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New OS free F4Light HAL


(basti) #3

thanks for this great sum up, andrea, and a big thank you to everyone involved, especially @night_ghost and @tridge for making this happen.

i have been using a revomini board running arduplane on a scratch-built 120 cm wing for more than half a year now, and it has been somewhat rewarding! to run ardupilot on this kind of small, light and affordable boards does add some great opportunities imho.

revomini comes with a very small footprint, convenient connectivity and is most easy to place in whatever airframe with its plastic case and a strip of double sided tape. this does come at the cost of not having an onboard sd slot. for my kind of proximity style fpv applications that‘s a small price to pay though…

cheers, basti.

(Andrea Belloni) #4

I would like to show some video of my DIY quadcopters that use this HAL

450 frame with AirbotF4:

250 frame with AirbotF4:

140 frame with Omnibus V2 Pro:

(rmackay9) #5

Really great stuff! Congrats to @night_ghost! obviously a very talented guy.

(ChiangKaishek) #6

I used a pixmini for 150Copter and the flight control was totally unadaptable.

but F4 flight control is fine.

If i use this firmware, there will be no similar problems.

(Marc Dornan) #7

It is not well suited to that size of copter. Betaflight or Cleanflight would be the way to go.

(Andrea Belloni) #8

@ChiangKaishek did you try to tune the PID?
@Marc_Dornan why did you say that is not well suited to small copter? Did you see my video with 140 frame quad with Arducopter?

(Marc Dornan) #9

I may stand corrected then.

Many people (myself included) have not had great results with Arducopter
and small quads. Rate controllers just tend to work better. It has always
been my experience. Even with iNav people tend to notice their little quads
are not as tight as when using Betaflight. That, to me, is just a trade-off
for GPS stabilization. My information may be outdated though.

(rmackay9) #10


Re ArduCopter vs Beta flight, what you say may be true although I suspect for many people it’s just a matter of tuning - the default tuning of Copter is for a mid sized copter while beta flight’s default is probably for a much smaller quad. I’m guessing of course.

The other more significant difference may be the update rate and latency between IMU updates and the outputs to the motors. Copter-3.5 has much lower latency than previous releases and Copter-3.6 will likely be even better.

So I think ArduPilot will fly as well as BetaFlight even on small quads at some point if it doesn’t already. On the other hand, i think people should just use whatever works best for them. BetaFlight is great, it’s GPLv3 licensed like ArduPilot and I have nothing but respect for the great work they’ve done.

(Andrea Belloni) #11

Maybe my answer above was a bit hasty, @rmackay9 has always wise words.
For the sake of truth I have to say that before using Ardupilot on my little 140 quad I was using iNav and it works really good. When I moved to Ardupilot it took more time to get a stable setup but in the end I received more satisfaction and all the extra features that Ardupilot has compared to iNav.

(Marc Dornan) #12

Unlike you Randy, I am no authority. Sounds like it is high time I revisited small quads and Arducopter.

(Tomasz) #13

I have a guestion
Is main port (on revo) coressponding to serial 3
I want to connect naze gps+compass What I have to configure in MP ?

(Andrea Belloni) #14

main port on revo is serial1
naza gps+compass module is only on latest commit from @night_ghost and till now not tested

other modules with gps on serial and compass on i2c works without problems

(Fnoop) #15

I think one big problem is that the tuning values for small (<=250) copters are really tiny tiny numbers, and you need to get round the safety thresholds in some of the GCS. Also the defaults absolutely won’t fly the smaller copters so you have to half or quarter or even more the initial PID values to get them to fly, and the tuning window is much smaller the smaller the copter.
So I suspect Ardupilot will fly these copters really well (it flies my 300 brilliantly), just the GCS, documentation and settings need to be adapted a bit. Suspect very few people using Ardupilot fly things this small.

(Tomasz) #16

THx Andrea.

So if I want to connect gps with i2c mag I have to connect gps to main port on revolution and mag to Flexi port ? Is it correct ? Flexi port is serial 2? What I have to change in serial2 ?

(Andrea Belloni) #17

For Revolution / RevoMini:
Main port -> Serial1 (common use: telemetry)
Flexi port -> Serial2 (common use: OSD)
pin 7,8 (on Revolution) 5,6 (on RevoMini) of RC input port -> Serial3 (common use: GPS)
pin 9,10 (on Revolution) 7,8 (on RevoMini) of RC input port -> SCL, SDA (I2C)


added to first post

(Amilcar Lucas) #18

Can this info please be added to the wiki ?

(Luís Vale Gonçalves) #19

I might have missed some boards, but could any of these boards be used for a TradHeli ? Which ? I didn’t find any that would allow the number of required output channels for it. @anbello @night_ghost ?

(Andrea Belloni) #20

I added both to the first post and to the wiki

(Andrea Belloni) #21

Sorry but i don’t have any knowledge about this

(basti) #22

it’s been quite a while since i’ve last set up a heli, but iirc it requires 5 outputs minimum (3 x swashplate, tail, governor)?
revo and revomini do have 6 standard pwm outs. omnibus flavors likely only have 4 outputs on standard servo-rail, but most do have separate additional solderpads for pwm 5 & 6.

cheers, basti.