BetaFlight 2.7.0 Released

[Revs]

Here';s an overview from Joshua..

http://youtu.be/c6NlzecF6tQ

2.7 release

    Fixed MPU6000 SPI slow speed for some targets
    Fully working SPRACINGF3 Target
    Enable MPU6000 and MPU9250 for Colibri Race Target
    Many code cleanups and optimalisations
    Remove MW23 Pid controller (use rewrite or luxfloat)
    Fix for Dterm scaling in luxfloat. It is now fully matching rewrite. Luxfloat users from 2.6.1 need to multiply their D by 2 to get the same scaling
    Added PID configuration to blackbox header and other configuration parameters
    Added flightmode events to blackbox logging
    Added Optional Super Expo for yaw (CLI: super_expo_factor_yaw, super_expo_yaw)
    Iterm reset converted to Iterm limiter in super expo mode
    Added Optional Iterm reset option even without super expo (CLI: iterm_always_reset)
    Enabled TPA also for Yaw axis
    Increased default min_check value due to many misunderstandings for beginners (lower min_check still recommended)
    Added more debugging options
    Many code optimilisations
    Optimilisations for offline testing
    Change filter cutoff configurations to integers
    Dynamic PID Implementation (P accelerator)
    Added Task Page for OLED display
    Slightly improved biquad coefficients precision
    Fix for out of order PPM ISR
    Increased configurable range for yaw_p_limit
    Improved rc_expo step resolution by factor 5
    Added support for unsynced motor update speeds for fast PWM protocols up to 32k (CLI: unsynced_fast_pwm)
    Added new way of configuring fast PWM protocols (CLI: fast_pwm_protocol (ONESHOT125, ONESHOT42, MULTISHOT))
    Slowed down CPU for F1 targets back to 72Mhz to have better motor timing support. Naze32 may have more difficulties running 4k.
    Configurable Iterm reset offset (CLI: iterm_reset_offset)

NOTE
In this version the filters are optimised to provide the best possible flight characteristics. This means that some less agressive filtering is used. In case your setup is too noisy you need to adjust the filters. Here are some of the recommendations. The more filtering you use the less noise will be let into the system, but that will reduce the overall responsitivity of the pid controller and provide less stability in prop wash scenarios for example.

Default / Optimal flight performance:
gyro_lowpass = 100
dterm_lowpass = 110

Slightly noisy setup:
gyro_lowpass = 80
dterm_lowpass = 100

Very noisy setup
gyro_lowpass = 50
dterm_lowpass = 100

2.6.1 defaults:
gyro_lowpass = 80
dterm_lowpass = 70

Also some of the KISS24 users reported they removed some low throttle oscillations with setting gyro_lowpass to 50

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

[Revs]

Holy carp this FW is great! I';ve come from KISS to this. After 5 months I got totally fed up with the problems with the KISS stuff and swapped out the KISS FC for an SPR-F3 with 2.7.0 and I';m not disappointed! This bF feels and flies superbly.

The last bF I used was 2.1.6 and this version is so different... in a good way. Boris really has worked his magic!

[Elmattbo]

Did you use tuned or stock pids and are there any other changes needed in the cli?


Sent from my iPad using Tapatalk

[nub]

flashed it to my naze on the 180 earlier, only hovered around the back garden but stock PID';s seem fine, probably only need some slight adjustment.

only thing new to change really are the gyro_lowpass, dterm_lowpass settings depending on your setup.

[Cheredanine]

As ever, stock pids will be usable for the average quad, but will need some tuning for best performance, something weird will need more tuning.
PIDs are something that are unique to the build, for the best pilots a tight tune with two quads using the same components is likely to have slight differences)

Changes needed?
Well, decrease loop time to as low as possible (125 for f3 targets with spi, 250 for other f3 targets, 375 for f1 targets)

You may need to re-enable acc if you use it:
Set acc_hardware = auto
Save

Set your pis loops to whatever you want (some debate if there is any benefit in running over 2khz) using:
Set pid_process_denom = n
N is a denominator for the loop time frequency, so for example if you have set your loop time to 125 - 8khz, using a denom of 2 the pid loop with run at 4khz (8khz/2)

If you want fast pwm use:

Set unsynced_fast_pwm = on
Set fast_pwm_protocol = (oneshot125/oneshot42/multishot)
Set motor_pwm_rate = (0-32000 - note with os125 do not go higher than 4khz and even at 4khz shirt calibrate, for os42 do not go over 12000 and short calibrate at 12000)

Personally I am running a lux flight controller and kiss ESCs (os42) at 8khz loop time, pid and motor pwm and it is fine except for a yaw drift I can not shake

[Revs]

2.7.1 released... https://github.com/borisbstyle/betaflight/releases

Patch 1 (2.7.1 notes):

    Fixed Luxfloat drift
    F1 boards defaulted to 1khz

Cheers for the heads-up Cheredanine