You can debate here the fact that I use "RPM Filters" in the plural form. I forgot it was written differently in Betaflight, but hey! There ARE multiple filters implied, so am I really wrong? 😁 Useless math not discussed in the video : when I mention the 4 dynamic notch filters, you have to multiply this number by 3: one set for each axis (roll, pitch, yaw). Then, you have to multiply again by the number of harmonics. So with the defaults settings, you have 36 little guys doing the hard work to let you rip some good FPV !
so cool to hear a French speaking English! So I'm learning twice! I'm curious to know what you do as a student and where do you get all this knowledge that you share on the net? Thank you for this valuable initiative for us who are interested in understanding the art of tuning quadcopters.
Hi, thank you very much! I graduated in 3D animation 8 years ago but I work as a videographer. The way I learn about tuning quads is by collecting all the information online: from other RUclipsrs, Facebook groups, Github, forums... and then I test it by myself and compare the results.
What about rc filter tuning? Gyro and RC are the two inputs to the system that we can filter. Garbage in, garbage out you know? With good gyro traces and good rc traces, pid tuning will be easy (assuming we were careful about filter latency in our setup)
Very good point ! I am actually very interested in the RC input and I would definitely talk about that before PID tuning. I have experienced a case of RC input generating some overshoot, but I need to experiment more and get some consistency in the logs to explain how to address this problem. The good thing with RC is it's more straightforward and the results are easily measurable.
Super interesting video! Thanks for giving a full overview of the topic. Is it possible to calculate the frequency range that a motor will occupy? Like if you know kv, voltage, and # of magnet pairs can you estimate the frequency range being 150-600hz or something?
It is a very good question! I actually had to check online since I'm not too confident in my physics knowledge. And it is very simple! RPM is already the frequency of the vibration. But since it is a rotation per MINUTE, you have to divide it by 60 to have a frequeny in seconds, and you've got Hertz. Knowing the RPM of your motor is voltage * Kv * motor output percentage. To understand better why RPM causes vibration, it is simply because we are not in a perfect world. No motor is perfectly balanced. When you multiply the tiniest imperfection by the huge speed, you've got a vibration!
@@LenordeFPV Thanks for taking the time to explain it! I wasn't sure if you'd have to account for the number of motor poles or if it just makes the vibration once per rotation. But this makes sense and gives values that you'd expect to see. Appreciate it man!
Hey hey, i know its not easy but it would be sooo cool if you could do an explenationvideo of all the PID Tuning Sliders in BF 4.3. Because Chris Rosser is doing a Bachelor Thesis out of this. But i can understand. Its maybe not that easy to explain for dummies. Thanks a lot!
Hi! I would love to explain PID after filters. But indeed, it is hard to make a "simple" version of the subject. I have a few ideas to keep it straightforward, but it will require some testing on different quadcopters. The problem is always to make it work for everybody in every situation! ;) I'm sure you will eventually get it!
Thanks for your videos brother 👍👍 You are very good in explaining the toughest things in simplest way Sometimes better than others who are doing this for years. As I recently shifted from kiss setup to beta flight. I was facing lots of problems in tuning my quad (5inch) There are so many things and parameters in beta flight which i don't understand and even in blackbox log i am not able to do much Can you make one big tutorial for the ones who are new to beta flight How to setup and what are the steps to tuning pid and filters Sliders are hard to tune to get the locked feel because it changes all the three axis simultaneously and I am not used to it What is antigravity ? Airmode ? D min I term relax ? My quad is not holding its attitude while dropping when the throttle is cut off. What should I do ?? I got frustrated from beta flight I want tight feeling quad but not able to achieve it. Please help 🙏
Hey! Getting into Betaflight is not easy, but don't worry, it comes very quickly too. Airmode is what you want to activate so your quad doesn't cut the motors when the throttle is at zero. It will always keep the motors spinning at idle to keep control of your quad. Antigravity is not a settings that makes a huge difference at first. You should come back to it later, when you fully understand PID. It is designed to boost the I value during throttle punches. D-Min is a value used for "dynamic" D value. It will go to that value when D is not required (it keeps the motors cool) and it will increase to your actual D value when necessary. Previously, the D value was always at the maximum and it worked well too. D-Min only prevents your motors for warming up unnecessarily. Increase it and decrease it proportionally to your D. For the tight feeling, that's quite a journey sometimes. You will need to use PID Toolbox for the best results. Check out their RUclips channel PIDtoolbox for good tips.
@@LenordeFPV thanks bro for soon reply ❤️ I tried to learn some of these terms One thing I noticed today while flying that my quad hold its attitude while free falling when throttle is chopped to low But when the throttle stick is completely lowered the quad falls like brick wobbling without holding attitude I came to know that antigravity is responsible for attitude hold by boosting the i terms values. But why it is not working when the throttle stick is completely down ? Is something related to throttle min command?
@@Bzl_777 Hi! You have to activate "Airmode" in the configuration page. Antigravity is a misleading term, and is not responsible for that at all. Airmode can also be used on a switch if you prefer, by going to the "modes" page.
Hi i just build my toothpick 3inch with stock betaflight 4.2.3 and 16.7 blhelli s it is my first build and i was getting hot motor on both back motor and warm-hot motor on front i have set the throttle limit to scale 50% cause i am not in very big area，but the motor is still hot i am flying on 3inch toothpick frame 5200kv 1204 flash hobby motor 3016 3blade gnb 500 3s jhemcu f405 pro all up weight is around 120g
originally throttle limit 50% change (scale) stock bf 4.2.8 stock esc 16.7 >hot motor, very shaky footage 1st try albert kim setting flash 16.79 48khz esc (bootup sound got change, means successful?) dshot_burst=off, schedule_optimizer_ rate=on (not sure what it does) turn on bidirectional dshot, 12motor poles, motor error rate = 0% harmonics=1 frequency 100, dynamic notch fliter width=0%, Q=120, min=90, max350 follow >motor less hot, but sill wiggle alot when increase throttle 2nd try uav setting Esc timing = Medium-High, set thrust_linear = 25 PD balance0.9, PD gain 1.2, stick respond gain 1.2, Dmin off fliter slider both 1.1 harmonics=1 frequency 100, dynamic notch fliter width=0%, Q=250, min=150, max350 >Motor get abit more cooler, but still camera still wiggle change canopy from tpu to petg >way lesser wiggle and motor getting more cooler, but still when doing punchup you can see the high-frequency vibration what should i do？
Hi! If your back motors are hotter, it can be caused by your center of gravity. Try to balance your quad on its center by moving the battery towards the front. Small motors are usually hotter than bigger ones. As long as it doesn't hurt when you touch them, it should be ok. You can still add a bit of filtering to prevent them from heating, but it will probably result in more wiggles, which is your second problem. What firmware did you install on your ESC to get RPM Filter? You may want to do a bit of blackbox to see where your noise is situated. Maybe the Dynamic Filter can be adjusted in your case. If your FC doesn't have internal memory for logging, you can get an OpenLager to record the blackbox. It is also interesting to post those files on the Betaflight BlackBox Log Review Facebook group, since it is very hard to help you based on your settings only.
I have been working on different projects at the same time but I never stopped writing, researching and testing for this video and the next ones. I hope to be able to finalize and publish videos much quicker in the future! 😉 (In my head, I was never "gone"... 😅)
@@LenordeFPV in my head I have you completely forgotten and how filtering stuff works. For me even with your kinda excellent noob guides it's pretty hard to understand and remember how this filtering stuff works :>...
@@dgfpv1988 Filters are not the easiest thing, it can take a bit of time to understand everything. I'm sure you'll get it soon! You can still re-watch my previous videos 😁 Also, don't forget to practice. Record some logs and try reading them !
![Twenty One Pilots - “The Line” (from Arcane Season 2) [Official Music Video]](http://i.ytimg.com/vi/E2Rj2gQAyPA/mqdefault.jpg)
Beautifully explained. Very easy and simple terms. Other “big shot” RUclipsrs flex their knowledge with big words. Thinking they look cool.
Wow. I think this is the clearest presentation on this topic I have seen.
Finally understand it visually! Thx.
You can debate here the fact that I use "RPM Filters" in the plural form. I forgot it was written differently in Betaflight, but hey! There ARE multiple filters implied, so am I really wrong? 😁
Useless math not discussed in the video : when I mention the 4 dynamic notch filters, you have to multiply this number by 3: one set for each axis (roll, pitch, yaw). Then, you have to multiply again by the number of harmonics. So with the defaults settings, you have 36 little guys doing the hard work to let you rip some good FPV !
Thank you, your explaination is very detail and clear.
Simply awesome explanation of this topic! Hands up Mate! Best one on YT i have seen!
Thank you very much!
Realy great video with great explanation!!!!
Thank you, this made it much more clear why and what these filters are.
Thank you very much 😃
Simply perfect explanation😃 well done thanks
Thank you very much ! 😁
so cool to hear a French speaking English! So I'm learning twice!
I'm curious to know what you do as a student and where do you get all this knowledge that you share on the net?
Thank you for this valuable initiative for us who are interested in understanding the art of tuning quadcopters.
Hi, thank you very much! I graduated in 3D animation 8 years ago but I work as a videographer.
The way I learn about tuning quads is by collecting all the information online: from other RUclipsrs, Facebook groups, Github, forums... and then I test it by myself and compare the results.
Could you make a practical tuning video also?... Wit pid tuning would be nice!
Yes, I really want to do that after the filters series!
If the RPM filter consists of 4 individual notch filters, does that mean that the RPM filter with 3 harmonics is then 12 individual notch filters?
Explained very well!
Thank you !
good job explaining how they work.
Thank you very much !
What about rc filter tuning? Gyro and RC are the two inputs to the system that we can filter. Garbage in, garbage out you know? With good gyro traces and good rc traces, pid tuning will be easy (assuming we were careful about filter latency in our setup)
Very good point ! I am actually very interested in the RC input and I would definitely talk about that before PID tuning. I have experienced a case of RC input generating some overshoot, but I need to experiment more and get some consistency in the logs to explain how to address this problem.
The good thing with RC is it's more straightforward and the results are easily measurable.
Brilliant, thankyou! So nicely explained
Thank you very much 😃
Waiting for more videos 😁
There will be more! I know it's been a while, but I still coudn't find time to make some. 😉
Thanks, great explanation!
Thank you very much! I love your content, thanks for the knowledge 😉
Excelent video!
Thank you!!
Thanks for watching!
thank you alot for such a pretty explained information! please, go on. its a pleasure to watch your work
Thank you very much, I'm glad you liked it!
You can use rpm filter on blheliS if your fc supports dshot600
Do you mean with BlHeli software or another one? I haven't used BlHeli_S ESC in a while... 😉
Are you not able to change the rpm notch q anymore? Couldn't figure out wht the cli command wouldn't work
Super interesting video! Thanks for giving a full overview of the topic. Is it possible to calculate the frequency range that a motor will occupy? Like if you know kv, voltage, and # of magnet pairs can you estimate the frequency range being 150-600hz or something?
It is a very good question! I actually had to check online since I'm not too confident in my physics knowledge. And it is very simple!
RPM is already the frequency of the vibration. But since it is a rotation per MINUTE, you have to divide it by 60 to have a frequeny in seconds, and you've got Hertz.
Knowing the RPM of your motor is voltage * Kv * motor output percentage.
To understand better why RPM causes vibration, it is simply because we are not in a perfect world. No motor is perfectly balanced. When you multiply the tiniest imperfection by the huge speed, you've got a vibration!
@@LenordeFPV Thanks for taking the time to explain it! I wasn't sure if you'd have to account for the number of motor poles or if it just makes the vibration once per rotation. But this makes sense and gives values that you'd expect to see. Appreciate it man!
Great video ! Trying to eliminate wind wobbles for a 7 inch here 🤯 .Subbed.
Thanks a lot and good luck with the 7 inch. Make sure the arms are very stiff or they will generate some wobble.
Great explanation
Thanks 😀
Hey hey, i know its not easy but it would be sooo cool if you could do an explenationvideo of all the PID Tuning Sliders in BF 4.3. Because Chris Rosser is doing a Bachelor Thesis out of this. But i can understand. Its maybe not that easy to explain for dummies. Thanks a lot!
Hi! I would love to explain PID after filters. But indeed, it is hard to make a "simple" version of the subject. I have a few ideas to keep it straightforward, but it will require some testing on different quadcopters. The problem is always to make it work for everybody in every situation! ;)
I'm sure you will eventually get it!
Very clear explanation! Subbed!
Hey! Thank you very much and sorry for the late answer 😅
Thanks for your videos brother 👍👍
You are very good in explaining the toughest things in simplest way
Sometimes better than others who are doing this for years.
As I recently shifted from kiss setup to beta flight. I was facing lots of problems in tuning my quad (5inch)
There are so many things and parameters in beta flight which i don't understand and even in blackbox log i am not able to do much
Can you make one big tutorial for the ones who are new to beta flight
How to setup and what are the steps to tuning pid and filters
Sliders are hard to tune to get the locked feel because it changes all the three axis simultaneously and I am not used to it
What is antigravity ? Airmode ?
D min
I term relax
?
My quad is not holding its attitude while dropping when the throttle is cut off.
What should I do ??
I got frustrated from beta flight
I want tight feeling quad but not able to achieve it.
Please help 🙏
Hey!
Getting into Betaflight is not easy, but don't worry, it comes very quickly too.
Airmode is what you want to activate so your quad doesn't cut the motors when the throttle is at zero. It will always keep the motors spinning at idle to keep control of your quad.
Antigravity is not a settings that makes a huge difference at first. You should come back to it later, when you fully understand PID. It is designed to boost the I value during throttle punches.
D-Min is a value used for "dynamic" D value. It will go to that value when D is not required (it keeps the motors cool) and it will increase to your actual D value when necessary. Previously, the D value was always at the maximum and it worked well too. D-Min only prevents your motors for warming up unnecessarily. Increase it and decrease it proportionally to your D.
For the tight feeling, that's quite a journey sometimes. You will need to use PID Toolbox for the best results. Check out their RUclips channel PIDtoolbox for good tips.
@@LenordeFPV thanks bro for soon reply ❤️
I tried to learn some of these terms
One thing I noticed today while flying that my quad hold its attitude while free falling when throttle is chopped to low
But when the throttle stick is completely lowered the quad falls like brick wobbling without holding attitude
I came to know that antigravity is responsible for attitude hold by boosting the i terms values.
But why it is not working when the throttle stick is completely down ?
Is something related to throttle min command?
@@Bzl_777 Hi! You have to activate "Airmode" in the configuration page. Antigravity is a misleading term, and is not responsible for that at all.
Airmode can also be used on a switch if you prefer, by going to the "modes" page.
Thank you so much! 🙂
Thank you too! 😉
Hi i just build my toothpick 3inch with stock betaflight 4.2.3 and 16.7 blhelli s
it is my first build and i was getting hot motor on both back motor and warm-hot motor on front
i have set the throttle limit to scale 50%
cause i am not in very big area，but the motor is still hot
i am flying on
3inch toothpick frame
5200kv 1204 flash hobby motor
3016 3blade
gnb 500 3s
jhemcu f405 pro
all up weight is around 120g
originally
throttle limit 50% change (scale)
stock bf 4.2.8 stock esc 16.7
>hot motor, very shaky footage
1st try albert kim setting
flash 16.79 48khz esc (bootup sound got change, means successful?)
dshot_burst=off, schedule_optimizer_ rate=on (not sure what it does)
turn on bidirectional dshot, 12motor poles, motor error rate = 0%
harmonics=1 frequency 100, dynamic notch fliter width=0%, Q=120, min=90, max350
follow
>motor less hot, but sill wiggle alot when increase throttle
2nd try uav setting
Esc timing = Medium-High,
set thrust_linear = 25
PD balance0.9, PD gain 1.2, stick respond gain 1.2, Dmin off
fliter slider both 1.1
harmonics=1 frequency 100, dynamic notch fliter width=0%, Q=250, min=150, max350
>Motor get abit more cooler, but still camera still wiggle
change canopy from tpu to petg
>way lesser wiggle and motor getting more cooler, but still when doing punchup you can see the high-frequency vibration
what should i do？
Hi! If your back motors are hotter, it can be caused by your center of gravity. Try to balance your quad on its center by moving the battery towards the front.
Small motors are usually hotter than bigger ones. As long as it doesn't hurt when you touch them, it should be ok. You can still add a bit of filtering to prevent them from heating, but it will probably result in more wiggles, which is your second problem.
What firmware did you install on your ESC to get RPM Filter?
You may want to do a bit of blackbox to see where your noise is situated. Maybe the Dynamic Filter can be adjusted in your case. If your FC doesn't have internal memory for logging, you can get an OpenLager to record the blackbox. It is also interesting to post those files on the Betaflight BlackBox Log Review Facebook group, since it is very hard to help you based on your settings only.
Please make a PID tune after tuning the filter!!
I will most probably do that 😉
@@LenordeFPV I'll be waiting for that🙏
Good stuff!
Thanks 😀
thx for the info
No problem 😉
My quad had prop Wash.. thankss
I'm glad it helped !
👏👏👏👍👍👍
last video 9 mouths ago，what happened to u？
Who cares. He's back!
I have been working on different projects at the same time but I never stopped writing, researching and testing for this video and the next ones. I hope to be able to finalize and publish videos much quicker in the future! 😉
(In my head, I was never "gone"... 😅)
@@LenordeFPV in my head I have you completely forgotten and how filtering stuff works. For me even with your kinda excellent noob guides it's pretty hard to understand and remember how this filtering stuff works :>...
@@dgfpv1988 Filters are not the easiest thing, it can take a bit of time to understand everything. I'm sure you'll get it soon! You can still re-watch my previous videos 😁
Also, don't forget to practice. Record some logs and try reading them !
Great!
Thanks for share