000 a écrit :re , dite je viens de m’apercevoir dans le logiciel CleanFlight sous betaflight que dans mode il y a Aire mode , c'est quoi ???
http://www.rcgroups.com/forums/showpost ... ostcount=1" onclick="window.open(this.href);return false;Boris B a écrit : AIR Mode:
Some users were mailing me about the fact their radios couldnt be configured to have Idle up switch and asking me to implement something simillar in the software. I initially thought that this could simply just be achived with activating the "Iterm" from zero throttle together with P and D which were already done with "pid_at_min_throttle" feature. Somehow this wasnt't giving the satisfying results. It still felt weak and unresponsive.
I was wrapping my head around the fact why this was the case. We got our P, I and D on the ground....so why isn't fully stabilizing?
After some readings in other open source projects and some of the older discussions I realized that the key was lying in the mixer logic as someone already had a proof of concept code to improve it, which is pretty much scaling the PID's to our throttle level and stopping the stabilisation when one motor reaches min throttle. Now I understood why folks always preferred this Idle up switch as it was automatically gaining a little bit more stabilisation. But this is just a workaround where you loose some throttle below! The current mixer logic sounds reasonable as the early developers were always considering the low throttle values as a NON flying situation. Guess what? In 2015 we fly a lot with 0 or low throttle and especially in the mini quad scene! This has to be changed! The real answer lies in smarter mixer approach where the pid controller code would co-operate with mixer code, which would give feedback about the available power levels and ability to correct the error to always have maximum stability at all throttle levels. This would in theory also improve full throttle handling. I found some proof of concepts about this approach and integrated it into current betaflight and optimized it based on my and others flight experience. The results kind of amazed me of how much authority this gave me and how locked in it felt. Maybe the best discovery so far in betaflight.
You are pretty much able to do everything with absolutely 0 throttle with full stability. Prop wash scenarios get better and it's much more fun and freedom. I also felt more agility in turns.
This is how it works:
- Enable Air mode on switch. I personally would prefer to use it together or next to an arming switch to always get full control at 0 throttle or separate switch so you can switch between normal and Air mode. When you use stick arming you will loose ability to yaw with 0 throttle, which might be a big miss. I was a stick armer before and really had to use myself to use switch to arm with air mode, but it was worth switching! All inverted and 0 stuff is much more fun now and disarming can be done quickly.
Of course you can stick with stick arming, but realize that there is now yaw with 0 throttle so you are missing a bit of fun.
- Motor stop disables ability to use 0 throttle as the motors would stop. So you have to ask yourself if it is not worth of switching it off so you can enjoy the full fun
Few things to know about Air mode:
- With AIR mode the copter will always think it's in the "AIR" and will always try to correct as fast as possible and never become weak. We of course need this stabilisation once in AIR! This has it's consequences for our ground situations which you have to be awared of.
With Air mode it would mean that the motors could be spooling up after arming, but there is some protection built for that. When you arm and keep throttle stick low (below min check) it will know it is on the ground and the motors will not spool up. Once you move your throttle to higher position for more than 1 second and pitch and roll are not centered anymore it will fully activate the stabilisation with 0 throttle! So you have to be aware that if you would land very quickly after first take off that the motors now are able to spool up as the copter thinks its flying and has max ability to correct. Dont worry you can disarm now or you can keep throttle low with roll + pitch stick centered and it will still spool down or at least it will not spool up anymore.
The feature might still be optimized based on experiences, but is looking good already.
Here is some visual demonstration of how to use air mode and enjoy more in air
C'est pas impossible. Les vibrations influent toujours d'une manière ou d'une autre sur les PID.Tien ji pense l'effet yoyo ne viendrai pas a causse des vibrations sur la FC ou autre ???
Le Air Mode n'est pas spécialement "hard", c'est juste une amélioration du mode Acro qui permet un meilleur contrôle du quad avec les gaz à 0. Du coup certaines figures de freestyle passent mieux.sa ma l'aire d'un mode harde
![:]](./images/smilies/8.gif "Dan.San"){kind=small}
Et j'ai toujours se truc bizarre dans la partit Setup, la fc ( flip32 ) s’incline tous seule sans que je la touche normale ça, image a l'appui:
La flèche indique juste où se trouve l'avant du multi, ça n'a rien à voir avec l'orientation de la carte.la flèche verte dois être de quelle sans, car entre la flèche verte du drone 3D, et la position de ma flip32 sur mon drone, je mi perd ???
