コメント
CC3DをS-busで
参考になり助かりました。
コネクトまでは上手く行きました。
S-busで接続をしたいのですが、なかなか上手く行きません。（スティクゲージが反応しない）
もし分かれば教えて下さい。
コネクトまでは上手く行きました。
S-busで接続をしたいのですが、なかなか上手く行きません。（スティクゲージが反応しない）
もし分かれば教えて下さい。
CC3D Betaflightの設定（その２）
- 2016/06/18
- 16:35
CC3D Betaflightの設定（その２）
その１でＣＣ３ＤにBetaflightをフラッシングしました。
その２では、各種設定を行います。
１． 実機の実装の変更
現在は、LibrePilotの仕様に基づいて配線等がされています。
が、Betaflightの仕様は全く別のものです。
なので、Betaflightの設定をする前に、その仕様に合わせて機体の実装の改変を行わないといけません。
下図がLibrePilotの仕様です。
これを、下記のBetaflightの仕様に変更しなければなりません。
色んな初歩的なトラブルを読んでいると、これに基づくものが大多数です。
LibrePilotの配線のままでBetaflightに移行できると何故か勘違いされてます。
※ σ(^ ^) も最初はそう思ってました、、、。 (⌒ ⌒; アセアセ
が、ドキュメントを読んで、判りました。 (*^m^*) ムフッ
ドキュメントのＣＣ３Ｄの項目を読むと、
送受信モードにRX_PARALLEL_PWM modeを使ってますので。
なので、次のように組み換えました。
受信機は、
３番のブルーコードが余りました。CH7は機体発見ブザーで使ってます。
そして、モーター配線は、
LP → Bf
M１ → M４
M２ → M２
M３ → M１
M４ → M3
と配線変えを行いました。
以上で、基本の変更は終わりです。
２． SetUp
CONFIGURATORのSetupタブを開いてみると、このFCにはGyro と Accel のセンサーだけのようです。
上の、「Calibrate Accelermater」ボタンをクリックして、ここは終わりです。
３． Ports
ここは、そのままです。
４． Configuration
その１でYaw Degrees は-９０に設定してますが、他では、
ESC/MOTOR Features の
MOTOR_STOP → ON
ONESHOT125 → OFF
Receiver Mode の
RX_PARALLEL_PWM にチェック
して 右下のSAVEボタンをクリックして終了です。（この作業でUSB接続が一旦切れますので、再ブートして再接続して戻ってください。）
※ 実際は、ここのGUIバグのため、
ONESHOT125 → OFF
が有効になっていなく、これに気付くまで丸一日を要しました。 (｀□´) コラッ！
５． Failsafe
は、下図のとおりです。
６．PID Tuning
ここもデフォルトのままです。
７．Reciever
仕様変更に伴う配線等の変更が行われていれば、殆ど問題はありません。
ただ、スロットルとラダーのエンドポイントが高いとArming と Disarming の操作に支障をきたします。
これは、実際エンドポイントを調整しながらやるしかありません。
① Channel Map のドロップダウンでFutabaを選択
最初、選択したFutabaが表示されず、AETR1234と表示されるので面喰いました。これってエルエレスラのことなんですね。
ちなみにJRを選択すると、EATR１２３４?と表示されます。この違いに気付くのにもえらい時間がかかりました。
Futabaを選択したら、そのまま表示せいや！！ (｀□´) コラッ！
（以下、H29年1月8日追記：
でしたが、FUTABAの他のT14MZやT12SGを触ってそうじゃないことが判りました。
T14MZ、T12SGでは、受信機のチャンネルが、AETR１２３４じゃなく、ERTA１２３４になってます。
なので、FCと受信機を繋ぐハーネスを下図のように接続しないと駄目なのでした。
FC側 受信機側
１ｃｈ A → ４ｃｈ
２ｃｈ E → １ｃｈ
３ｃｈ T → ３ｃｈ
４ｃｈ R → ２ｃｈ
以上追記）
② 中立値の調整
まず、各スロットルレバーやSWの動作が想定とおりか確認します。違っていれば、１．に戻って確認です。
（※ σ(^ ^) の場合Pitchが逆でしたのでプロポでリバース設定をしました。）
中立位置が、Futabaの場合は、１５２０になっていますので、プロポのサブトリム機能で１５００近辺に合わせます。
③ その他
Expo や Rate等は実際飛ばしてみての調整です。
８．Modes
モードには、
・ANGLE
・HORIZON
・AIR MODE
と設定しています。
ANGLE と HORIZON と AIR MODE の各モードをプロポの（ｃｈ５）SWCに合わせてます。
奥 ⇒ ANGLE
中 ⇒ HORIZON
手前⇒ AIRMODE
してSAVE。
プロポのSWでARM（起動）設定も可能なのですが、ch数が足りないので、
モードを１つ削って割り当てないといけないのでしてません。
設定しなくても、デフォルトで、スティックの操作で行えるようになっています。
起動 ： ラダー → 、 スロットル ↓
停止 ： ラダー ← 、 スロットル ↓
で行えます。
９．Adjustments（修正、調整）
ここはデフォルトのままです。
１０．Servos
ここはデフォルトのままです。
１１．GPS
GPSはないので、そのままです。
１２．Motors
ここでは、モーターのキャリブレーションが全く出来ず、原因も？？？でほんとてこずりました。
原因はbetaflight GUIのバグで、これに気付くのに無駄に１日費やしました。
それは、これです。
４．Configurationのところで、ONESHOT125をOFFにしてSAVEしたのですが、実際は反映されずに元のままだったのです。
これじゃ、いくらやってもESCとの通信プロトコルが違うのでウンともスンとも応答しないはずです。
GUIで再設定を何度かやってみましたが、反映されないままでした。
で、コマンドで設定するしかないので、
CLIタブを開き、
set fast_pwm_protocol=OFF
とコマンドを打ち込み、
次に、
save
コマンドを打ち込み設定を保存しました。
結果、
となり、モーターキャリブレーションができるようになりました。
ここは大事なところで、モーターとESCのキャリブレーション（出力調整）を行います。
① ペラを外して、右下のMotor Test Mode Notice: のチェックをONにします。
（ON にしないとキャリブレーションは機能しません。）
② 真中のMaster レバーを一番上まで上げ、 バッテリーをつなぎます。
③ ビープ音が流れたら、Master レバーを一番下まで下げます。
④ 再度ビープ音が流れればキャリブレーションは完了です。
１３．Race Transponder
デフォルトのままです。
１４．LED STRIP
デフォルトのままです。
１５．Sensors
デフォルトのままですが、機体を動かしてみるとしっかり反応しています。
１６．Tethered Logging
デフォルトのままです。
１７．Blackbox
デフォルトのままです。
１８．CLI
コンソール画面です。先ほど、バージョン確認やESCプロトコルの設定をしましたので省略。
以上で、CC3DへのBetaflightのインストールと設定の作業は終わりです。
飛行テストの結果：まだ交換モーターが届いていませんのでテスト飛行はしていません。
新たな事が判ったら随時追加編集していきます。
でも、期待はしないでください。 (⌒ ⌒; アセアセ
また、勘違いしてるとこやこうした方が良いよ！
に気付かれたら教えてください！ （＾人＾）オ・ネ・ガ・イ
ちなみに、以下のテキストが設定の詳細です。
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その１でＣＣ３ＤにBetaflightをフラッシングしました。
その２では、各種設定を行います。
１． 実機の実装の変更
現在は、LibrePilotの仕様に基づいて配線等がされています。
が、Betaflightの仕様は全く別のものです。
なので、Betaflightの設定をする前に、その仕様に合わせて機体の実装の改変を行わないといけません。
下図がLibrePilotの仕様です。
これを、下記のBetaflightの仕様に変更しなければなりません。
色んな初歩的なトラブルを読んでいると、これに基づくものが大多数です。
LibrePilotの配線のままでBetaflightに移行できると何故か勘違いされてます。
※ σ(^ ^) も最初はそう思ってました、、、。 (⌒ ⌒; アセアセ
が、ドキュメントを読んで、判りました。 (*^m^*) ムフッ
ドキュメントのＣＣ３Ｄの項目を読むと、
送受信モードにRX_PARALLEL_PWM modeを使ってますので。
なので、次のように組み換えました。
受信機は、
３番のブルーコードが余りました。CH7は機体発見ブザーで使ってます。
そして、モーター配線は、
LP → Bf
M１ → M４
M２ → M２
M３ → M１
M４ → M3
と配線変えを行いました。
以上で、基本の変更は終わりです。
２． SetUp
CONFIGURATORのSetupタブを開いてみると、このFCにはGyro と Accel のセンサーだけのようです。
上の、「Calibrate Accelermater」ボタンをクリックして、ここは終わりです。
３． Ports
ここは、そのままです。
４． Configuration
その１でYaw Degrees は-９０に設定してますが、他では、
ESC/MOTOR Features の
MOTOR_STOP → ON
ONESHOT125 → OFF
Receiver Mode の
RX_PARALLEL_PWM にチェック
して 右下のSAVEボタンをクリックして終了です。（この作業でUSB接続が一旦切れますので、再ブートして再接続して戻ってください。）
※ 実際は、ここのGUIバグのため、
ONESHOT125 → OFF
が有効になっていなく、これに気付くまで丸一日を要しました。 (｀□´) コラッ！
５． Failsafe
は、下図のとおりです。
６．PID Tuning
ここもデフォルトのままです。
７．Reciever
仕様変更に伴う配線等の変更が行われていれば、殆ど問題はありません。
ただ、スロットルとラダーのエンドポイントが高いとArming と Disarming の操作に支障をきたします。
これは、実際エンドポイントを調整しながらやるしかありません。
① Channel Map のドロップダウンでFutabaを選択
最初、選択したFutabaが表示されず、AETR1234と表示されるので面喰いました。これってエルエレスラのことなんですね。
ちなみにJRを選択すると、EATR１２３４?と表示されます。この違いに気付くのにもえらい時間がかかりました。
Futabaを選択したら、そのまま表示せいや！！ (｀□´) コラッ！
（以下、H29年1月8日追記：
でしたが、FUTABAの他のT14MZやT12SGを触ってそうじゃないことが判りました。
T14MZ、T12SGでは、受信機のチャンネルが、AETR１２３４じゃなく、ERTA１２３４になってます。
なので、FCと受信機を繋ぐハーネスを下図のように接続しないと駄目なのでした。
FC側 受信機側
１ｃｈ A → ４ｃｈ
２ｃｈ E → １ｃｈ
３ｃｈ T → ３ｃｈ
４ｃｈ R → ２ｃｈ
以上追記）
② 中立値の調整
まず、各スロットルレバーやSWの動作が想定とおりか確認します。違っていれば、１．に戻って確認です。
（※ σ(^ ^) の場合Pitchが逆でしたのでプロポでリバース設定をしました。）
中立位置が、Futabaの場合は、１５２０になっていますので、プロポのサブトリム機能で１５００近辺に合わせます。
③ その他
Expo や Rate等は実際飛ばしてみての調整です。
８．Modes
モードには、
・ANGLE
・HORIZON
・AIR MODE
と設定しています。
ANGLE と HORIZON と AIR MODE の各モードをプロポの（ｃｈ５）SWCに合わせてます。
奥 ⇒ ANGLE
中 ⇒ HORIZON
手前⇒ AIRMODE
してSAVE。
プロポのSWでARM（起動）設定も可能なのですが、ch数が足りないので、
モードを１つ削って割り当てないといけないのでしてません。
設定しなくても、デフォルトで、スティックの操作で行えるようになっています。
起動 ： ラダー → 、 スロットル ↓
停止 ： ラダー ← 、 スロットル ↓
で行えます。
９．Adjustments（修正、調整）
ここはデフォルトのままです。
１０．Servos
ここはデフォルトのままです。
１１．GPS
GPSはないので、そのままです。
１２．Motors
ここでは、モーターのキャリブレーションが全く出来ず、原因も？？？でほんとてこずりました。
原因はbetaflight GUIのバグで、これに気付くのに無駄に１日費やしました。
それは、これです。
４．Configurationのところで、ONESHOT125をOFFにしてSAVEしたのですが、実際は反映されずに元のままだったのです。
これじゃ、いくらやってもESCとの通信プロトコルが違うのでウンともスンとも応答しないはずです。
GUIで再設定を何度かやってみましたが、反映されないままでした。
で、コマンドで設定するしかないので、
CLIタブを開き、
set fast_pwm_protocol=OFF
とコマンドを打ち込み、
次に、
save
コマンドを打ち込み設定を保存しました。
結果、
となり、モーターキャリブレーションができるようになりました。
ここは大事なところで、モーターとESCのキャリブレーション（出力調整）を行います。
① ペラを外して、右下のMotor Test Mode Notice: のチェックをONにします。
（ON にしないとキャリブレーションは機能しません。）
② 真中のMaster レバーを一番上まで上げ、 バッテリーをつなぎます。
③ ビープ音が流れたら、Master レバーを一番下まで下げます。
④ 再度ビープ音が流れればキャリブレーションは完了です。
１３．Race Transponder
デフォルトのままです。
１４．LED STRIP
デフォルトのままです。
１５．Sensors
デフォルトのままですが、機体を動かしてみるとしっかり反応しています。
１６．Tethered Logging
デフォルトのままです。
１７．Blackbox
デフォルトのままです。
１８．CLI
コンソール画面です。先ほど、バージョン確認やESCプロトコルの設定をしましたので省略。
以上で、CC3DへのBetaflightのインストールと設定の作業は終わりです。
飛行テストの結果：まだ交換モーターが届いていませんのでテスト飛行はしていません。
新たな事が判ったら随時追加編集していきます。
でも、期待はしないでください。 (⌒ ⌒; アセアセ
また、勘違いしてるとこやこうした方が良いよ！
に気付かれたら教えてください！ （＾人＾）オ・ネ・ガ・イ
ちなみに、以下のテキストが設定の詳細です。
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