betaflight/betaflight

Open Source Flight Controller Firmware

Betaflight is flight controller software (firmware) used to fly multi-rotor craft and fixed wing craft.

This fork differs from Baseflight and Cleanflight in that it focuses on flight performance, leading-edge feature additions, and wide target support.

Events

Date	Event
28-04-2024	Firmware 4.5 Release

News

Requirements for the submission of new and updated targets

The following new requirements for pull requests adding new targets or modifying existing targets are put in place from now on:

1. Read the hardware specification

2. No new F3 based targets will be accepted;

3. For any new target that is to be added, only a Unified Target config into https://github.com/betaflight/unified-targets/tree/master/configs/default needs to be submitted. See the instructions for how to create a Unified Target configuration. If there is no Unified Target for the MCU type of the new target (see instructions above), then a 'legacy' format target definition into src/main/target/ has to be submitted as well;

4. For changes to existing targets, the change needs to be applied to the Unified Target config in https://github.com/betaflight/unified-targets/tree/master/configs/default. If no Unified Target configuration for the target exists, a new Unified Target configuration will have to be created and submitted. If there is no Unified Target for the MCU type of the new target (see instructions above), then an update to the 'legacy' format target definition in src/main/target/ has to be submitted alongside the update to the Unified Target configuration.

Features

Betaflight has the following features:

• Multi-color RGB LED strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, Initialization Troubleshooting, etc)
• DShot (150, 300 and 600), Multishot, Oneshot (125 and 42) and Proshot1000 motor protocol support
• Blackbox flight recorder logging (to onboard flash or external microSD card where equipped)
• Support for targets that use the STM32 F4, G4, F7 and H7 processors
• PWM, PPM, SPI, and Serial (SBus, SumH, SumD, Spektrum 1024/2048, XBus, etc) RX connection with failsafe detection
• Multiple telemetry protocols (CRSF, FrSky, HoTT smart-port, MSP, etc)
• RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II, X8R, X4R-SB, & XSR
• OSD support & configuration without needing third-party OSD software/firmware/comm devices
• OLED Displays - Display information on: Battery voltage/current/mAh, profile, rate profile, mode, version, sensors, etc
• In-flight manual PID tuning and rate adjustment
• PID and filter tuning using sliders
• Rate profiles and in-flight selection of them
• Configurable serial ports for Serial RX, Telemetry, ESC telemetry, MSP, GPS, OSD, Sonar, etc - Use most devices on any port, softserial included
• VTX support for Unify Pro and IRC Tramp
• and MUCH, MUCH more.

Installation & Documentation

See: https://betaflight.com/docs/wiki

Support and Developers Channel

There's a dedicated Discord server here:

https://discord.gg/n4E6ak4u3c

We also have a Facebook Group. Join us to get a place to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots.

https://www.facebook.com/groups/betaflightgroup/

Etiquette: Don't ask to ask and please wait around long enough for a reply - sometimes people are out flying, asleep or at work and can't answer immediately.

Configuration Tool

To configure Betaflight you should use the Betaflight-configurator GUI tool (Windows/OSX/Linux) which can be found here:

https://github.com/betaflight/betaflight-configurator/releases/latest

Contributing

Contributions are welcome and encouraged. You can contribute in many ways:

• implement a new feature in the firmware or in configurator (see below);
• documentation updates and corrections;
• How-To guides - received help? Help others!
• bug reporting & fixes;
• new feature ideas & suggestions;
• provide a new translation for configurator, or help us maintain the existing ones (see below).

The best place to start is the Betaflight Discord (registration here). Next place is the github issue tracker:

https://github.com/betaflight/betaflight/issues https://github.com/betaflight/betaflight-configurator/issues

Before creating new issues please check to see if there is an existing one, search first otherwise you waste people's time when they could be coding instead!

If you want to contribute to our efforts financially, please consider making a donation to us through PayPal.

If you want to contribute financially on an ongoing basis, you should consider becoming a patron for us on Patreon.

Developers

Contribution of bugfixes and new features is encouraged. Please be aware that we have a thorough review process for pull requests, and be prepared to explain what you want to achieve with your pull request. Before starting to write code, please read our development guidelines and coding style definition.

GitHub actions are used to run automatic builds

Translators

We want to make Betaflight accessible for pilots who are not fluent in English, and for this reason we are currently maintaining translations into 21 languages for Betaflight Configurator: Català, Dansk, Deutsch, Español, Euskera, Français, Galego, Hrvatski, Bahasa Indonesia, Italiano, 日本語, 한국어, Latviešu, Português, Português Brasileiro, polski, Русский язык, Svenska, 简体中文, 繁體中文. We have got a team of volunteer translators who do this work, but additional translators are always welcome to share the workload, and we are keen to add additional languages. If you would like to help us with translations, you have got the following options:

• if you help by suggesting some updates or improvements to translations in a language you are familiar with, head to crowdin and add your suggested translations there;
• if you would like to start working on the translation for a new language, or take on responsibility for proof-reading the translation for a language you are very familiar with, please head to the Betaflight Discord chat (registration here), and join the 'translation' channel - the people in there can help you to get a new language added, or set you up as a proof reader.

Hardware Issues

Betaflight does not manufacture or distribute their own hardware. While we are collaborating with and supported by a number of manufacturers, we do not do any kind of hardware support. If you encounter any hardware issues with your flight controller or another component, please contact the manufacturer or supplier of your hardware, or check RCGroups https://rcgroups.com/forums/showthread.php?t=2464844 to see if others with the same problem have found a solution.

Betaflight Releases

https://github.com/betaflight/betaflight/releases

Open Source / Contributors

Betaflight is software that is open source and is available free of charge without warranty to all users.

Betaflight is forked from Cleanflight, so thanks goes to all those who have contributed to Cleanflight and its origins.

Origins for this fork (Thanks!):

• Alexinparis (for MultiWii),
• timecop (for Baseflight),
• Dominic Clifton (for Cleanflight),
• borisbstyle (for Betaflight), and
• Sambas (for the original STM32F4 port).

The Betaflight Configurator is forked from Cleanflight Configurator and its origins.

Origins for Betaflight Configurator:

• Dominic Clifton (for Cleanflight configurator), and
• ctn (for the original Configurator).

Big thanks to current and past contributors:

• Budden, Martin (martinbudden)
• Bardwell, Joshua (joshuabardwell)
• Blackman, Jason (blckmn)
• ctzsnooze
• Höglund, Anders (andershoglund)
• Ledvina, Petr (ledvinap) - IO code awesomeness!
• kc10kevin
• Keeble, Gary (MadmanK)
• Keller, Michael (mikeller) - Configurator brilliance
• Kravcov, Albert (skaman82) - Configurator brilliance
• MJ666
• Nathan (nathantsoi)
• ravnav
• sambas - bringing us the F4
• savaga
• Stålheim, Anton (KiteAnton)

And many many others who haven't been mentioned....

betaflight's Issues

I2c gets locked up because of overclocking

I would love to use Betaflight, unfortunatelly it is not stable. U must admint that I use a DIY Naze32 style board, which runs with cleanflight nicely.
Unfortunatelly, with Betaflight the I2C gets locked after some minute or two. After hours of testing I'm sure of the reason, that it's too much overclocked with MPU6050, BMP180 and HMC 5883L connected.

Would it be possible to intruduce a CLI command for lower I2C speed?

Thank you!

bootloader in cleanflight configuration 1.1.0

Having issues with bootloader in cleanflight configuration 1.1.0

trying to flash a r5 nase32

running cf 1.1.0

also tried to flash my 180 with betaflight version 2.2 on a nase32 r5, failed

using dys esc blheli opto

help please

60-80% Spool up on Arm with Air Mode enabled - Mini Naze32 boards

Great way to destroy a quad. Using Air Mode, arming the quad and watching it spool up to between 60-80% throttle without anything you can do, except disarm.

Without Air Mode enabled, zero issues, except for the quad rolling by itself on low throttle decents..

set telemetry_inversion in CLI only accepts on/off instead of 0/1 as acceptable values

Version 2.1.6
Entering set telemetry_inversion = 1 in the CLI returns "Invalid value"
Entering set telemetry_inversion = on returns "telemetry_inversion set to ON" and behavior is as expected. Only reporting because documentation advises using the integer value. Not sure if it's a problem with the code or the docs.

Thanks for all your work on this great software!!!

Main PIDC (rewrite) updated default values a bit high for 180 quads?

You have do a couple of updates lately to the default PID values, based on pilot comments, but I think they are not good for small 180 quads.

I get some oscillation after some stick moment or when the quad tries to re-level it self on horizon mode.
On ACRO you can see it with a bit of wind. The quad if 'over'-trying to keep the given tilt/trajectory.

If you think its something else or if you need some more specify feedback let me know.

At the moment Im flying 2.2.0 compiled from source.

EDIT: correct spelling 'acro' to avoid confusion.

balancer feature

What about a balancer strobe helper function, since BF high gyro rate enables new possibilties!?
Thinking of a function like a stroboscope to balance prop and motors by BF.
Something like this: https://www.youtube.com/watch?time_continue=1&v=avJG8Bd0Tx0

Idea:
-white led that BF triggers on gyro peak and fires always when peak points to fc / copter center.
-BF runs each motor individualy (via motor tab in configurator) given that BF knows motor position anyway
-samples over some ms the peaks to get rpm and find peaks that are in angle of the run motor
-delay trigger of LED with loop time to be phase correct
-given motor runs @ 1000rpm and lpf disabled, @1KHz gyro the resolution would be excellent 6° ( 1000rpm / 60s / 1khz *360°)

Maybe a crazy idea, but it could work and would be a cool feature :-)

Blackbox CC3D

Hello i can no longer write data to the board,

When i try to enable via the CLI tab using set blackbox_device = 1 it comes up as invalid

when i roll back to 2.1.3 every thing is fine again....

Matt

CC3D automaticly flips

I have used BetaFlight succesfully in the last two weeks, my quad flew great with this firmware in its CC3D, but this week I broke two quads. The issue is that the quad randomly starts an infinite flip into the ground. I thought it was a faulty CC3D, but I replaced it with a new one and the problem is still there. I have ordered a Naze to test if the issue is gone with this controller, but I'm still unconfident to flash the new BetaFlight into it. Do you think that a old version would work? Before I updated last week, everything worked perfectly...

When saving config CC3D won't reconnect

Hi,

When I update settiving in the configuration tab, and the board restart it does not re connect to the GUI I have to also have the battery connected to get the CC3D to be picked up ....

Running latest beta flight...

Matt

Yaw issue

When i yaw quickly left or right, the quad falls to the ground. If im gentle on the yaw, it wont do it. Im using the naze32 rev5, and tested with 3 different boards, all with same issue. I set yaw rate to .30

CLI parameters not taken

More a cosmetic issue as baro functions have a small user base:

baro_noise_lpf, baro_cf_vel and baro_cf_alt seem to be numeric parameter but CLI only accepts ON/OFF inputs.

Relevant code is located in lines 615-617 of
https://github.com/borisbstyle/betaflight/blob/betaflight/src/main/io/serial_cli.c

Putting code from cleanflight there is tested working.

SPRF3 Boards - Air Mode enabled, quad wanting to maintain level on the ground at idle

Air Mode working overdrive on SPRF3 boards, when you land (and without motor stop on in CF - motors spooled at arm) the quad wants to maintain level when its landed/about to take off on uneven ground with throttle at idle (min throttle = 1100).

Reverse motor direction (quad)

I am looking to reverse the motor direction as it would be a lot of trouble to resolder. Doing some searching I ran across the command yaw_direction, which when set to -1 does the trick. Now it seems to be yaw_motor_direction but this does not do anything on a quad as far as I can tell.

Is there a simple way of changing the motor direction in betaflight?

Have everything running, but as soon as I switch into air mode, I lose all response

So, I have my modes set to my switch, disarmed, armed and air. Armed i can fly fine, i switch to air mode, it fly fine until i go to minimum throttle. Motors stop and it just falls out of the sky... Not really sure what's going on. I have motor stop, one shot and all that stuff disabled.

New feature- motor stop when armed and motor stop off when on airmode

Is it possible to add feature that has motor stop enabled when in arm mode and motor stop disabled when using airmode? I like airmode a lot, but I hate to look for disarm switch when flying in tight spots.

CC3D Tricopter Servo Mapping

Could you please update CC3D tricopter servo mapping in Betaflight. It was broken or never implemented into Cleanflight till 1.10. Github link cleanflight/cleanflight#586
Apparently the newest CF 1.11 has fixed it for the first time to use on CC3D but this is also first version of Cleanflight to remove BIN and openpilot bootloader support

Could you please fix this mapping and put it into PIN 4 to use together with buzzer on PIN 6.
New Cleanflight 1.11 should have it ready to use but I can not get it to work in Betaflight 2.1.6

Thanks in advance.

2.1.4 issue with sbus - self arming

Hi.
I've just updated from 2.1.3 to 2.1.4. Copied dump all and pasted to new version. After connecting battery it armed itself and started to spin the motors with strange behaviour. Went back to 2.1.3 and it seems to work fine. No idea what happened.

DODO v2, X4R sbus

2.2.0 RC1 on CC3D acting WEIRD, motors Spinning FULL Speed after arming :(

I am using BF on my 2 flip32 board in 2 quadcopters on few last versions upto 2.1.6 without problems

I wanted to reuse my CC3D board on a tricopter and I have asked you to fix that first https://github.com/borisbstyle/betaflight/issues/75

I have never used Betaflight on this CC3D but board is OK and tested yesterday on new CF 1.11
Today I wanted to try newest BF 2.2.0 RC1 with fixed tricopter mapping.

After uploading hex FULL CHIP ERASE option everything looks OK till Arming.
Settings WERE reset to default few times
After Arming all engines go full power and do not react on throttle, pitch, roll, yaw or moving the copter.
When looking on motor TAB 1st engine shows 1150 but goes full power, 2nd and 3rd shows 1850
Setup tab shows copter movement ok.
I have reflashed CC3D twice just in case with newest HEX
Receiver Tab is ok and all channels are working OK
Servo is active when I change RATE on SERVO tab but doesnt move when I move tricopter or change yaw (should be moving automatically an on yaw input)

I have tried both tricopter and quadx settings.

It looks like a problem not connected to tricopter.
Maybe broken hex or broken CC3D version of the firmware.
I am using DSMX sattelite which was ok with CF 1.11 and many others.

Settings are lost after turning on AIR MODE mode

I've read about new AIR MODE and decided to turn it on on my ZMR250. I use 3s and 4s batteries on the same copter, so I have a bit different PIDs, RC Rates, Pitch/Roll/Yaw rates, TPA, etc. And I differentiate them storing in Pid profiles 1 and 3.

How to meet the issue:

1. Backup settings
2. Turn off MOTOR_STOP
3. SAVE & REBOOT
4. Set Pid profile to 3
5. Save
6. Turn on ARM, set active zone to 1300 - 2100
7. Turn on AIR MODE, set active zone to 1300 - 2100
8. Save
9. Set Pid profile to 1. Writes in log "Switched to profile 1", but 3 is selected in the combobox.
10. Close the Cleanflight configurator, disconnect USB (battery not connected)
11. Reconnect USB, open Cleanflight configurator, hit connect
12. All modes are lost, all Adjustments are lost

I thought may be I should reset the board and manually set every thing up without restoring from backup.

And I tested it. And as long as I do not activate the AIR MODE everything works OK, saves, reads, etc. And when I activate the AIR MODE mode everything happens again.

My gear:
Naze32 Acro black,
Cleanflight configurator 1.1.0
Betaflight 2.1.6

Thanks.

Semantic versioning for betaflight

Would it be possible to use semantic versioning for betaflight?
Having multiple patch releases with the same version makes it difficult to manage the different binaries.
(Also, tagging the binaries with the version number, like betaflight_CC3D_2.4.1.hex would help a lot.)

overloading ACC/GYRO causing reboot sequence? SPF3 - BF 2.1.6

Hi,
I changed my naze32 to a SPF3 and now if a shake the quad with a bit of force I get a FC reboot!!!!
I don't thing its a connection problem, this is why Im posting this as a possible software thing, because:

If the quad is NOT ARMed (via channel switch ) it will not reboot. All OK if a shake it or slam it.
If the quad is ARMed, with or without motors running (with ARM on, I need to get the throttle LOW to start motors), I will get a reboot.

The only thing connected to SPF3 is an X4R SBUS RX. Nothing else on it, no sensors no other cables attached. (only 4 ESCs Oneshot )
Running 2.1.6 Betaflight. Default settings apart from SerialRX, ARM+HORIZON AUX and custom MIXER.

Any ideas or debug steps that might help??

Brushed motor support does not do 100% duty cycle

With several 32bit brushed controllers out now and that they fly so much better on betaflight I was thinking maybe this issue could get looked at? I'm no coder but it would seem there should be a simple hack to fix the issue. Maybe it would not require much time to test out at least?

I base this "simple to fix" theory on Geebles testing. Here is his comment from cleanflight

"With the current brushed motor support in cleanflight, it appears to just reduce the PWM minimum value only (so that when "Minimum Throttle" is set to 1000, PWM is set to 0%) and the top end is unaffected, meaning that when you set "Maximum Throttle" to 2000, what is actually happening is the PWM is 'on' for '2000 time' and then 'off' for about '250-500' time (this applied to framing the PWM for ESCs, but for brushed it means that full throttle isn't actually 100% PWM duty.

As a quick hack I set "Maximum Throttle" to 2500, which according to the scope shows 100% duty cycle (hooray) however there is some weirdness in the PID controllers because when at full or very high throttle the copter will lean to one side (the acc/gyro is reading this but is ok with it, so the PID controller is making it lean).. reducing back to 2000 and full throttle is vertical as expected."

Thanks! If anyone has any idea how the actual code works for this it would be great.

2.2.0 Gtune won't work

Hi, I'm flying the 2.2.0 firmware on Naze32, and I found the Gtune mode didn't work and all the P value didn't changed after gtune.

After compared the source code with 2.1.6(Gtune works well in this version), it's seems like 2.2.0 version didn't call the updateGtuneState() function.

The following code present in 2.1.6 but missed in 2.2.0

ifdef GTUNE

    updateGtuneState();

endif

---

hope it can be fixed in next Revision.

Thanks for your awesome firmware, I'm enjoy in it.

[email protected]
2016/1/10

betaflight 2.2.0 rc2 naze32 issue

If i enable 2khz on my naze32, everything starts to act strange. The first thing i notice was, it takes a longtime before my esc's starts up. and after running the motors a while, the motors en esc's will be much warmer the usual.
I disabled the acc, baro and mag.
with normal 1khz it flies amazing and everything acts the way it should.

hope this is usefull.

Hard fault on STM32F3 Discovery Board

My STM32F3 Discovery board isn't working with betaflight and I think I've narrowed it down to the gyro->intStatus not being set for the acc/gyro L3GD20. I used gdb to step all the way to the "gyro->intStatus(&mpuDataStatus)" line in gyro_sync.c. Stepping from there leads to the hard fault. How is the gyro sync feature supposed to working with other gyros (including fake gyro)? I'm happy to fix it but I'm not certain how.

Naze32 REV6 and Xnova problems

See video, say more then words:
https://www.youtube.com/watch?v=px0ZNM0h1QU
and
https://www.youtube.com/watch?v=fjlI-fQvMM4

When i use the motor tab then works everthing fine

Setup
Xnova 1806 2300KV
Littlebee 20a BLHELI 14.0.1 and tested 14.03
Naze32 REV6 Betaflight 2.1.5

Blackbox:
https://drive.google.com/file/d/0B1I...ew?usp=sharing

Dump CLI:

dump

version

BetaFlight/NAZE 2.1.5 Dec 11 2015 / 01:26:18 (39c455a)

dump master

mixer

mixer QUADX
mmix reset
smix reset

feature

feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature RX_PPM
feature VBAT
feature MOTOR_STOP
feature FAILSAFE
feature TELEMETRY
feature ONESHOT125

map

map TAER1234

serial

serial 0 5 115200 57600 0 115200
serial 1 0 115200 57600 0 115200

led

led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:WF:0
led 15 8,8:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0

color

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

set emf_avoidance = OFF
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = OFF
set input_filtering_mode = OFF
set rc_smoothing = ON
set min_throttle = 1190
set max_throttle = 1850
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set enable_fast_pwm = OFF
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = ON
set auto_disarm_delay = 0
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serialrx_provider = SPEK1024
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 90
set max_angle_inclination = 500
set gyro_lpf = 188HZ
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set yaw_control_direction = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 1
set baro_hardware = 1
set mag_hardware = 1
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SERIAL
set beeper_off_flags = 0
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0

rxfail

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

dump profile

profile

profile 0

aux

aux 0 0 0 1600 2000
aux 1 27 1 900 1300
aux 2 12 2 1700 2100
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

adjrange

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

rxrange

rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

servo

servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set gtune_loP_rll = 10
set gtune_loP_ptch = 10
set gtune_loP_yw = 10
set gtune_hiP_rll = 100
set gtune_hiP_ptch = 100
set gtune_hiP_yw = 100
set gtune_pwr = 0
set gtune_settle_time = 450
set gtune_average_cycles = 16
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
set gimbal_mode = NORMAL
set acc_cut_hz = 15
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set mag_declination = 0
set pid_controller = MWREWRITE
set p_pitch = 59
set i_pitch = 40
set d_pitch = 38
set p_roll = 31
set i_roll = 30
set d_roll = 24
set p_yaw = 95
set i_yaw = 55
set d_yaw = 4
set p_pitchf = 1.000
set i_pitchf = 0.350
set d_pitchf = 0.020
set p_rollf = 0.800
set i_rollf = 0.350
set d_rollf = 0.020
set p_yawf = 3.900
set i_yawf = 0.360
set d_yawf = 0.000
set level_horizon = 3.000
set level_angle = 4.200
set sensitivity_horizon = 75
set p_alt = 150
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 104
set i_vel = 45
set d_vel = 1
set gyro_soft_lpf = ON
set dterm_cut_hz = 40
set yaw_pterm_cut_hz = 50

dump rates

rateprofile

rateprofile 0

set rc_rate = 109
set rc_expo = 70
set rc_yaw_expo = 40
set thr_mid = 50
set thr_expo = 22
set roll_rate = 50
set pitch_rate = 50
set yaw_rate = 90
set tpa_rate = 46
set tpa_breakpoint = 1500

2.2.0 RC1 -- Throttle jump on arm

This was initially documented here: http://www.rcgroups.com/forums/showpost.php?p=33582182&postcount=12794

I had this problem on two separate ships, both with naze32. I will test my dodo ship shortly.

Using a Naze32 rev5, with D4R-II RX, and mostly default values, the motors jump to what sounds like full throttle when armed. Airmode has generally the same behavior.

If I set all D-terms to 0, there is no problem, but if they are non-0, the problem comes back.

The dump and BB log are at link above. Tasks list is here:

Entering CLI Mode, type 'exit' to return, or 'help'

# tasks
Task list:
0 - SYSTEM, max = 11 us, avg = 0 us, total = 59 ms
1 - GYRO/PID, max = 574 us, avg = 259 us, total = 477755 ms
3 - SERIAL, max = 59567 us, avg = 2 us, total = 825 ms
4 - BEEPER, max = 8 us, avg = 0 us, total = 135 ms
5 - BATTERY, max = 40066 us, avg = 1 us, total = 261 ms
6 - RX, max = 113 us, avg = 53 us, total = 3164 ms

# status
System Uptime: 892 seconds, Voltage: 8 * 0.1V (0S battery - NOT PRESENT), System load: 0.06
CPU Clock=72MHz, GYRO=MPU6050
Cycle Time: 494, I2C Errors: 0, config size: 2020

# 

Here is a video of the issue: https://www.youtube.com/watch?v=txcji0HJCGI

These were the only settings I initially restored after doing a full chip erase:

feature RX_PPM
feature VBAT
feature FAILSAFE
feature ONESHOT125
feature BLACKBOX

map TAER1234

serial 0 1 115200 57600 0 115200
serial 1 128 115200 57600 0 250000

set min_check = 1020
set max_check = 1985
set rssi_channel = 6

set min_throttle = 1030
set max_throttle = 2000

set align_board_roll = 10
set align_board_pitch = 0
set align_board_yaw = -90

set gyro_lpf = OFF
set acc_hardware = 1
set baro_hardware = 1
set mag_hardware = 1
set blackbox_device = SERIAL
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set beeper_off_flags = 256

aux 0 0 3 1300 2100
aux 1 27 3 1750 2100
aux 2 12 2 1750 2100

set deadband = 5
set yaw_deadband = 5

set pid_controller = MWREWRITE
set p_pitch = 69
set i_pitch = 16
set d_pitch = 26
set p_roll = 40
set i_roll = 14
set d_roll = 21
set p_yaw = 100
set i_yaw = 50
set d_yaw = 12
set p_pitchf =  1.400
set i_pitchf =  0.500
set d_pitchf =  0.022
set p_rollf =  0.850
set i_rollf =  0.300
set d_rollf =  0.018
set p_yawf =  3.400
set i_yawf =  0.390
set d_yawf =  0.010

set rc_rate = 100
set rc_expo = 75
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 69
set pitch_rate = 69
set yaw_rate = 75
set tpa_rate = 0
set tpa_breakpoint = 1500

Rev 6 Auto level Gyro saturation

Hi,

Just a heads up the rev6 is having issues holding level, it always tilts off to the left.... its the same on 3 boards now...

all calibrations done..... its the same from take of to switching back from Arco mode its goes into a huge left roll....

Matt

Question: How to use gimbal_mode?

Hi,

with cleanflight I could use gimbal_flags = 4 to get spare aux channels on the pwm inputs. What's the equivalent command with beta? Cannot find any info on this.

CC3D cut out for no reason..

Hello,

I have noticed that the cc3d for no reason shuts the motors down when hovering .....

It's happened a few time now, I'm running the latest Beta flight I flashed the .BIn via open pilot..

I have flashed two cc3d now and same problem but I can't pin point the issue..

I have turned fail safe off to test still the same.

Its like some on hits the disarm button but I can then pull the throttle down and start motors again its really odd...

Matt

Inflight adjustments are not logged properly to the BB

SUBJ... Is this ok if i fix it here Boris?

ESC (HQ blue series 20A) don't work

The ESC work well in Cleanflight (current stable release) and Baseflight, but when i flash to Betaflight 2.1.4 the ESC are dead.
Reverting to Cleanflight and all work well again.

Test Device:
Dquad iniMini-H with a 6DOF Naze32 (afro).
HQ blue series 20A ESC

Naze Rev 6 Flash Memory

Just got a Naze Rev 6 and when I put 2.1.6 on it, I can no longer access the flash memory from the GUI. I can format the memory from the CLI but everything's greyed out on the dataflash tab. When I revert to Cleanflight firmware, the functionality is restored.

Cheers.

No input signal from ch5 with pwm and vbat disabled

Hi Guys,
im using a CC3D with BF 2.1.5 RC6, a Spektrum AR610 RX (PWM), a DX6 TX and TAER settings, all channels works fine but i cant get a input on CH5 (AUX1 - 3 way switch for flightmodes). Vbat is disabled.
Same Problems with CF 1.10.0 and 1.9.0, with Openpilot and Librepilto, everything is ok.

Any help for me?

Motors spinning at full power on reboot during conf ... - Betaflight 2.1.4 & 2.1.5 RC / IRC Vortex (Naze32 hex)

Hi Boris,

Conf : IRC Vortex / OSD 1.0.0.21 / Cleanflight configurator 1.1.0 / Betaflight 2.1.4 & 2.1.5 RCx

[OFF]
First of all, thank's for your hard work, i'm flying with betaflight since the first release and it's ever better on each release :)
[/ OFF]

Since 2.1.4 (and until 2.1.5 RC6), i have a "little" issue during config on a vortex (on this quad, we need to plug lipo to be able to access usb, that's why i have an issue...)

If i activate arming thru an AUX (aux2 in my config), after that, on each "save and reboot" (config tab for example, in the CLI too), the motors are spinning (with almost full power) themself for about 1 sec before stopping :(

If a use arming through stick, i have not this issue, but as soon as i return to arming thru AUX, the issue returns...

of course, I do the conf without props, but it's always surprising when engins start alone at full power !!

I reverted back to 2.1.3, and have no problem (no motor spinning on reboot).

If you can do something for this issue :)

Olivier.

Issues w/ BLHeli 14.3.0.1 passthrough and Motolab Tornado F3

I have a Motolab Tornado F3 Flight Controller and I've flashed it with Betaflight 2.1.6 (current latest).

I'm now trying to use BLHeli 14.3.0.1 and passthrough using Cleanflight in order to flash my Little Bee ESC's. This worked fine on my Naze32 Rev 5 board with the same ESC's, but I've recently had to replace one and was hoping to be able to sync it using the Tornado instead.

The problem is that it recognises the COM port and when I click Connect it seems as if it connects (only because Disconnect is shown instead of Connect), however when I click Check it just sits there doing nothing until after a while pops up with the following error:

BLHeli Error

Normally after clicking Check it goes through and detects the ESC's. It notifies you if the battery is disconnected and as soon as you connect the battery it gives you a confirmation that it's read the ESC's successfully.

I have the battery plugged in and never receive the confirmation. Like I said it just sits there and throws the error.

Has any one successfully used passthrough with a Tornado F3 board?

Cut out on cc3d again

Borris...

Im giving up on the cc3d ....

The motors keep cutting at random intervals i have run the fc via a independant battery i have run different cc3d board.... But still it just randomly cuts i have this on a shen tweeker and thug 🐖....

I flashed the latest version and when it is going its awsome... Now just for clarity if it cuts out when im hight enough i can drop the throttel stick and re engage the motors and of she goes..

Oddly if i change to air mode and then back some times it to drops out for no reason...

Like i say i have run a dedictaed bec so now totaly baffeled....

I have also strapped the xt60 connectors and run a voltage record and there are no drops... It really does seem software....

One more thing on my last flash of the cc3d i noticed that the craft was laggy on the live screen... So i checked with one running a naze and all was fine... I then reflashed libra pilot to the board took it out and every thing was fine.....

Any way keep up the good work... Can i just ask one qestion there are loads of fc board on the market what would be your go-to fc board ???

Naze32 wont arm in 2khz mode when using luxfloat

When I enable accelerometer via "set acc_hardware=0" I can arm again.

Here is my dump:

version

BetaFlight/NAZE 2.2.0 Dec 31 2015 / 00:50:34 (560bd74)

dump master

mixer

mixer CUSTOM
mmix reset
mmix 0 1.000 -1.000 0.707 -1.000
mmix 1 1.000 -1.000 -0.707 1.000
mmix 2 1.000 1.000 0.707 1.000
mmix 3 1.000 1.000 -0.707 -1.000
smix reset

feature

feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature VBAT
feature RX_SERIAL
feature SOFTSERIAL
feature TELEMETRY
feature ONESHOT125

map

map TAER1234

serial

serial 0 1 115200 57600 0 115200
serial 1 64 115200 57600 0 115200
serial 30 32 115200 57600 0 115200
serial 31 0 115200 57600 0 115200

led

led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:D:WF:0
led 15 8,8:D:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0

color

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

set emf_avoidance = OFF
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 8
set rssi_scale = 30
set rssi_ppm_invert = OFF
set input_filtering_mode = OFF
set rc_smoothing = OFF
set min_throttle = 1150
set max_throttle = 1850
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set enable_fast_pwm = OFF
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = ON
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serialrx_provider = SBUS
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = ON
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = -90
set max_angle_inclination = 700
set gyro_lpf = OFF
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set yaw_control_direction = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 1
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SERIAL
set beeper_off_flags = 0
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0

rxfail

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

dump profile

profile

profile 0

aux

aux 0 0 0 1300 2100
aux 1 12 1 1300 1700
aux 2 0 0 900 900
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

adjrange

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

rxrange

rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

servo

servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set gtune_loP_rll = 10
set gtune_loP_ptch = 10
set gtune_loP_yw = 10
set gtune_hiP_rll = 100
set gtune_hiP_ptch = 100
set gtune_hiP_yw = 100
set gtune_pwr = 0
set gtune_settle_time = 450
set gtune_average_cycles = 16
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
set gimbal_mode = NORMAL
set acc_cut_hz = 15
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set mag_declination = 0
set pid_controller = LUX
set p_pitch = 40
set i_pitch = 30
set d_pitch = 20
set p_roll = 40
set i_roll = 30
set d_roll = 20
set p_yaw = 100
set i_yaw = 50
set d_yaw = 8
set p_pitchf = 1.500
set i_pitchf = 0.300
set d_pitchf = 0.010
set p_rollf = 1.500
set i_rollf = 0.300
set d_rollf = 0.010
set p_yawf = 4.000
set i_yawf = 0.400
set d_yawf = 0.010
set level_horizon = 6.000
set level_angle = 6.000
set sensitivity_horizon = 75
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 50
set i_level = 50
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1
set gyro_soft_lpf = ON
set dterm_cut_hz = 0
set yaw_pterm_cut_hz = 0

dump rates

rateprofile

rateprofile 0

set rc_rate = 120
set rc_expo = 50
set rc_yaw_expo = 30
set thr_mid = 50
set thr_expo = 0
set roll_rate = 50
set pitch_rate = 50
set yaw_rate = 50
set tpa_rate = 0
set tpa_breakpoint = 1500

Not all setting are known

i'am trying to upload the settings of borisB into my naze32 with the latest version of betaflight. it only doesn't recognize all settings.

oneshot125
gyro_lpf = 256
set dterm_cut_hz = 12
set pterm_cut_hz = 50
set gyro_cut_hz = 100
set pid_controller = 1
set p_pitch = 58
set i_pitch = 34
set d_pitch = 35
set p_roll = 33
set i_roll = 30
set d_roll = 26
set p_yaw = 102
set i_yaw = 65
set d_yaw = 13
set tpa_breakpoint = 1500
set tpa_rate = 50
set rc_rate = 100
set rc_expo = 70
set rc_yaw_expo = 35
set pitch_rate = 65
set roll_rate = 65
set yaw_rate = 100
set min_command = 1000
set min_check = 1020
set min_throttle = 1080
set pid_at_min_throttle=1

and these are the settings it doesn't understand. I updated to Betaflight 2.1.6 are these comando's that aren't working any more or did they change some features that i cant find back.

gyro_lpf = 256

Unknown command, try 'help'

set pterm_cut_hz = 50

Invalid name

set gyro_cut_hz = 100

Invalid name

set pid_controller = 1

Invalid value

set pid_at_min_throttle=1

Invalid name

I changed gyro_lpf to gyro_soft_lpf and pterm_cut_hz to yaw_pterm_cut_hz
are these correct changes? thank you already

Which release for CC3D?

Hello,

Could you add some release notes to the releases page for 2.1.4 as I'm not sure which CC3D one to download. I don't know what BP6 and OPBL and OPBL_BP6 are.

betaflight_CC3D.hex
betaflight_CC3D_BP6.hex
betaflight_CC3D_OPBL.bin
betaflight_CC3D_OPBL_BP6.bin

Also the betaflight_CC3D.bin is missing from the releases page (if that's the vanilla CC3D one I should be downloading.

Thanks

Matt

Ex.Bus (Jeti) support för Betaflight?

Ex.Bus (Jeti) support för Betaflight?
Any code wizard that can make it happen? :D pretty please with suger on top.

Here is the documentation for Ex.bus protocol which maybe makes it easier to determine if it is possible or not.

http://www.jetimodel.com/en/show-file/642/

Thanks in advance for someone to reply on this issue, Kajaken

Naze 32 LED_STRIP Feature not able to enable on Version 6B boards

Hi Boris, everyone.

Building a new Raceblade and looking to setup the NAZE32 with a couple of LED Bars running just under 5v. Issues found with the betaflight 2.2.0 when trying to enable the LED_STRIP Feature and save.

Settings unable to stay active and disables automatically.

Same board loaded with Clean flight latest (1.11.0) and working at excepted/Tested.

Is there a known problem, issue for enabling the LED functions on Beta flight?

Would appreciate feedback or if im doing something wrong in the setup, additional settings needed?

Cheers Vanblade.

2.1.5 RC1 -> RC6 : Vortex OSD flight mode display mismatch

Hi,

I made tests of the last betaflight 2.1.5 RC6 on the Immersion RC Vortex (OSD 1.0.0.21), and have an issue in OSD of the vortex, there is a mismatch between flight mode (angle, horizon and accro).

In cleanflight configurator (v1.1.0) that's ok, but in the OSD : angle is displayed "horizon", horizon is displayed "accro", and accro is displayed "accro".

with betaflight 2.1.3 and 2.1.4, all is ok and the displayed flight modes are the right one !

Thank's,

@++
TiTidom.

P Inflight adjustment only increases very slow

Like the title says the inflight adjustment of "P" increases very slowly i.e. 0.1 in 7 seconds. With I and D we get the rates like in cf (like twice a second).

Also the docs say the the value changes at least once if you trigger the adjustment switch. This does not work on the "P" setting - only I and P adjust once you trigger it.

I attached a dump of my system, maybe it can help. Adjustment "selector" is a poti with "low" P setting, "middle" I setting and "high" D setting. Up/Down via 3Pos switch

BetaFlightCC3D 2.1.6.txt

GPS configuration

With the version 2.14 I cannot change the GPS configuration to UBLOX. Do you have removed the support for GPS? I tried softserial 1 and 2 as I had before with Cleanflight.

Motors gradually increase to full throttle when throttle stick is at min throttle

upon arming (motor stop)
when raising throttle just bit on the sticks
the motors would continue to go to max despite the throttle input i gave after that.

on the motor test, it works as it should.

Naze32 rev 5.

RMDO beeper won't shut up when USB plugged in

No matter the beeper_off_flags we are seeing the beeper beep a steady, slow tone when plugged into USB no matter if connected to CF config.

Name of pidMultiWiiRewrite or pidRewrite

This is not really a very good name. It reflects the history of how the function was developed rather than what it does. And it's been rewritten so much that it bears very little resemblence to pidMultiWii23.

The function is, in essence, an integer version of pidLuxFloat (the code is very similar). So I suggest it is renamed to pidLuxInt.

Thoughts on PID integration and runaway behaviour

It occurred to me that the cause for runaway behaviour could be that the PID itegrator uses simple Euler integration.

Sure enough we have:

// -----calculate I component.
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);

or, taking its essence:

I += error * dT

a simple Euler integration.

Euler integration is a simple first order method and can be numerically unstable:

https://en.wikipedia.org/wiki/Euler_method#Numerical_stability

"The Euler method can also be numerically unstable, especially for stiff equations, meaning that the numerical solution grows very large for equations where the exact solution does not."

I posit that replacing the Euler method with something higher order (for example Runge-Kutta: https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_method) would increase stability and reduce runaway behaviour. Runge-Kutta can be unstable, but it is much less unstable than Euler.

RK4 is the generally used method. It is fourth order and the accumulated total error is O(h^4), i.e. for betaflight O(dT^4). In contrast Euler integration is first order.

The disadvantages of RK4 is that it requires more computation (although not that much more) and requires the past three RateErrors (for each axis) values to be stored.

An equivalent way of looking at this is that currently the numerical itegration is done using the "rectangle method" https://en.wikipedia.org/wiki/Rectangle_method whereas using RK4 would be doing the integration using Simpson's rule https://en.wikipedia.org/wiki/Simpson's_rule.

Alternatively, if RK4 is too complicated, a second order integration method could be used - this would still produce less runaway than Euler.

2.2.0 -Core Pro + Powercube

The PPM stream through the BST connection is not getting through so OSD settings are not possible with the RC.
using COLIBRI_RACE target