Betaflight 3.4 и 3.5. Рекомендации

Новости, Обзоры и тесты

После выхода версии 3.4, а теперь и 3.5  появились ряд особенностей  прошивки Betaflight , которые качественно влияют на поведение дрона в лучшую сторону. Дрон управляется мягче. Для начала следует использовать предложенные рекомендации.

версия 3.4

https://github.com/betaflight/betaflight/wiki/Tuning-Tips-for-Betaflight-3.4

Фильтрация для различных конфигураций дронов :

really good quad with a very solid frame, new motors, and only ever flown with clean well balanced light props
A typical 5″ quad with motors/props that aren’t new but are average, and bent props aren’t a problem
A typical quad on a decent frame that needs to tolerate bent prop
A beat up quad on a sloppy frame that often is flown with bent props
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 150
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 400
set dterm_lowpass_hz = 100
set dterm_lowpass2_hz = 250
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 120
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 300
set dterm_lowpass_hz = 100
set dterm_lowpass2_hz = 250
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 120
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 300
set dterm_lowpass_hz = 80
set dterm_lowpass2_hz = 160
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 180
set dterm_lowpass_hz = 70
set dterm_lowpass2_hz = 140

Рекомендованные параметры  PID под разные стили

racing, and your quad is not carrying a GoPro, and is light and responsive freestyle, and the quad is a little heavier 
set rc_smoothing_type = FILTER

set setpoint_relax_ratio = 0
set dterm_setpoint_weight = 120

set iterm_rotation = ON

set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 12

set throttle_boost = 2
set throttle_boost_cutoff = 15

set p_pitch = 32
set i_pitch = 65
set d_pitch = 23
set p_roll = 30
set i_roll = 60
set d_roll = 21
set p_yaw = 65
set i_yaw = 60
set d_yaw = 20

set tpa_rate = 15
set tpa_breakpoint = 1050
 
set rc_smoothing_type = FILTER

set setpoint_relax_ratio = 50
set dterm_setpoint_weight = 80

set iterm_rotation = ON

set iterm_relax = RP
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 10

set throttle_boost = 8
set throttle_boost_cutoff = 15

set p_pitch = 58
set i_pitch = 65
set d_pitch = 35
set p_roll = 50
set i_roll = 60
set d_roll = 30
set p_yaw = 65
set i_yaw = 60
set d_yaw = 20

set tpa_rate = 20
set tpa_breakpoint = 1050

Параметры  для 3.4, которые потом  убрали в  3.5 -The new default D weight value is 0.6

The new default D Setpoint Transition value is zero.Values above zero, but under 0.1, are not recommended, because they may cause glitching when the sticks are smoothly swept across the centre position.

After enabling RC smoothing, if you notice a small reduction in response to rapid stick inputs, consider increasing D weight, throttle boost and, perhaps, P by up to about 20%

Версия 3.5

https://github.com/betaflight/betaflight/wiki/3.5-tuning-notes

Убрали D setpoint weight, теперь на смену пришел Feed Forward. Для простоты, ранее параметр был один и влиял сразу на все оси. Меньшее значение более плавный отклик на стики , а высокие очень чувствительный. То теперь  для каждой очи можно вводить свой коэффициент.

The default FF values of 60 are ‘mid-range’ values.

Typically an FF value around 100 is a reasonable amount for a responsive race oriented quad.

Overall responsiveness to stick input depends on both P and FF. It is no longer necessary, or desirable, to keep increasing P to improve transient stick responsiveness. Adding FF is a much better way to achieve stick responsiveness than adding P.

set iterm_relax = RP
set p_yaw = 40
set i_yaw = 120
set d_yaw = 0
set f_yaw = 100

set anti_gravity_mode = SMOOTH

Dynamic Notch — тонкая настройка

по умолчанию  medium clean quads really clean quads
set dyn_notch_quality = 70
set dyn_notch_width_percent = 50
set dyn_notch_quality = 15
set dyn_notch_width_percent = 30
set dyn_notch_quality = 5
set dyn_notch_width_percent = 20

 

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