OpenUAV is an open source flight controller for multirotors with a focus on FPV. It is currently in active development.
- ACRO and ANGLE flight modes
- DSHOT
- ELRS
- Blackbox flight recorder
- USB configuration tool
- Canvas OSD
- Tidy up and comment all current code
- USB configuration tool
- More OSD options
sudo pacman -Sy arm-none-eabi-binutils arm-none-eabi-gcc arm-none-eabi-newlib \
dfu-util \
stlinkThe USB configurator can be used to configure the quad, and also to download blackbox logs.
You can view the current configuration by running configurator get.
The commands to set configuration are a little cryptic. Use command configurator set x y z, where x is the
categry number, y is the specific entry number, and z is the value to set. Please refer to the following file
for the category and entry numbers: https://github.com/catphish/openuav/blob/master/configurator/usb.h
The motor configuration is also not very intuitive, but works as follows. First select "props in" configurator set 3 5 0
or "props out" configurator set 3 5 1.
Next, map the motor outputs using the command: configurator set 3 x y, where x is the motor output pin (1-4), and y is
a corner of the quad according to the following table:
0: no output
1: rear left
2: front right
3: front left
4: rear right
- NOTE: Due to the way air mode currently works, motors set to zero outout will still spin at minimum RPM. This needs fixing.
Data will be recorded to the black box any time the quad is armed and will continue until the memory
is full (approx 10 minutes flight time). You can erase the black box with configurator erase.
You can download the blackbox data with configurator read > data.csv. The CSV can be processed
with any tool of your choosing but I find kst2 to be the best.
Tuning should be done in acro mode at a rate you are comfortable with. I use a rate of 1200 (840 dps) for this process.
Set the I and D terms to zero so that they don't interfere. Start with a low value (P=50). Increase P until the quad is sufficiently responsive to stick inputs. You can expect a little bounceback. In the 5 inch development quad, the P value is 120.
Increase the D term only as much as is required to prevent the bounceback. In the 5 inch development quad, the D value is 150.
Increase the I term only as much as is required to prevent drift. You may find that this needs to be increased more when flying in strong wind. Higher values will make the quad more stable but will introduce some bouncenback when performing flips. In the 5 inch development quad, the I value is 50.
There is currently no specific process for tuning the Z rates. Values of 200 and 200 for P and I seem to work in most cases. If there is yaw drift then it may be necessary to increase one or the other. Increase the I term in the case of slow drift or the P term in the case of sudden yaw disruption.
Angle rate: 1000
Acro rate: 1000
P: 100
I: 80
D: 100
Yaw P: 200
Yaw I: 100
Expo: 60
Yaw expo: 60
Throttle gain: 80
Throttle min: 200
THIS TUNE IS STILL UNDERGOING TESTING
Angle rate (sR): 670
Acro rate (sr): 670
P (sp): x
I (si): x
D (sd): x
Yaw P (sy): 220
Yaw I (sY): 200
Expo (se): 25
Yaw expo (sE): 30
Throttle gain (st): 80
Throttle min (sT): 100