Beiträge von MaSe-Flight

    Hallo zusammen,


    es gibt ein neues Release von INAV -> 2.1.0-RC3 zu finden unter https://github.com/iNavFlight/inav/releases/tag/2.1.0-RC3

    Important Notes

    1. INAV 2.1 is the last release of INAV that fully supports F3 and especially Omnibus F3 boards. Due to the lack of flash and RAM, future versions of INAV will either remove functions on F3 or not support those boards at all. STM32F3 are strongly discouraged for new builds and existing builds should be upgraded to F7 boards
    2. Feature AIRMODE is enabled by default on all targets! There is no need to change that on Fixed Wings at all. On Multirotors, if there a need to do so, users might disable it and enable AIRMODE as a flight mode on a switch like before. In the majority of the cases, AIRMODE can be enabled on Multirotors all the time. The two cases when a user might make it conditional are: usage of MOTOR_STOP or disabling for landing.
    3. ASYNC processing is gone. Gyro/Acc updates now happens in sync with the control loop.
    4. DSHOT is one of the new features of INAV 2.1. A digital protocol, like what DSHOT is, can substain a certain amount of noise with no performance degradation and allows a very smooth motor output. This comes at the cost of not offering a way in between a perfectly working setup or a not working one! (Think for instance to you Digital Television!).

      DSHOT requires a very clean setup and short ESC signal wires run. You might find your DSHOT setup perfectly working on the bench and failing when flying. If you are unsure about your setup just stick with analog protocols like ONESHOT or MULTISHOT. More on the topic can be found here


    Upgrading from 2.0.0

    1. Be sure to run the latest INAV 2.1 Configuration release. Download from here
    2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
    3. Flash INAV 2.1.0 enabling full chip erase . Now you FC should run INAV 2.1.0 Connect again and check the firmware version.
    4. Go to CLI tab and paste all the contents you previously saved into a text file and press enter. Wait for it to finish. Type save and you should be good to go!
    5. Enjoy INAV 2.1.0 and explore its new features!


    Upgrading from 1.9.X

    1. Be sure to run the latest INAV 2.1 Configuration release. Download from [here]
    2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
    3. Go to the OSD tab and take a screenshot of the current layout
    4. Flash INAV 2.1.0 enabling full chip erase . Now you FC should run INAV 2.0. Connect again and check the firmware version.
    5. Go to the Mixer tab and load and apply your desired mixer.
    6. Go back to your configuration text file and delete all lines starting with: mixer acczero accgain magzero osd. Adjust values to be adjusted noted in the release notes.
    7. Open the CLI tab in the configurator and paste your cleaned up configuration in the text box and type save and press enter. The flight controller will now reboot.
    8. Calibrate the accelerometer following the steps in the dedicated tab. Only first two steps need to be made in the right order.
    9. Calibration of the magnetometer should be done at the field. The magnetic field indoors can be distorted and led to a bad calibration.
    10. Restore manually your OSD layout using the screenshot and upload the font you like using the dedicated button.
    11. Carefully check all the configuration and check on the bench without installed propellers if everything looks good. In particular, check if the model preview behaves correctly when you are moving your model and check surfaces movements for an airplane.
    12. Enjoy INAV 2.1.0 and explore its new features!


    New targets:


    Temperature sensors support

    It is now possible to measure temperatures with the help of the I²C LM75 and 1-Wire DS18B20 chips. The temperature values can be displayed on the OSD and also logged. See the documentation for more information.


    CLI:


    New

    Setting Description
    rc_filter_frequency RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values
    fw_iterm_limit_stick_position Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side
    nav_mc_braking_speed_threshold min speed in cm/s above which braking can happen
    nav_mc_braking_disengage_speed braking is disabled when speed goes below this value
    nav_mc_braking_timeout timeout in ms for braking
    nav_mc_braking_boost_factor acceleration factor for BOOST phase
    nav_mc_braking_boost_timeout how long in ms BOOST phase can happen
    nav_mc_braking_boost_speed_threshold BOOST can be enabled when speed is above this value
    nav_mc_braking_boost_disengage_speed BOOST will be disabled when speed goes below this value
    nav_mc_braking_bank_angle max angle that MR is allowed to bank in BOOST mode
    osd_artificial_horizon_max_pitch Max pitch, in degrees, for OSD artificial horizon
    osd_failsafe_switch_layout If enabled the OSD automatically switches to the first layout during failsafe


    Removed

    Setting Description
    acc_task_frequency
    attitude_task_frequency
    async_mode
    smix reverse input reverse can be done on the mixer level


    Main changes


    DSHOT

    INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol CLI setting. The following versions of DSHOT are supported:

    • DSHOT150
    • DSHOT300
    • DSHOT600
    • DSHOT1200

    There is no DSHOT telemetry or DSHOT commands support yet!

    Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.

    DSHOT is enabled on following targets:

    • AIRBOTF4
    • ASGARD32F4
    • ASGARD32F7
    • COLIBRI_RACE
    • FIREWORKSV2
    • FOXEERF405
    • FOXEERF722DUAL
    • MATEKF405 (CTR, STD, not WING)
    • MATEKF722
    • MATEKF722SE
    • OMNIBUSF4
    • OMNIBUSF7NXT
    • REVO


    Multirotor braking mode


    Requirements and setup

    1. Multirotor has to be capable of running 3D Position Hold: GPS, Compass, and Baro are required
    2. MC BRAKING flight mode has to be enabled
    3. UAV has to be put into User Control Mode CRUISE

    01

    02


    Settings

    • nav_mc_braking_speed_threshold - min speed in cm/s above which braking can happen
    • nav_mc_braking_disengage_speed - braking is disabled when speed goes below this value
    • nav_mc_braking_timeout - timeout in ms for braking
    • nav_mc_braking_boost_factor - acceleration factor for BOOST phase
    • nav_mc_braking_boost_timeout - how long in ms BOOST phase can happen
    • nav_mc_braking_boost_speed_threshold - BOOST can be enabled when speed is above this value
    • nav_mc_braking_boost_disengage_speed - BOOST will be disabled when speed goes below this value
    • nav_mc_braking_bank_angle - max angle that MR is allowed to bank in BOOST mode


    How it works:

    1. There are two phases BRAKE and BOOST
    2. BRAKE can be started then MC BRAKING mode is enabled, MR is in CRUISE mode, 3D PosHold is enabled, MR is traveling above nav_mc_braking_speed_threshold and pilot releases sticks
    3. INAV will store new PosHold position only when copter will stop, not when stricks are released
    4. On top of that, BOOST phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
    5. in BOOST phase, MR is allowed to use higher acceleration and banking angle than normal.
    6. Because BOOSTS is limited in time, banking angle much higher than default should be fine


    Tuning

    Default values should be pretty safe to use. My 6" machine using following values:

    Code
    1. set nav_mc_braking_speed_threshold = 100
    2. set nav_mc_braking_disengage_speed = 50
    3. set nav_mc_braking_timeout = 2000
    4. set nav_mc_braking_boost_factor = 150
    5. set nav_mc_braking_boost_timeout = 1000
    6. set nav_mc_braking_boost_speed_threshold = 120
    7. set nav_mc_braking_boost_disengage_speed = 75
    8. set nav_mc_braking_bank_angle = 40


    All changes:

    Hallo zusammen,


    es gibt ein neues Release von INAV -> 2.1.0 UND einen neuen Konfigurator 2.1.1


    Originalbeitrag für INAV zu finden unter https://github.com/iNavFlight/…_ZGDV9XxuGwV_x6xtyUqDGTfo

    Originalbeitrag für INAV Konfigurator zu finden unter https://github.com/iNavFlight/inav-configurator/releases



    Important Notes


    1. INAV 2.1 is the last release of INAV that fully supports F3 and especially Omnibus F3 boards. Due to the lack of flash and RAM, future versions of INAV will either remove functions on F3 or not support those boards at all. STM32F3 are strongly discouraged for new builds and existing builds should be upgraded to F7 boards
    2. Feature AIRMODE is enabled by default on all targets! There is no need to change that on Fixed Wings at all. On Multirotors, if there a need to do so, users might disable it and enable AIRMODEas a flight mode on a switch like before. In the majority of the cases, AIRMODE can be enabled on Multirotors all the time. The two cases when a user might make it conditional are: usage of MOTOR_STOP or disabling for landing.
    3. ASYNC processing is gone. Gyro/Acc updates now happens in sync with the control loop.
    4. DSHOT is one of the new features of INAV 2.1. A digital protocol, like what DSHOT is, can substain a certain amount of noise with no performance degradation and allows a very smooth motor output. This comes at the cost of not offering a way in between a perfectly working setup or a not working one! (Think for instance to you Digital Television!). DSHOT requires a very clean setup and short ESC signal wires run. You might find your DSHOT setup perfectly working on the bench and failing when flying. If you are unsure about your setup just stick with analog protocols like ONESHOT or MULTISHOT. More on the topic can be found here



    New targets:



    CLI:


    New


    Setting Description
    rc_filter_frequency RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values
    fw_iterm_limit_stick_position Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side
    nav_mc_braking_speed_threshold min speed in cm/s above which braking can happen
    nav_mc_braking_disengage_speed braking is disabled when speed goes below this value
    nav_mc_braking_timeout timeout in ms for braking
    nav_mc_braking_boost_factor acceleration factor for BOOST phase
    nav_mc_braking_boost_timeout how long in ms BOOST phase can happen
    nav_mc_braking_boost_speed_threshold BOOST can be enabled when speed is above this value
    nav_mc_braking_boost_disengage_speed BOOST will be disabled when speed goes below this value
    nav_mc_braking_bank_angle max angle that MR is allowed to bank in BOOST mode
    osd_artificial_horizon_max_pitch Max pitch, in degrees, for OSD artificial horizon
    osd_failsafe_switch_layout If enabled the OSD automatically switches to the first layout during failsafe


    Removed


    Setting Description
    acc_task_frequency
    attitude_task_frequency
    async_mode
    smix reverse input reverse can be done on the mixer level


    Main changes


    DSHOT


    INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol CLI setting. The following versions of DSHOT are supported:

    • DSHOT150
    • DSHOT300
    • DSHOT600
    • DSHOT1200

    There is no DSHOT telemetry or DSHOT commands support yet!

    Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.

    DSHOT is enabled on following targets:

    • AIRBOTF4
    • ASGARD32F4
    • ASGARD32F7
    • COLIBRI_RACE
    • FIREWORKSV2
    • FOXEERF405
    • FOXEERF722DUAL
    • MATEKF405 (CTR, STD, not WING)
    • MATEKF722
    • MATEKF722SE
    • OMNIBUSF4
    • OMNIBUSF7NXT
    • REVO


    Multirotor braking mode


    Requirements and setup


    1. Multirotor has to be capable of running 3D Position Hold: GPS, Compass, and Baro are required
    2. MC BRAKING flight mode has to be enabled
    3. UAV has to be put into User Control Mode CRUISE

    01

    02


    Settings


    • nav_mc_braking_speed_threshold - min speed in cm/s above which braking can happen
    • nav_mc_braking_disengage_speed - braking is disabled when speed goes below this value
    • nav_mc_braking_timeout - timeout in ms for braking
    • nav_mc_braking_boost_factor - acceleration factor for BOOST phase
    • nav_mc_braking_boost_timeout - how long in ms BOOST phase can happen
    • nav_mc_braking_boost_speed_threshold - BOOST can be enabled when speed is above this value
    • nav_mc_braking_boost_disengage_speed - BOOST will be disabled when speed goes below this value
    • nav_mc_braking_bank_angle - max angle that MR is allowed to bank in BOOST mode


    How it works:


    1. There are two phases BRAKE and BOOST
    2. BRAKE can be started then MC BRAKING mode is enabled, MR is in CRUISE mode, 3D PosHoldis enabled, MR is traveling above nav_mc_braking_speed_threshold and pilot releases sticks
    3. INAV will store new PosHold position only when copter will stop, not when stricks are released
    4. On top of that, BOOST phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
    5. in BOOST phase, MR is allowed to use higher acceleration and banking angle than normal.
    6. Because BOOSTS is limited in time, banking angle much higher than default should be fine


    Tuning


    Default values should be pretty safe to use. My 6" machine using following values:

    Code
    1. set nav_mc_braking_speed_threshold = 100
    2. set nav_mc_braking_disengage_speed = 50
    3. set nav_mc_braking_timeout = 2000
    4. set nav_mc_braking_boost_factor = 150
    5. set nav_mc_braking_boost_timeout = 1000
    6. set nav_mc_braking_boost_speed_threshold = 120
    7. set nav_mc_braking_boost_disengage_speed = 75
    8. set nav_mc_braking_bank_angle = 40


    All changes:


    Also für mich sieht es genauso aus als ob der zu wenig Schub hätte. Ich hab auch schon mehrere verschiedene Versuche hinter mir, wie ich am besten werfe, DrFrantic kann davon berichten ;-) letztendlich mach ich es genau so wie Dr - einfach nur nach vorne mit ein wenig Steigung führen und dann einfach nur freuen :-)


    meine Anfänge siehst du hier - der Diskuswurf :-D



    Hört sich für mich an als ob du die von Danny beschriebenen ersten beiden Flugmodi brauchst... Also Angle und Horizon. Aber es ist etwas umständlich von dir erläutert bzw etwas wirr ;-)


    Was du aber noch zusätzlich mit FrSky SxR meinst, kein Plan.


    Viele Grüße,


    Marco