Tricopters use Yaw D-Term

[ResinSmoker]

Please show the Yaw D-Term for those flying Tricopters.

Thank you!

[Plasmatree]

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.

[Zuldan]

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.

https://www.rcgroups.com/forums/showthread.php?2953533-Betaflight-PID-Analyzer&p=39736387#post39736387

[ResinSmoker]

Thanks Flo!

A few things i forgot to mention...

• Tricopters use a lot of D-Term to smooth out the Servo / Yaw response.

• 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