I went through all of Kris’s notes and thought these were relevant:
(note, they start when the Y3x3 features were implemented)
20170810 (V3.8.1-DEV)
- Add three vector Y3 support, just put
Q_TILT_MASK=11
Servo*_Function=45 (post vector tilt steering gear)
20171006 (V3.8.2-DEV)
-
Added Y6F model and corrected some GPS write log problems.
Q_M_THST_EXPO (motor thrust curve) allows setting a negative value, close to 0 for linear, otherwise curve.
Note: If the Q_M_THST_EXPO parameter is set to 0, please change it to 0.1 (minimum), the default is 0.65.
-
The tilted double-difference sensitivity parameter is uniformly changed to RUDD_DT_GAIN (default is 10=10%), which will be used for fixed wings.
All modes (including manual mode) usually have a good cornering effect of 20%~30%.
-
Parameters similar to multi-axis CH?_OPT:
RC7_TRIM ~ RC12_TRIM value:
3=3 vector Y3 dedicated (low position = rear side single motor thrust, neutral = front side double motor thrust, high position = front and rear three motor thrust)
20171011 (V3.8.2-DEV)
*2. Added fixed wing vector parameters (default is off)
Q_TILT_FIX_ANGLE=10 (fixed wing vector angle, 0=off, 10=10 degrees)
Q_TILT_FIX_GAIN=100 (fixed wing vector sensitivity, 0=off, 100=100%)
Debugging method:
- First Q_TILT_FIX_ANGLE=10, Q_TILT_FIX_GAIN=100
- Switch the manual/QStabilize mode and set the Servo9_Min/Servo9_Max and Servo10_Min/Servo10_Max strokes.
3.QStabilize mode, push the throttle (do not unlock), try the angle of YAW (the paddle will swing one after the other, but will not cut the wing)
- Manual mode, push the throttle (do not unlock), hit the elevator test angle (same as above), play the aileron test angle (will be one after the other),
- FBW* mode, push the throttle (do not unlock), the fuselage leans forward, the steering angle is upward, and the right is tilted to the steering angle.
- If you have adjusted it, put Q_TILT_FIX_GAIN=50 and lift it up. If you feel that it is not enough, increase it yourself (up to 100%).
use:
The vector is used to assist the fixed-wing rudder surface correction, and the rudder failure still has some control ability.
20171030 (V3.8.2-DEV)2.TECS: Improved support for VTOL conversion
-
Added Q_MAV_TYPE parameter to send heartbeat type to some ground stations to avoid ground station disconnection. The values are as follows:
0: AUTO, 1: FIXED_WING, 2: QUADROTOR, 3: COAXIAL, 4: HELICOPTER, 7: AIRSHIP, 8: FREE_BALLOON,
9: ROCKET, 10: GROUND_ROVER, 11: SURFACE_BOAT, 12: SUBMARINE, 16: FLAPPING_WING, 17: KITE,
19: VTOL_DUOROTOR, 20: VTOL_QUADROTOR, 21: VTOL_TILTROTOR
-
Added Q_OPTIONS parameter to allow the drooping model to choose to use the fixed wing to take off and land.
Bit representation:
Bit0: LevelTransition (the wing tilt must be within the LEVEL_ROLL_LIMIT angle when converting to a fixed wing)
Bit1: AllowFWTakeoff (can take off with a fixed wing)
Bit2: AllowFWLand (can be landed with a fixed wing)
For example, 1 (bit0) means that the wing must remain within the LEVEL_ROLL_LIMIT angle during the transition.
For example, 6 (bit1, bit2) indicates that the take-off and landing are allowed using the fixed-wing mode (instead of the sag mode).
20180127 (V3.9.0-DEV)
*2. Modify the Y3 conversion algorithm, mainly for Y3, when the crosswind transitions, the left and right wings will swing forward (not beautiful).
Can be modified by Q_WVANE_MINROLL=1~3 (usually a value between 1 and 3)
You can start with 0.5 (0.5 1 1.5 2 2.5 3) until the rocking phenomenon disappears.
*3. Modify the multi-axis attitude algorithm to integrate the high-speed tilt servo, if you use high-quality high-speed tilt servo
With reference to the new parameter tuning, multi-axis performance is better (hands and more wind resistant).
20180502 (V3.9.0-DEV) Version Identifier: fd4463
note:
This new version of the firmware code changes quite a bit, from the old version to this version may need to adjust the parameters
Can fly, so it is recommended that novices do not use for the time being, let the friends who are familiar with PID first try.
- Vertical takeoff and landing (VTOL) optimization
Replace the old multi-axis attitude control with a new position control algorithm.
Use a new rate attitude controller during the transition (transition) (the transition is smoother / the height control is better)
The horizontal position controller runs at full speed of 400hz (old 50hz)
New L1 distance calculation method (turning will be smoother)
20180713 (V3.10.0-DEV) Version Identifier: 08da22
*3.Q_TILT_DN_THR and Q_TILT_UP_THR are renamed to Q_TILT_THR_DN and Q_TILT_THR_UP
This way the parameter tables will be arranged together for easy viewing.
20180802 (V3.10.0-DEV) 版本识别码:5d923aed
*5. The remote control function switch is changed from RC?_TRIM to RC7_OPT ~ RC9_OPT, because TRIM will be troubled by zeroing each time the remote controller is calibrated.
The RC?_OPT function code is as follows:
0=disabled
3=3 vector Y3 dedicated (low position = rear side single motor thrust, neutral = front side double motor thrust, high position = front and rear three motor thrust)
4=4 tilting X4 dedicated (low position = rear side double motor thrust, medium position = front side double motor thrust, high position = front and rear four motor thrust)
104=switch center = LOITER (circle), switch high = RTL (self-return)
106=switch center = FBWB (FBWB fixed mode), switch high = CRUISE (cruise mode)
109=Camera shutter trigger
116=Auto mode (cancelled, because of doubts, the control and re-control will switch to the mode of the main mode switch instead of automatic)
118=QLand mode (in-situ multi-axis mode self-drop)
124=Air Mission Reset
128=Relay 1 (switch high = on, switch low = off)
134=Relay 2 (switch high = on, switch low = off)
135=Relay 3 (switch high = on, switch low = off)
136=Relay 4 (switch high = on, switch low = off)
E.g:
RC7_OPT=104, the remote control switch CH7 is in the Loiter mode when it is in the middle position, and it is RTL when it is turned on.
RC9_OPT=109, the remote control switch CH9 will take a photo when it hits the high position (and will store the CAM bit)
20180816 (V3.10.0-DEV) 版本识别码:0f7c837d
*4. Other minor modifications:
.THR_MAX Fixed wing maximum throttle limit changed to proportional scaling.
For three-turn type: switch height = 3 power / switch medium = double front pull / switch low = single push back
RC?_OPT=3 (In the same way, the motor that is not used will not automatically dump back)
RC?_OPT=31 (same function, but the tail motor will automatically dump back when double forward pull)
RC?_OPT=32 (same function, the tail motor will automatically dump back when double forward pull, the front pull motor will automatically dump back when single push back)
20181216 (V3.10.0-DEV) 版本识别码:1f8db08d
- Added multi-axis mode auto-tuning (QAUTOTUNE mode), automatic tuning steps:
a) Set any flight mode to QAUTOTUNE mode
Since the current Mission Planner does not recognize this mode (there will be an update later), so enter the full parameter list will
FLTMODE?=22 (number of QAUTOTUNE mode), for example, temporarily change the original FBWA (number 5) to 22.
b) Set the parameter Q_AUTOTUNE_AGGR=0.1 (0.1 = aggressive, 0.075 = medium, 0.050 = weak)
This hopes to automatically adjust the results of the adjustments, the greater the value, the more aggressive (corrected and strong)
c) Select the parameter Q_AUTOTUNE_AXES to select the combination of the axes (roll, pitch, yaw) to be adjusted.
Q_AUTOTUNE_AXES=1 (only roll)
Q_AUTOTUNE_AXES=2 (only the pitch axis is adjusted)
Q_AUTOTUNE_AXES=4 (only adjust the yaw axis)
Q_AUTOTUNE_AXES=7 (three axes are adjusted together, 1+2+4=7, of course, 1+4=5 only roll + yaw)
The suggestion to hang up is adjusted by one axis to prevent the battery from running out, or to suspend the ESC for a long time.
d) Find a windless or breezy sky and wide field to take off in multi-axis mode (QS/QH/QL mode), then cut the switch to just
The specified QAUTOTUNE mode.
Note: The adjustment mode is similar to QHOVER (the fixed height mode), the throttle is centered and the height is fixed, so pay attention to your throttle to be centered.
e) At this time, the automatic adjustment will start. If you run too far, you can pull the rod back (you can get in at any time). After pulling back, the pole will continue to adjust.
When it is no longer shaking, it means that the adjustment has been completed. At this time, you can try it with a shot. If you feel satisfied, you will land in QAUTOTUNE mode.
And locking is memory, if you are not satisfied, cut to another mode and then lock (do not remember).
20190319 (V3.10.0-DEV) 版本识别码:3907466f
*5. Added support for the following variable pitch models (see HeliPlane.txt for details)
Pure pitch multi-axis (Q_ENABLE=2 will not change the aircraft, AUTO is still multi-axis mode), oil / electric can be.
.V44 variable pitch (can be tilted forward / backward tilted / fully tilted / not tilted 4 + x)
.Y3 variable pitch (can be tilted forward / full tilted)