[Target Request] BETAFPVF411 (BMI270)

[BeauBrewski]

Vendor/Model
BETAFPVF411 w/ BMI270 (note-not the RX version)

CLI dump or Unified Target
https://github.com/betaflight/unified-targets/blob/master/configs/default/BEFH-BETAFPVF411.config
based off existing target with just new BMI270 drivers added.

[BeauBrewski]

NEEDS TESTED! PROPS OFF FOR SAFETY!

EmuFlight_0.4.2_BETAFPVF411_Build_719010445.zip

Check motor temps when flying!

NOTE When setting up in configurator for bmi270, the gyro/pidloop will report wrong. MUST SET to 8k which just means denominator = 1. when denominator is 1, this is gyro default for bmi270, which is about 3.2k.
or in CLI:

set gyro_sync_denom = 1
set pid_process_denom = 1
save

[whooptrooper]

Works as far as the gyro is now recognized. But it hovers with an enormous oscillation. Any further ideas how to get this to work? have a BetaFPV Meteor65 Pro with 22kkV 0802 Motors.

[nerdCopter]

@whooptrooper ,

i would raise filters.

do not over filter.

for example, either use gyro LPF at 150ish and maybe 1 dynamic_filter notch, or dont use dynamic filter at all. or another option, dynamic_filter with 2 or 3 notches, and a very high gyro LPF or none at all. -- to be tested of course.

for whoops, generally.
gyro cutoff maybe 150hz
dterm cutoff maybe 200hz.
roll/pitch normally about the same PIDs for each.
but for BMI, maybe not too much D on roll. bmi still being tested.

blackbox would certainly help, but 2021 Meteor65Pro did not have Blackbox. does the new versions have it?

I'd like to build a new hex however! The May 2023 is outdated.
here: EmuFlight_0.4.2_BETAFPVF411_Build_dc51cc9dd_BMI270_FIFO_OSR4_Analog.hex.zip
This build should be better. maybe even test it with your current configuration.

[nerdCopter]

send blackbox logs if applicable, preferably via Discord.

[whooptrooper]

@nerdCopter Thx! I'm gonna try it tomorrow and tell you. Can I share the log here in the issue?

[whooptrooper]

@nerdcoopter It works way better with the new build! I had just a little left oscillations by default and changed the lowpass cutoff to 150Hz as you said. I think the oscillations are gone now, but I would really appreciate you to have a look at my log. I did a little logging flight with angle mode hope it does the job.
whooptrooper Meteor 65 Pro 2022.zip

[nerdCopter]

need

set debug_mode = gyro_scaled
save

and can you set rates as betaflight rates for blackbox? our Eme blackbox exploere does not render setpoint correctly for kiss nor actual rates. :(

[whooptrooper]

Oh yeah sorry about that. I will do it later!

[whooptrooper]

EMUF_cli_WHOOPTROOPER(2).zip

Ok this time with gyro scaled and betaflight rates. :)

[nerdCopter]

need a lot more D (roll/pitch), like a lot. you'll have to raise them and check via PTB's step-response tool.

need higher yaw P, 75 to 90+ to your liking. 50's are fine for betaflight, but Emu pid controller different.
you can probably go yaw D 0. 0-5max where 0 for P of 70's and 5 for P of 90's+

hard to say on dterm filters, but i'm thinking
Dterm LPF1 type PT1 at 150 to 200, and
Dterm LPF2 type PT1 at 350 to 400

Roll a little noisy, as i would suspect on BMI270

compared to pitch

[nerdCopter]

red line is the "goal"; not always achievable.
(copyright)Brian White/PTB

[nerdCopter]

resolved via #937