(10-Apr-2017, 04:30 AM)Hank Deucker Wrote: thanks for the two replies one from unseen the other from sloscotty
Both are quite dense in content and I need to study them before I can comment/act on either. I apologies that I will not have time to fully digest them till the Easter brake but I do not want contributors to think I am ignoring them. Life can be like that.
How can one attache a blackbox file (Betaflight) I get a message the type of file that you attached is not allowed ?
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Attachments seem to be very strongly restricted here. I can't even upload a zip file.

The only way to do it will be to upload it to Google drive or some other file host and post a link to it.

Thanks Guys,   It flies like a brought one, well almost. Todays test flight was the first one where it behaved much like any other quad I have been flying for the last 4 years. I followed fftunes recommendations from about a week ago, I assumed when he mentioned i-term he meant the I component of the PIDs so I upped them for roll and pitch, I lowered the d set point weight to 0.6 and did not change the d set point transition. One thing that is not quite right is that I can hear motor oscillation, I can not see it. It is a soft whoo sound at about 1 to 2 second intervals. I also have my expo rates about right but I can fine tune them to suit my flying. So any clues as to what to do about the oscillations would be appreciated.

I am still working through unseen's advise, I am very aware the effect wind or even a breeze has on a quad copter. With acro mode I was told that no longer existed in Betaflight and was replaced by Air Mode, I assumed to advice to be correct but will check mode settings when I next connect to the copter to Betaflight. As for Google drive it is a new thing I know nothing about, but I do have Dropbox but I would need to know an email address so I can invite the recipient to have access to that part of dropbox.

So thanks again for the help, without it I would have junked that part of my hobby.

Good news Hank!

You can share a file you upload to Dropbox with anyone. You don't need to authorise it with an e-mail address. See: https://www.dropbox.com/help/20

Couple of test flights today after some small tweaks. Am pleased with the flights as I was able to fly 100 m or so away (limit of good eye sight) and fly some big circles without any bad behaviour. The oscillations I mentioned yesterday were not present today. Batteries were real hot and puffy but then they have been sitting in storage for the best part of six months, must have stirred up the chemistry. (quick check show they were not quite down to storage charge). If anyone is interested the PIDs are:

           P     I    D
Roll     44   48   20
Pitch    58   57  22
Yaw     70   45

D Setpoint Weight      0.6
D Setpoint Transition  0.60

What batteries are you flying this with? They should mind being stored for six months unless you'd left them at full charge.

I don't really have a problem with this, the batteries are quite old. They are 2650 MAh  4S batteries, I won't mention the brand because they have served me well for 2 to 3 years. I am well versed with battery storage. I use a wine fridge (cooler) to store them at 17 Celsius as in the summer we can have ambient temp over 40 Celsius sometimes for a week on end. I always store my batteries at the recommended storage charge. Thanks for showing concern.

I certainly wasn't questioning your battery care, but I was wondering why they would get hot and puffy with 935kv motors spinning 8x4.5 propellers.

Normally, "hot and puffy" means that the craft is pulling more current than the battery is made to deliver. I can't imagine your craft pulling more than about 16A in hover and maybe 40A at full throttle...

What's the C rating of these batteries?

I have checked to C ratings, most are 50 to 70C they are Turnigy nanotech, purchased mid 2013.  
Checked the power usage today, at half throttle, normal flying, 18 amps. at full throttle 22 amps.  Still exhibits slight oscillation and drifting to the left (roll) but it flies quite well. Am fitting telemetry hope to report success soon. I will lower both roll and pitch by 2 points and increase the I on the roll axis by 5. As they say "what is the worst that can happen?"

Sounds like you're on a good way If it's still drifting in angle mode there's 2 basic ways to correct this, A) re-do acc calibration while the quad is slightly tilted to the other side (say if it's drifting off towards left roll, put it on the table rolled a little bit to the right and recalibrate acc with this "wrong" attidude), or B) use the acc-trim feature (this could be done with stick commands, but it's easier to directly set the variables in CLI).

In 3.0.1 those variables were:

Not sure, they might have been renamed in the meantime, but pretty sure you'll still find them by typing "get acc" in cli.

test flight 23.4.17, this time in very calm conditions, behaves much the same as in the previous couple of fights, hardly surprising I guess. My only comment is that the copter is very reluctant to retune to a level position when the sticks are returned to the centre. I don't even know if this is a tuning issue, Following fftunes advice the values for acc_trim_pitch and roll and they are identical to the ones suggested.. If anyone has any advise on how to implement telemetry I would be most grateful, I have followed the instruction give by Helfreaks to the letter without success.

Do you still need some help with your telemetry?
If so, do you still have a free UART on your FC and what kind of receiver do you use?
You are using the BeeRotor F3 if i'm right.

Thanks IKKUH, yes I still require help with telemetry. I use a FrSky Taranis TX and have a Frsky X4R-SB RX connected to the FC. Since day 1 with this FC I have used the serial bus connection on UART3 and this has been problem free. As you may have seen from the previous posts I had endless trouble getting it to fly in an acceptable manner, it is far from perfect but acceptable. I may have chosen the wrong FC for my application but that would be another story. Thus I reached the stage where I want to get telemetry output and to that end google searches quickly lead me to:-
http://www.helipal.com/frsky-x4r-sb-lite-s-bus-receiver-for-beerotor-brf3-flight-controller.html
I connected the output from the RX as shown in the photographs and in BetaFlight I did the following updates

1. In "Ports" page, for UART2, I selected SmartPort function, then saved this change
   
2. In the "Configuration" page, in the "Other Features" section, I turn on "TELEMETRY" function.
   

Note in the above instructions they author mentions CleanFlight but I use BataFlight. I am using the first version of the BRF3 FC and I cann’t find Vbat connection on the board and this may be a problem. With a previous Quad I had to set some CLI commands to set telemetry (from memory) telemetry_inverse = 1.
I have read Oscar’s blog on telemetry but I am sorry to say I am none the wiser. I hope you have enough infromation so that you can offer some help.

The acc_trim values are zero by default. To correct drifting they would need to be set to a low value.

For example if it drifts on roll axis, you could set acc_trim_roll to something like -4 or +4 or so.

fftunes thanks for the advice, I still have to act on your suggestion in post 26 re D Setpoint transition I lowered it rather than increasing it, dumb thumbs I guess. So I will set it at 1.3 and carry out a test flight. The next step will be to delve into the the acc_trim_roll to +4 and see what happens, after all it can only crash.

Why do you think you have the wrong flightcontroller for the job, i'm flying with a RMRC Dodo on a 600 mm quadcopter. I will change it in a few days with the AnyFC but that is only for review purpose.

But you connected the smartport wire (the most right wire on the connector) from the X4R-SB to the TX connection of UART 2, this because you are using UART 3 for SBUS right?
Smartport is the right one to select, FrSky telemtry is for other version.

You can check if the telemetry inversion is saved correctly by using the next command: "get telemetry_inversion" it should be 1 or ON, if it's 0 or OFF then use the next command set telemetry inversion = ON or 1 and then type "save".

Sometimes you have to arm the quad to be able to see the telemetry values, but this is normal only with usb sharing or the naze but you can try it if it isn't working.