Kingkong ET100 の Butterflight 設定例

Gearbest から ET100 を購入した jerrysimonさんが、残念ながらトラブルに遭遇したようです。カメラ一体型ビデオ送信機が正常に動作しません。Gearbest に報告しましたがスムーズに対応してくれません。・・・いつものことなので、翻訳は省略します。

https://www.rcgroups.com/forums/showthread.php?2971368-Kingkong-ET-series-ET100-ET115-and-ET125/page145


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Apr 24, 2018, 08:51 PM
Temporal Fluxさん:

> SunsetManさん:
> 1104 6000kv モーターはいかがですか、3S バッテリーは使えますか?

はい、1104 6000kv モーターなら 3S バッテリーを問題なく使えます。2S バッテリーも OK です。



Apr 26, 2018, 03:29 PM
Temporal Fluxさん:

私の ET125 のフライトコントローラが死んだようです。

バッテリーを接続すると、ESC の音がするだけです。つまり、ESC は大丈夫ですが、フライトコントローラから信号が出ていません。

フライトコントローラの LED が点灯しません。USB と接続すると熱を持ちます。だから、死んでいます・・・。



Apr 28, 2018, 02:15 PM
Temporal Fluxさん:

ET100 に Butterflight をインストールしましたが、これまた、デフォルト設定はブラシモーターのクアッド用になっていました。PID 値が高すぎます。

Betaflight の時の PID 値を入力しましたが、飛行は Betaflight の時よりも悪化しました。ヨーのウィッグアウトはこれまでで最悪で、普通にまっすぐ飛ぶことさえできません。

Hakuさん、あなたの Butterflight 設定の CLI ダンプを教えていただけませんか? 

しかし、ウィッグアウトはどうやらハードウェア問題のようです。



Apr 28, 2018, 09:34 PM
Hakuさん:

これが私の ET100 の Butterflight 設定です。

# dump
# ButterFlight / FF_PIKOBLX (PIKO) 3.5.0 Mar 29 2018 / 14:42:37 (dd56ee0) MSP API: 1.39
name -
resource BEEPER 1 A00
resource MOTOR 1 A04
resource MOTOR 2 A06
resource MOTOR 3 B00
resource MOTOR 4 B01
resource MOTOR 5 A01
resource MOTOR 6 A02
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource PPM 1 A07
resource PWM 1 NONE
resource PWM 2 NONE
resource PWM 3 NONE
resource PWM 4 NONE
resource PWM 5 NONE
resource PWM 6 NONE
resource PWM 7 NONE
resource PWM 8 NONE
resource LED_STRIP 1 B08
resource SERIAL_TX 1 B06
resource SERIAL_TX 2 B03
resource SERIAL_TX 3 B10
resource SERIAL_TX 4 NONE
resource SERIAL_TX 5 NONE
resource SERIAL_TX 6 NONE
resource SERIAL_TX 7 NONE
resource SERIAL_TX 8 NONE
resource SERIAL_TX 9 NONE
resource SERIAL_TX 10 NONE
resource SERIAL_TX 11 NONE
resource SERIAL_TX 12 NONE
resource SERIAL_RX 1 B07
resource SERIAL_RX 2 B04
resource SERIAL_RX 3 B11
resource SERIAL_RX 4 NONE
resource SERIAL_RX 5 NONE
resource SERIAL_RX 6 NONE
resource SERIAL_RX 7 NONE
resource SERIAL_RX 8 NONE
resource SERIAL_RX 9 NONE
resource SERIAL_RX 10 NONE
resource SERIAL_RX 11 NONE
resource SERIAL_RX 12 NONE
resource LED 1 B09
resource LED 2 B05
resource LED 3 NONE
resource RX_BIND 1 NONE
resource RX_BIND_PLUG 1 NONE
resource TRANSPONDER 1 A08
resource SPI_SCK 1 NONE
resource SPI_SCK 2 B13
resource SPI_SCK 3 NONE
resource SPI_MISO 1 NONE
resource SPI_MISO 2 B14
resource SPI_MISO 3 NONE
resource SPI_MOSI 1 NONE
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 NONE
resource ESCSERIAL 1 A04
resource CAMERA_CONTROL 1 NONE
resource ADC_BATT 1 A05
resource ADC_RSSI 1 NONE
resource ADC_CURR 1 B02
resource ADC_EXT 1 NONE
resource PINIO 1 NONE
resource PINIO 2 NONE
resource PINIO 3 NONE
resource PINIO 4 NONE
mixer QUADX

mmix reset

feature -RX_PPM
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -RANGEFINDER
feature -TELEMETRY
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -OSD
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -RX_SPI
feature -SOFTSPI
feature -ESC_SENSOR
feature -ANTI_GRAVITY
feature -DYNAMIC_FILTER
feature -LEGACY_SA_SUPPORT
feature RX_SERIAL
feature MOTOR_STOP
feature DYNAMIC_FILTER
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACC_CALIBRATION
beeper ACC_CALIBRATION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
beeper BLACKBOX_ERASE
beeper CRASH FLIP
beeper CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSED
map AETR1234
serial 20 1 115200 57600 0 115200
serial 0 1 115200 57600 0 115200
serial 1 0 115200 57600 0 115200
serial 2 64 115200 57600 0 115200
led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0
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
mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0
mode_color 7 0 3
aux 0 0 0 900 1700 0
aux 1 1 0 1300 1700 0
aux 2 2 2 900 1275 0
aux 3 4 0 900 1300 0
aux 4 28 0 900 1300 0
aux 5 35 1 900 1700 0
aux 6 0 0 900 900 0
aux 7 0 0 900 900 0
aux 8 0 0 900 900 0
aux 9 0 0 900 900 0
aux 10 0 0 900 900 0
aux 11 0 0 900 900 0
aux 12 0 0 900 900 0
aux 13 0 0 900 900 0
aux 14 0 0 900 900 0
aux 15 0 0 900 900 0
aux 16 0 0 900 900 0
aux 17 0 0 900 900 0
aux 18 0 0 900 900 0
aux 19 0 0 900 900 0
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
adjrange 12 0 0 900 900 0 0
adjrange 13 0 0 900 900 0 0
adjrange 14 0 0 900 900 0 0
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000
vtx 0 0 0 0 900 900
vtx 1 0 0 0 900 900
vtx 2 0 0 0 900 900
vtx 3 0 0 0 900 900
vtx 4 0 0 0 900 900
vtx 5 0 0 0 900 900
vtx 6 0 0 0 900 900
vtx 7 0 0 0 900 900
vtx 8 0 0 0 900 900
vtx 9 0 0 0 900 900
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
set align_gyro = DEFAULT
set gyro_lpf = OFF
set gyro_sync_denom = 1
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90
set gyro_notch1_hz = 400
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 200
set gyro_notch2_cutoff = 0
set gyro_stage2_lowpass_hz = 0
set gyro_filter_q = 400
set gyro_filter_r = 88
set gyro_filter_p = 0
set gyro_stage2_filter_type = FAST_KALMAN
set moron_threshold = 48
set gyro_offset_yaw = 0
set gyro_overflow_detect = YAW
set align_acc = DEFAULT
set acc_hardware = AUTO
set acc_lpf_hz = 10
set acc_trim_pitch = 0
set acc_trim_roll = 0
set mid_rc = 1500
set min_check = 1050
set max_check = 1950
set rssi_channel = 0
set rssi_scale = 41
set rssi_invert = OFF
set rc_interp = AUTO
set rc_interp_ch = RP
set rc_interp_int = 19
set fpv_mix_degrees = 0
set max_aux_channels = 14
set serialrx_provider = IBUS
set serialrx_inverted = OFF
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = ON
set airmode_start_throttle_percent = 32
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set input_filtering_mode = OFF
set blackbox_p_ratio = 32
set blackbox_device = NONE
set blackbox_record_acc = ON
set blackbox_mode = NORMAL
set min_throttle = 1049
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 450
set dshot_burst = ON
set use_unsynced_pwm = ON
set motor_pwm_protocol = DSHOT600
set motor_pwm_rate = 32000
set motor_pwm_inversion = OFF
set thr_corr_value = 0
set thr_corr_angle = 800
set failsafe_delay = 4
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set bat_capacity = 0
set vbat_max_cell_voltage = 43
set vbat_full_cell_voltage = 41
set vbat_min_cell_voltage = 29
set vbat_warning_cell_voltage = 33
set vbat_hysteresis = 3
set current_meter = VIRTUAL
set battery_meter = ADC
set vbat_detect_cell_voltage = 30
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set vbat_cutoff_percent = 100
set vbat_scale = 110
set ibata_scale = 400
set ibata_offset = 0
set ibatv_scale = 0
set ibatv_offset = 0
set beeper_inversion = ON
set beeper_od = OFF
set beeper_frequency = 0
set beeper_dshot_beacon_tone = 0
set yaw_motors_reversed = OFF
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set 3d_switched_mode = OFF
set reboot_character = 82
set serial_update_rate_hz = 100
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 180
set auto_disarm_delay = 5
set gyro_cal_on_first_arm = OFF
set use_stick_arming = OFF
set deadband = 0
set yaw_deadband = 0
set yaw_control_reversed = OFF
set pid_process_denom = 1
set tlm_switch = OFF
set tlm_inverted = OFF
set tlm_halfduplex = ON
set frsky_vfas_precision = 0
set hott_alarm_int = 5
set pid_in_tlm = OFF
set ledstrip_visual_beeper = OFF
set osd_units = METRIC
set osd_warnings = 63
set osd_rssi_alarm = 20
set osd_cap_alarm = 2200
set osd_alt_alarm = 100
set osd_ah_max_pit = 20
set osd_ah_max_rol = 40
set osd_tim1 = 2560
set osd_tim2 = 2561
set osd_vbat_pos = 234
set osd_rssi_pos = 234
set osd_tim_1_pos = 2465
set osd_tim_2_pos = 2497
set osd_remaining_time_estimate_pos = 234
set osd_flymode_pos = 234
set osd_throttle_pos = 234
set osd_vtx_channel_pos = 234
set osd_crosshairs = 234
set osd_ah_sbar = 234
set osd_ah_pos = 234
set osd_current_pos = 234
set osd_mah_drawn_pos = 234
set osd_craft_name_pos = 234
set osd_gps_speed_pos = 234
set osd_gps_lon_pos = 234
set osd_gps_lat_pos = 234
set osd_gps_sats_pos = 234
set osd_home_dir_pos = 234
set osd_home_dist_pos = 234
set osd_compass_bar_pos = 234
set osd_altitude_pos = 234
set osd_pid_roll_pos = 234
set osd_pid_pitch_pos = 234
set osd_pid_yaw_pos = 234
set osd_debug_pos = 234
set osd_power_pos = 234
set osd_pidrate_profile_pos = 234
set osd_warnings_pos = 329
set osd_avg_cell_voltage_pos = 234
set osd_pit_ang_pos = 234
set osd_rol_ang_pos = 234
set osd_battery_usage_pos = 234
set osd_disarmed_pos = 234
set osd_nheading_pos = 234
set osd_nvario_pos = 234
set osd_esc_tmp_pos = 234
set osd_esc_rpm_pos = 234
set osd_rtc_date_time_pos = 234
set osd_adjustment_range_pos = 234
set osd_core_temp_pos = 234
set osd_stat_max_spd = ON
set osd_stat_max_dist = OFF
set osd_stat_min_batt = ON
set osd_stat_min_rssi = ON
set osd_stat_max_curr = ON
set osd_stat_used_mah = ON
set osd_stat_max_alt = OFF
set osd_stat_bbox = ON
set osd_stat_endbatt = OFF
set osd_stat_bb_no = ON
set osd_stat_rtc_date_time = OFF
set osd_stat_tim_1 = OFF
set osd_stat_tim_2 = ON
set task_statistics = ON
set debug_mode = NONE
set rate_6pos_switch = OFF
set pwr_on_arm_grace = 5
set vtx_band = 4
set vtx_channel = 1
set vtx_power = 1
set vtx_low_power_disarm = OFF
set vtx_freq = 5740
set vtx_pit_mode_freq = 0
set vtx_halfduplex = ON
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
set led_inversion = 0
set camera_control_mode = HARDWARE_PWM
set camera_control_ref_voltage = 330
set camera_control_key_delay = 180
set camera_control_internal_resistance = 470
set pinio_config = 1,1,1,1
set pinio_box = 255,255,255,255
profile 0

set dterm_lowpass_type = BIQUAD
set dterm_filter_style = KD_FILTER_CLASSIC
set dterm_lowpass = 100
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_threshold = 350
set anti_gravity_gain = 1000
set setpoint_relax_ratio = 100
set dterm_setpoint_weight = 0
set acc_limit_yaw = 100
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_windup = 50
set iterm_limit = 150
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass = 0
set p_pitch = 100
set i_pitch = 37
set d_pitch = 35
set p_roll = 80
set i_roll = 37
set d_roll = 35
set p_yaw = 180
set i_yaw = 45
set d_yaw = 45
set p_level = 50
set i_level = 50
set d_level = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
rateprofile 1

set thr_mid = 50
set thr_expo = 0
set rates_type = BETAFLIGHT
set roll_rc_rate = 100
set pitch_rc_rate = 100
set yaw_rc_rate = 100
set roll_expo = 15
set pitch_expo = 15
set yaw_expo = 15
set roll_srate = 80
set pitch_srate = 80
set yaw_srate = 80
set tpa_rate = 10
set tpa_breakpoint = 1650


お役に立てばうれしいです。



Apr 28, 2018, 10:17 PM
Temporal Fluxさん:

Hakuさん、ありがとうございます。明日、試してみます。



Apr 29, 2018, 07:57 PM
Temporal Fluxさん:

> set p_pitch = 100
> set i_pitch = 37
> set d_pitch = 35
> set p_roll = 80
> set i_roll = 37
> set d_roll = 35
> set p_yaw = 180
> set i_yaw = 45
> set d_yaw = 45

Hakuさん、これらの PID 値は高すぎるようです、特に D-terms は。この設定を使うなら、notch filters をオフにして、モーター温度を監視する必要があります。Kalman filter を使えば、うまく行くかも知れません。
この PID はデフォルトですか、それともご自分で設定したものですか?

Butterflight を初めてインストールした時、ESC/Motor protocol を brushed から DShot600 に変更する必要がありましたか? デフォルトは 'BRUSHED' になっていましたか? Butterflight では、ブラシレスモーター用に設定する場合、デフォルトで OneShot でなければいけませんし、デフォルト PID はもっと低くなければいけません。

これはブラシモーター用の設定だと思います。

しかし、あなたの ET100 が問題なく飛んでいるなら、不思議なことです。

私も試してみる必要がありますね。



Apr 29, 2018, 09:56 PM
Hakuさん:

Temporal Fluxさん、モーターが過熱することはないと思いますが、これらの PID 設定をどこから持ってきたか覚えていません。
私はアップグレードのたびに、CLI ダンプを保管しています。

Betaflight 3.1.6:

set p_pitch = 58
set i_pitch = 50
set d_pitch = 22
set p_roll = 44
set i_roll = 40
set d_roll = 20
set p_yaw = 36
set i_yaw = 45
set d_yaw = 20


Betaflight 3.2.4:

set p_pitch = 100
set i_pitch = 37
set d_pitch = 35
set p_roll = 80
set i_roll = 37
set d_roll = 35
set p_yaw = 180
set i_yaw = 45
set d_yaw = 45

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