iNavFlight
Autotrim
Small change suggested. Disable continuous auto trim for auto launch mode.
I did something a little dumb that found this little snag. With continuous auto trim enabled, I had my craft sitting on the ground not level. I enabled launch mode but did not arm it. With a nav mode selected it appears that inav trimmed in an attempt to correct the roll axis. So when I armed and launched I had a severe roll trimmed into the craft that the launch mode did not level from.
Craft was sitting on the ground for approx 5 or 6mins in launch mode but unarmed.
After changing centre points back to 1500 in inav configurator, and launching again it launched perfectly.
Rather than basing it on autolaunch. Maybe it should check to see if the aircraft is flying before trimming.
That would work too.
-------- Original message -------- From: Darren Lines @.> Date: 6/01/25 1:12 am (GMT+12:00) To: iNavFlight/inav @.> Cc: Mclags @.>, Author @.> Subject: Re: [iNavFlight/inav] Autotrim (Issue #10575)
Rather than basing it on autolaunch. Maybe it should check to see if the aircraft is flying before trimming.
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Thanks for bringing this up. Same thing happened to me, I had to go back and manually set all my trims again, then send it up. Otherwise it was trying to bail hard to the left.
Maybe it can use GPS data to confirm movement?
Not all aircraft have a GPS. There is a test within the firmware to estimate the aircraft is flying.
This shouldn't happen according to the code. Continuous Servo Autotrim is only active when Armed, it does nothing otherwise. Even if Armed it only trims when the plane is flying level in pitch and roll and also only if there's a valid GPS heading which means the plane needs to be flying with enough speed for the GPS to register a heading. So it's hard to see that the problem here was caused by Autotrim.
I am able to replicate this. Plane on ground, in a nav mode, disarmed, push one wing down and hold it, can see the control surfaces slowly moving to counter the roll. Very slowly but they do move further and further from set mid point.
-------- Original message -------- From: breadoven @.> Date: 7/01/25 11:11 am (GMT+12:00) To: iNavFlight/inav @.> Cc: Mclags @.>, Author @.> Subject: Re: [iNavFlight/inav] Autotrim (Issue #10575)
This shouldn't happen according to the code. Continuous Servo Autotrim is only active when Armed, it does nothing otherwise. Even if Armed it only trims when the plane is flying level in pitch and roll and also only if there's a valid GPS heading which means the plane needs to be flying with enough speed for the GPS to register a heading. So it's hard to see that the problem here was caused by Autotrim.
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I can't replicate it. I had launch mode enabled via switch, Continuous Servo Trim enabled, Poshold mode enabled and the plane was disarmed. There's no servo movement other than the usual Acro induced movement when you move the plane around. If you leave it static with some roll angle the servos don't move and the trims don't change.
You'd need to provide a Diff to see if there's some setting causing this. Which Nav mode was enabled ?
Manual mode Auto launch enabled Still disarmed Trims start moving.
I'll post my diff tomorrow afternoon.
-------- Original message -------- From: breadoven @.> Date: 8/01/25 1:00 am (GMT+12:00) To: iNavFlight/inav @.> Cc: Mclags @.>, Author @.> Subject: Re: [iNavFlight/inav] Autotrim (Issue #10575)
I can't replicate it. I had launch mode enabled via switch, Continuous Servo Trim enabled, Poshold mode enabled and the plane was disarmed. There's no servo movement and the trims don't change.
You'd need to provide a Diff to see if there's some setting causing this. Which Nav mode was enabled ?
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@Mclags Any update on the diff?
For documentation I link this bug here but that should have nothing to do with your issue. https://github.com/iNavFlight/inav/issues/9912
Sorry guys, life been getting in the way of the hobbies. Diff below
diff
version
INAV/MATEKF722WPX 7.0.0 Dec 5 2023 / 10:37:25 (895a4f31)
GCC-10.3.1 20210824 (release)
start the command batch
batch start
resources
Timer overrides
Outputs [servo]
servo 2 1000 2000 1518 -100 servo 3 1000 2000 1518 -100 servo 4 1000 2000 1464 -100 servo 5 1000 2000 1536 100
safehome
features
feature -TX_PROF_SEL feature MOTOR_STOP feature GPS feature LED_STRIP feature PWM_OUTPUT_ENABLE feature FW_AUTOTRIM
beeper
blackbox
blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox -GYRO_RAW blackbox -PEAKS_R blackbox -PEAKS_P blackbox -PEAKS_Y
Receiver: Channel map
map RETA
Ports
serial 2 33554432 115200 115200 0 115200 serial 3 2 115200 115200 0 115200 serial 4 4194304 115200 115200 0 115200 serial 5 0 115200 115200 0 115200
LEDs
led 0 0,0::G:0 led 1 1,0::A:0 led 2 2,0::A:0 led 3 3,0::A:0 led 4 4,0::A:0 led 5 5,0::A:0 led 6 6,0::A:0 led 7 7,0::G:0
LED color
LED mode_color
mode_color 6 0 2 mode_color 6 1 6
Modes [aux]
aux 0 0 0 1500 1900 aux 1 12 1 900 1100 aux 2 53 1 1500 1700 aux 3 11 1 1700 1900 aux 4 10 1 1900 2100 aux 5 21 1 1300 1500 aux 6 36 3 1725 2100
Adjustments [adjrange]
Receiver rxrange
temp_sensor
Mission Control Waypoints [wp]
#wp 0 invalid
OSD [osd_layout]
osd_layout 0 0 48 4 H osd_layout 0 1 1 13 H osd_layout 0 2 0 0 V osd_layout 0 6 47 17 V osd_layout 0 7 24 16 V osd_layout 0 9 2 9 V osd_layout 0 11 3 16 V osd_layout 0 12 1 11 H osd_layout 0 13 3 10 V osd_layout 0 14 47 5 V osd_layout 0 15 46 9 V osd_layout 0 22 26 2 V osd_layout 0 23 3 2 V osd_layout 0 28 24 10 H osd_layout 0 30 12 14 V osd_layout 0 31 47 6 V osd_layout 0 32 2 17 V osd_layout 0 35 2 14 V osd_layout 0 38 2 15 V osd_layout 0 40 3 1 V osd_layout 0 41 15 0 V osd_layout 0 42 36 0 V osd_layout 0 62 10 11 H osd_layout 0 63 10 10 H osd_layout 0 97 21 0 V osd_layout 0 110 47 4 V
Programming: logic
Programming: global variables
Programming: PID controllers
master
set gyro_main_lpf_hz = 25 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 30 set gyro_zero_x = -25 set gyro_zero_y = -20 set gyro_zero_z = -37 set ins_gravity_cmss = 339.400 set acc_hardware = MPU6000 set acczero_x = 96 set acczero_y = -42 set acczero_z = 1 set accgain_x = 4067 set accgain_y = 4097 set accgain_z = 4058 set align_mag = CW270FLIP set mag_hardware = NONE set align_mag_roll = 10 set align_mag_pitch = -1800 set align_mag_yaw = 2700 set baro_hardware = DPS310 set rssi_channel = 8 set rssi_min = 50 set rssi_max = 0 set serialrx_provider = CRSF set motor_pwm_protocol = STANDARD set failsafe_procedure = RTH set servo_protocol = SBUS_PWM set small_angle = 180 set applied_defaults = 3 set gps_sbas_mode = SPAN set airmode_type = STICK_CENTER_ONCE set nav_wp_radius = 1500 set nav_wp_max_safe_distance = 500 set nav_rth_climb_first = ON_FW_SPIRAL set nav_rth_allow_landing = FS_ONLY set nav_rth_alt_mode = MAX set nav_rth_altitude = 5000 set nav_fw_bank_angle = 25 set nav_fw_control_smoothness = 2 set nav_fw_launch_max_angle = 75 set nav_fw_launch_motor_delay = 100 set nav_fw_launch_end_time = 5000 set nav_fw_launch_timeout = 30000 set nav_fw_launch_max_altitude = 5000 set nav_fw_launch_climb_angle = 25 set osd_video_system = AVATAR set osd_alt_alarm = 1000 set osd_dist_alarm = 10000 set osd_hud_radar_disp = 4 set osd_hud_radar_range_min = 10 set i2c_speed = 800KHZ set name = CLOUDS
mixer_profile
mixer_profile 1
set platform_type = AIRPLANE set has_flaps = ON set model_preview_type = 28 set motorstop_on_low = ON
Mixer: motor mixer
mmix reset
mmix 0 1.000 0.000 0.000 0.000 mmix 1 1.000 0.000 0.000 0.000
Mixer: servo mixer
smix reset
smix 0 2 0 70 0 -1 smix 1 3 0 70 0 -1 smix 2 4 1 45 0 -1 smix 3 5 1 45 0 -1 smix 4 7 10 -100 0 -1 smix 5 8 15 100 0 -1 smix 6 4 2 45 0 -1 smix 7 5 2 -45 0 -1
profile
profile 1
set fw_p_pitch = 15 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 80 set fw_p_roll = 15 set fw_i_roll = 3 set fw_d_roll = 7 set fw_ff_roll = 100 set fw_p_yaw = 20 set fw_i_yaw = 0 set fw_d_yaw = 20 set fw_ff_yaw = 100 set max_angle_inclination_rll = 450 set dterm_lpf_hz = 10 set fw_turn_assist_pitch_gain = 0.400 set nav_fw_pos_z_p = 25 set nav_fw_pos_z_d = 8 set nav_fw_pos_xy_p = 55 set d_boost_min = 1.000 set d_boost_max = 1.000 set rc_expo = 30 set rc_yaw_expo = 30 set roll_rate = 11 set pitch_rate = 9 set yaw_rate = 3
battery_profile
battery_profile 1
set battery_capacity = 10000 set battery_capacity_warning = 4000 set battery_capacity_critical = 3000 set throttle_idle = 5.000 set nav_fw_cruise_thr = 1350 set nav_fw_launch_idle_thr = 1050
save configuration
save
end the command batch
batch end
Any news on this?
Would love to keep servo auto trim enabled all the to ensure proper trim even if CG is moved or motor angle was adjusted.
