JHEH743_HD Gyro Issue: Attitude Deflection Problem

by Alex Johnson 51 views

This article addresses a specific issue encountered with the JHEH743AIO flight controller, focusing on problems related to its gyroscopes. The primary concern revolves around attitude deflection observed when both gyroscopes are active. This in-depth exploration aims to provide a comprehensive understanding of the problem, potential solutions, and relevant discussions within the Betaflight community. Whether you're a seasoned FPV pilot or a newcomer to the world of drone technology, this guide offers valuable insights into troubleshooting and optimizing your flight controller setup.

Understanding the JHEH743_HD Gyro Issue

The JHEH743AIO flight controller, flashed with JHEH743_HD firmware, presents a unique challenge due to its dual 42688P gyroscope configuration. These gyroscopes are designed with their YAW axes positioned at 90 degrees to each other. The issue arises when both gyroscopes are activated simultaneously: the aircraft experiences a momentary attitude deflection. This problem does not occur when only one gyroscope is active, indicating a potential conflict or misconfiguration in the dual-gyro setup.

When delving into the specifics of the issue, it's crucial to recognize that gyroscopes are the heart of any flight controller, providing essential data for stabilization and control. The JHEH743AIO's dual-gyro system is intended to enhance redundancy and accuracy. However, the reported attitude deflection suggests a synchronization or interference problem between the two sensors. To address this, it's necessary to examine the firmware settings, gyroscope alignment, and potential hardware interactions.

Symptoms of the Problem

The primary symptom is a noticeable deflection in the aircraft's attitude when both gyroscopes are active. This deflection is momentary but can be disorienting and affect flight performance. The issue is not present when only one gyroscope is active, which helps narrow down the possible causes to the interaction between the two gyroscopes. This behavior suggests a potential conflict in the data being processed, possibly due to misaligned sensor orientations or firmware settings.

Initial Troubleshooting Steps

The user who reported the issue has already taken several important troubleshooting steps. These include flashing the firmware to version 4.5.3 and testing with the #master configuration via CLI. The problem persists across these attempts, indicating that it is not specific to a particular firmware version or configuration. The user also provided specific CLI commands that were used, which can help in replicating the issue and testing potential solutions.

Reproducing the Bug

To effectively address this issue, it's essential to be able to reproduce it consistently. The user provided specific steps and configurations that lead to the problem. These steps are crucial for other users and developers to replicate the issue and test potential solutions. By following these steps, the community can work together to identify the root cause and develop a fix.

The user replicated the issue by flashing the firmware to version 4.5.3 and observing the same problem when writing to #master via CLI. The following settings were applied:

set dyn_notch_count = 1
set dyn_notch_q = 500
set dshot_bidir = ON
set align_board_yaw = 45
set osd_vbat_pos = 2349
set osd_crosshairs_pos = 2286
set osd_ah_sbar_pos = 2287
set osd_ah_pos = 2159
set osd_current_pos = 2433
set osd_warnings_pos = 14730
set osd_avg_cell_voltage_pos = 2413
set osd_displayport_device = AUTO
set osd_canvas_width = 30
set osd_canvas_height = 13
set vcd_video_system = AUTO
set gyro_1_sensor_align = CW180
set gyro_1_align_yaw = 1800
set gyro_2_sensor_align = CW90
set gyro_2_align_yaw = 900
SAVE

These settings provide a baseline configuration for reproducing the issue. It's important to note that the gyroscope alignment settings (gyro_1_sensor_align, gyro_1_align_yaw, gyro_2_sensor_align, and gyro_2_align_yaw) are particularly relevant, as they define how the flight controller interprets the gyroscope data. Any discrepancies or errors in these settings could lead to the observed attitude deflection.

Expected Behavior and Potential Solutions

The expected behavior is that the aircraft maintains a stable attitude regardless of whether one or both gyroscopes are active. The fact that the issue only occurs when both gyroscopes are enabled suggests a problem with how the flight controller is handling the combined data from the two sensors. Potential solutions revolve around adjusting the gyroscope orientations, filtering, and firmware configurations.

The user specifically inquired about the possibility of changing the orientation of gyroscope 2 in the firmware. This is a valid consideration, as incorrect orientation settings can lead to misinterpretation of the gyroscope data. By adjusting the orientation, the flight controller might be able to correctly process the data from both gyroscopes and eliminate the attitude deflection.

Potential Solutions

  1. Firmware Adjustments: Modifying the firmware to correctly handle the dual-gyro setup is a primary avenue for resolution. This could involve adjusting the orientation settings, applying additional filtering to the gyroscope data, or implementing a more robust algorithm for combining the data from both sensors.
  2. Gyroscope Alignment: Ensuring that the gyroscope alignment settings in the firmware match the physical orientation of the gyroscopes on the flight controller is crucial. Any discrepancies can lead to incorrect attitude calculations. The provided settings indicate that gyro_1_sensor_align is set to CW180, gyro_1_align_yaw to 1800, gyro_2_sensor_align to CW90, and gyro_2_align_yaw to 900. These values should be carefully reviewed and adjusted if necessary.
  3. Filtering: Applying appropriate filtering to the gyroscope data can help reduce noise and interference. Betaflight offers various filtering options, such as dynamic notch filters and low-pass filters, which can be configured via the CLI or the Betaflight Configurator. Experimenting with different filter settings might help mitigate the attitude deflection issue.
  4. Hardware Inspection: While less likely, a hardware issue could also be contributing to the problem. Inspecting the flight controller for any physical damage or loose connections is a good practice. Additionally, ensuring that the gyroscopes are properly mounted and not subject to excessive vibration can help rule out hardware-related causes.

Support ID and Flight Controller Information

The user provided a Support ID (9f94b08d-47d7-412f-bdfe-9e547e0b0bbe), which can be used to access additional diagnostic information and logs. This information can be invaluable for developers and experienced users in diagnosing the issue. The flight controller in question is the JHEH743 AIO, which is a popular choice for its integrated features and compact design. Knowing the specific flight controller model helps in narrowing down the potential causes and solutions.

Additional Context and Considerations

The user did not provide information about other components or wiring configurations, which is not uncommon in initial problem reports. However, providing more details about the setup can help in identifying potential interactions or conflicts. For example, information about the ESCs, motors, and receiver could be relevant if the issue is related to electrical noise or interference.

Further Diagnostic Steps

To further diagnose the issue, consider the following steps:

  1. Isolate Gyroscopes: Try disabling one gyroscope at a time to see if the issue persists with only one gyroscope active. This can help determine if one of the gyroscopes is faulty or if the problem lies in the interaction between the two.
  2. Adjust Gyro Alignment: Experiment with different gyroscope alignment settings in the firmware. Try swapping the orientations or making small adjustments to the yaw angles to see if it affects the attitude deflection.
  3. Review Blackbox Logs: If possible, record blackbox logs during flights where the issue occurs. Blackbox logs provide detailed information about the flight controller's sensor data and control outputs, which can help identify anomalies or patterns.
  4. Check for Vibrations: Ensure that the flight controller is properly mounted and isolated from vibrations. Excessive vibrations can interfere with the gyroscope readings and lead to erratic behavior.

Community Discussion and Collaboration

The strength of the Betaflight community lies in its collaborative approach to problem-solving. Sharing experiences, insights, and potential solutions is crucial for resolving complex issues like the JHEH743_HD gyro problem. By engaging in discussions on forums, social media, and other platforms, users can leverage the collective knowledge of the community to find a solution.

Engaging with the Community

  1. Betaflight Forums: The Betaflight forums are a valuable resource for discussing issues and seeking help from experienced users and developers. Posting a detailed description of the problem, along with the steps taken to reproduce it and any relevant logs or configuration files, can attract helpful responses.
  2. Social Media: Platforms like Facebook, Reddit, and Discord host various FPV and drone communities where users share their experiences and offer assistance. Joining these groups and participating in discussions can provide valuable insights and potential solutions.
  3. GitHub: For more technical discussions and potential firmware-level solutions, GitHub is the platform of choice. Betaflight's GitHub repository is the central hub for bug reports, feature requests, and code contributions. Engaging in discussions on GitHub can help bring the issue to the attention of the developers.

Conclusion

The JHEH743_HD gyro problem, characterized by attitude deflection when both gyroscopes are active, presents a challenging but solvable issue. By understanding the symptoms, reproducing the problem, and exploring potential solutions, users can work towards resolving it. The Betaflight community plays a crucial role in this process, offering a wealth of knowledge and experience. Through collaborative efforts, firmware adjustments, gyroscope alignment, and filtering techniques, the JHEH743_HD can be optimized for stable and reliable flight performance.

By engaging with the community and leveraging available resources, users can overcome this issue and unlock the full potential of their JHEH743AIO flight controllers. Remember, thorough troubleshooting, detailed documentation, and collaborative discussion are key to resolving complex technical challenges in the FPV world. For more in-depth information on Betaflight and flight controller configurations, consider visiting the official Betaflight Wiki.