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silf4ware [2020/07/07 22:10]
d7ab6ba3 		silf4ware [2020/07/09 12:36] (current)
d7ab6ba3 [Gestures]
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 ===== Configuration ===== ===== Configuration =====
  
-==== Configuration Overview ====+==== Overview ====
  
 ^Configuration Type^Filename| ^Configuration Type^Filename|
Line 35: Line 35:
 |PID Level Mode Configuration|angle_pid.c| |PID Level Mode Configuration|angle_pid.c|
  
-==== Battery Cell Count ====+==== Basic Configuration ==== 
 + 
 +=== Battery Cell Count ===
  
 Default setup is configured for 4S batteries. Make sure to adjust CELL_COUNT_UNSCALED in battery.c if needed, e.g. for a 2S setup: Default setup is configured for 4S batteries. Make sure to adjust CELL_COUNT_UNSCALED in battery.c if needed, e.g. for a 2S setup:
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 </code> </code>
  
-==== Receiver ====+=== Receiver ===
  
 The default configuration is setup for NRF24 modules. If using a NRF24 module with PA LNA, it is recommended to adjust TX_POWER in SilF4ware/config.h: The default configuration is setup for NRF24 modules. If using a NRF24 module with PA LNA, it is recommended to adjust TX_POWER in SilF4ware/config.h:
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 If using a XN297 module, see [[https://github.com/markusgritsch/SilF4ware/blob/master/radio_config.txt|radio_config.txt]] file for configuration notes. If using a XN297 module, see [[https://github.com/markusgritsch/SilF4ware/blob/master/radio_config.txt|radio_config.txt]] file for configuration notes.
  
-====   ==== +=== Dshot ===
- +
-==== Dshot ====+
  
 Default setup is configured for using Dshot with RPM Filter. If using this configuration, make sure that the number of magnets on the motor bell is set correct (drv_dshot_bidir.c): Default setup is configured for using Dshot with RPM Filter. If using this configuration, make sure that the number of magnets on the motor bell is set correct (drv_dshot_bidir.c):
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 </code> </code>
  
-==== 2D/3D Flying ====+=== 2D/3D Flying ===
  
 3D flying is enabled by default. If using a 2D setup, following changes are needed: 3D flying is enabled by default. If using a 2D setup, following changes are needed:
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 </code> </code>
  
-==== Misc ====+=== Misc ===
  
   * Props out configuration is enabled by default (comment INVERT_YAW_PID to disable it)   * Props out configuration is enabled by default (comment INVERT_YAW_PID to disable it)
   * Default rates are very high, adjust them if needed   * Default rates are very high, adjust them if needed
-  * PID configuration for acro mode is done in SilF4ware/pid.c and for level mode in SilF4ware/angle_pid.c+ 
 +===== Compiling & Flashing ===== 
 + 
 +It is recommended to use STM32CubeIDE for compiling SilF4ware. Keil uVision can also be used, but it produces some non-working binary when using lot's of RAM. Change FFT_SIZE in fft.h to 2048 when using Keil. 
 + 
 +Flashing can be done with betaflight-configurator. After compiling, the target files can be found in the "Release" directory. 
 + 
 +===== Using ===== 
 + 
 +==== Gestures ==== 
 + 
 +When you are used to use other silverware branches, please note that the gestures for PID tuning are swapped. 
 + 
 +|LRU|reboot flight controller| 
 +|LRD|switch to DFU mode| 
 +|LLU|switch to motors test mode| 
 +|LLD|exit motors test mode| 
 +|UUU|toggle autobind flag (remember to save with DDD)| 
 +|UDD|switch to the next PID column| 
 +|UDU|switch to the next PID row| 
 +|DDD|save configuration| 
 + 
 + 
 +==== Motors test mode ==== 
 + 
 +With default setup, when using LLU stick gesture (Left, Left, Up) SilF4ware switches into motor test mode (MOTORS_TO_THROTTLE). It can be used to verify that the configured motor order is correct, but also to check for bad/noisy props. 
 + 
 +In motor test mode, push the stick in the corresponding direction, e.g. left up will make the motor spin which is configured as front left. 
 + 
 +LLD stick gesture (Left, Left, Down) turns this mode off again. 
 + 
 +If you are used to other silverware branches, please note that with SilF4ware it is not needed to adjust the idle offset to make sure that only one motor spins. 
 + 
 +==== Devo TX ==== 
 + 
 +A Devo 7E build and model file which is able to display PID values can be found in [[https://www.rcgroups.com/forums/showpost.php?p=42032515&postcount=398|this post]]. Note that it will only display PIDs set via gestures, not when set via analog aux channels.
  
 ===== Advanced Features ===== ===== Advanced Features =====
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 The variables aux_analog[ 0 ] and aux_analog[ 1 ] hold a value between 0.0 and 2.0 which can be used in various places in the code. Per default they are used to tweak Kp and Kd respectively. This is done in SilF4ware/pid.c: The variables aux_analog[ 0 ] and aux_analog[ 1 ] hold a value between 0.0 and 2.0 which can be used in various places in the code. Per default they are used to tweak Kp and Kd respectively. This is done in SilF4ware/pid.c:
- 
 <code> <code>
-#define AA_pidkp ( x &lt;2 ? pdScaleValue * aux_analog[ 0 ] : 1.0f ) // Scale Kp and Kd only for roll and pitch.+ 
 +#define AA_pidkp ( x <2 ? pdScaleValue * aux_analog[ 0 ] : 1.0f ) // Scale Kp and Kd only for roll and pitch.
 #define AA_pidki 1.0f #define AA_pidki 1.0f
-#define AA_pidkd ( x &lt;2 ? pdScaleValue * aux_analog[ 1 ] : 1.0f ) // Scale Kp and Kd only for roll and pitch.+#define AA_pidkd ( x <2 ? pdScaleValue * aux_analog[ 1 ] : 1.0f ) // Scale Kp and Kd only for roll and pitch.
  
 </code> </code>
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 Blackbox logging is possible with an external logging device. See details [[https://www.rcgroups.com/forums/showthread.php?3294959-SilF4ware-an-STM32F4-port-of-SilverWare/page45#post42779217|here]] Blackbox logging is possible with an external logging device. See details [[https://www.rcgroups.com/forums/showthread.php?3294959-SilF4ware-an-STM32F4-port-of-SilverWare/page45#post42779217|here]]
  
-===== Using ===== +=====   =====
- +
-==== Gestures ==== +
- +
-  * PID Tuning: some gestures have been swapped in comparison to other silverware branches: UDD switches to the next column and UDU to the next row +
-  * LRU: reboot flight controller (nice when otherwise one would unplug and replug the battery) +
-  * LRD: switch to DFU mode (nice if the BOOT button is mechanically hard to reach after installing the FC into a quad) +
- +
-==== Motors test mode ==== +
- +
-With default setup, when using LLU stick gesture (Left, Left, Up) SilF4ware switches into motor test mode (MOTORS_TO_THROTTLE). It can be used to verify that the configured motor order is correct, but also to check for bad/noisy props. +
- +
-In motor test mode, push the stick in the corresponding direction, e.g. left up will make the motor spin which is configured as front left. +
- +
-LLD stick gesture (Left, Left, Down) turns this mode off again. +
- +
-If you are used to other silverware branches, please note that with SilF4ware it is not needed to adjust the idle offset to make sure that only one motor spins. +
- +
-==== Devo TX ==== +
- +
-A Devo 7E build and model file which is able to display PID values can be found in [[https://www.rcgroups.com/forums/showpost.php?p=42032515&postcount=398|this post]]. Note that it will only display PIDs set via gestures, not when set via analog aux channels.+
  
 ====   ==== ====   ====
silf4ware.1594152619.txt.gz · Last modified: 2020/07/07 22:10 by d7ab6ba3

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