{"id":154,"date":"2016-04-19T22:49:04","date_gmt":"2016-04-20T04:49:04","guid":{"rendered":"http:\/\/www.blog.jay-greco.com\/wp\/?p=154"},"modified":"2016-04-19T22:49:04","modified_gmt":"2016-04-20T04:49:04","slug":"eachine-h8-quadcopter-custom-firmware-ratessettings","status":"publish","type":"post","link":"http:\/\/www.blog.jay-greco.com\/wp\/?p=154","title":{"rendered":"Eachine H8 Quadcopter Custom Firmware Rates\/Settings"},"content":{"rendered":"

I recently flashed my new Eachine H8 with some custom firmware (Silver13’s CFW, to be particular<\/a>) and I spent some time tuning it to be flyable in acro mode with the stock remote. Overall, I think this firmware is super cool and really strokes my roots as a hardware engineer and reverse engineer<\/a>. Not to mention, it flies as good or better than the stock firmware and is tons of fun to tinker with! Here’s my config.h file, for those who might be interested in a good place to start:<\/p>\n

\/\/config.h, edited by jaygreco\r\n\r\n#include \"defines.h\"\r\n\r\n\/\/ rate pids in pid.c\r\n\/\/ angle pids in apid.h ( they control the rate pids)\r\n\/\/ yaw is the same for both modes\r\n\r\n\/\/ not including the \"f\" after float numbers will give a warning\r\n\/\/ it will still work\r\n\r\n\/\/ rate in deg\/sec\r\n\/\/ for low rates ( acro mode)\r\n#define MAX_RATE 180.0f\r\n#define MAX_RATEYAW 200.0f\r\n\r\n\/\/ multiplier for high rates\r\n\/\/ devo\/module uses high rates only\r\n#define HIRATEMULTI 3.0f\r\n#define HIRATEMULTIYAW 4.0f\r\n\r\n\/\/ max angle for level mode (in degrees)\r\n\/\/ low and high rates(angle?)\r\n#define MAX_ANGLE_LO 35.0f\r\n#define MAX_ANGLE_HI 55.0f\r\n\r\n\/\/ max rate for rate pid in level mode\r\n\/\/ this should usually not change unless faster \/ slower response is desired.\r\n#define LEVEL_MAX_RATE_LO 360.0f\r\n#define LEVEL_MAX_RATE_HI 360.0f\r\n\r\n\/\/ disable inbuilt expo functions\r\n\/\/#define DISABLE_EXPO\r\n\r\n\/\/ use if your tx has no expo function\r\n\/\/ also comment out DISABLE_EXPO to use\r\n\/\/ -1 to 1 , 0 = no exp\r\n\/\/ positive = less sensitive near center \r\n#define EXPO_XY 0.6f\r\n#define EXPO_YAW 0.25f\r\n\r\n\r\n\/\/ Hardware gyro LPF filter frequency\r\n\/\/ gyro filter 0 = 260hz\r\n\/\/ gyro filter 1 = 184hz\r\n\/\/ gyro filter 2 = 94hz\r\n\/\/ gyro filter 3 = 42hz\r\n\/\/ 4 , 5, 6\r\n#define GYRO_LOW_PASS_FILTER 3\r\n\r\n\/\/ software gyro lpf ( iir )\r\n\/\/ set only one below\r\n\/\/#define SOFT_LPF_1ST_023HZ\r\n\/\/#define SOFT_LPF_1ST_043HZ\r\n\/\/#define SOFT_LPF_1ST_100HZ\r\n\/\/#define SOFT_LPF_2ND_043HZ\r\n\/\/#define SOFT_LPF_2ND_088HZ\r\n\/\/#define SOFT_LPF_4TH_088HZ\r\n\/\/#define SOFT_LPF_4TH_160HZ\r\n\/\/#define SOFT_LPF_4TH_250HZ\r\n#define SOFT_LPF_NONE\r\n\r\n\/\/ this works only on newer boards (non mpu-6050)\r\n\/\/ on older boards the hw gyro setting controls the acc as well\r\n#define ACC_LOW_PASS_FILTER 5\r\n\r\n\r\n\/\/ Headless mode\r\n\/\/ Only in acro mode\r\n\/\/ 0 - flip \r\n\/\/ 1 - expert\r\n\/\/ 2 - headfree\r\n\/\/ 3 - headingreturn\r\n\/\/ 4 - AUX1 ( gestures <<v and >>v)\r\n\/\/ 5 - AUX2+ ( none )\r\n\/\/ 6 - Pitch trims\r\n\/\/ 7 - Roll trims\r\n\/\/ 8 - Throttle trims\r\n\/\/ 9 - Yaw trims\r\n\/\/ 10 - on always\r\n\/\/ 11 - off always\r\n\/\/ CH_ON , CH_OFF , CH_FLIP , CH_EXPERT\r\n\/\/ CH_HEADFREE , CH_RTH , CH_AUX1 , CH_AUX2 , CH_AUX3 , CH_AUX4\r\n\/\/ CH_PIT_TRIM, CH_RLL_TRIM, CH_THR_TRIM, CH_YAW_TRIM\r\n#define HEADLESSMODE CH_OFF\r\n\r\n\r\n\/\/ rates \/ expert mode\r\n\/\/ 0 - flip \r\n\/\/ 1 - expert\r\n\/\/ 2 - headfree\r\n\/\/ 3 - headingreturn\r\n\/\/ 4 - AUX1 ( gestures <<v and >>v)\r\n\/\/ 5 - AUX2+ ( none )\r\n\/\/ 6 - Pitch trims\r\n\/\/ 7 - Roll trims\r\n\/\/ 8 - Throttle trims\r\n\/\/ 9 - Yaw trims\r\n\/\/ 10 - on always\r\n\/\/ 11 - off always\r\n\/\/ CH_ON , CH_OFF , CH_FLIP , CH_EXPERT\r\n\/\/ CH_HEADFREE , CH_RTH , CH_AUX1 , CH_AUX2 , CH_AUX3 , CH_AUX4\r\n\/\/ CH_PIT_TRIM, CH_RLL_TRIM\r\n#define RATES 1\r\n\r\n\r\n\/\/ level \/ acro mode switch\r\n\/\/ CH_AUX1 = gestures\r\n\/\/ 0 - flip \r\n\/\/ 1 - expert\r\n\/\/ 2 - headfree\r\n\/\/ 3 - headingreturn\r\n\/\/ 4 - AUX1 ( gestures <<v and >>v)\r\n\/\/ 5 - AUX2+ ( none )\r\n\/\/ 6 - Pitch trims\r\n\/\/ 7 - Roll trims\r\n\/\/ 8 - Throttle trims\r\n\/\/ 9 - Yaw trims\r\n\/\/ 10 - on always\r\n\/\/ 11 - off always\r\n\/\/ CH_ON , CH_OFF , CH_FLIP , CH_EXPERT\r\n\/\/ CH_HEADFREE , CH_RTH , CH_AUX1 , CH_AUX2 , CH_AUX3 , CH_AUX4\r\n\/\/ CH_PIT_TRIM, CH_RLL_TRIM\r\n#define LEVELMODE CH_AUX1\r\n\r\n\/\/ channel to initiate automatic flip\r\n#define STARTFLIP CH_FLIP\r\n\r\n\/\/ aux1 channel starts on if this is defined, otherwise off.\r\n#define AUX1_START_ON\r\n\r\n\/\/ use yaw\/pitch instead of roll\/pitch for gestures\r\n\/\/#define GESTURES_USE_YAW\r\n\r\n\/\/ comment out if not using ( disables trim as channels, will still work with stock tx except that feature )\r\n#define USE_STOCK_TX\r\n\r\n\/\/ automatically remove center bias ( needs throttle off for 1 second )\r\n#define STOCK_TX_AUTOCENTER\r\n\r\n\/\/ throttle angle compensation in level mode\r\n\/\/ comment out to disable\r\n#define AUTO_THROTTLE\r\n\r\n\/\/ enable auto throttle in acro mode if enabled above\r\n\/\/ should be used if no flipping is performed\r\n\/\/ 0 \/ 1 ( off \/ on )\r\n#define AUTO_THROTTLE_ACRO_MODE 0\r\n\r\n\r\n\/\/ enable auto lower throttle near max throttle to keep control\r\n\/\/ comment out to disable\r\n\/\/#define MIX_LOWER_THROTTLE\r\n\r\n\/\/ options for mix throttle lowering if enabled\r\n\/\/ 0 - 100 range ( 100 = full reduction \/ 0 = no reduction )\r\n#define MIX_THROTTLE_REDUCTION_PERCENT 100\r\n\/\/ lpf (exponential) shape if on, othewise linear\r\n\/\/#define MIX_THROTTLE_FILTER_LPF\r\n\r\n\/\/ battery saver ( only at powerup )\r\n\/\/ does not start software if battery is too low\r\n\/\/ flashes 2 times repeatedly at startup\r\n#define STOP_LOWBATTERY\r\n\r\n\/\/ under this voltage the software will not start \r\n\/\/ if STOP_LOWBATTERY is defined above\r\n#define STOP_LOWBATTERY_TRESH 3.3f\r\n\r\n\/\/ voltage too start warning\r\n\/\/ volts\r\n#define VBATTLOW 3.5f\r\n\r\n\/\/ compensation for battery voltage vs throttle drop\r\n\/\/ increase if battery low comes on at max throttle\r\n\/\/ decrease if battery low warning goes away at high throttle\r\n\/\/ in volts\r\n#define VDROP_FACTOR 0.60f\r\n\r\n\/\/ voltage hysteresys\r\n\/\/ in volts\r\n#define HYST 0.10f\r\n\r\n\r\n\/\/ enable motor filter\r\n\/\/ hanning 3 sample fir filter\r\n#define MOTOR_FILTER\r\n\r\n\r\n\/\/ clip feedforward attempts to resolve issues that occur near full throttle\r\n\/\/#define CLIP_FF\r\n\r\n\/\/ motor transient correction applied to throttle stick\r\n\/\/#define THROTTLE_TRANSIENT_COMPENSATION\r\n\r\n\/\/ motor curve to use\r\n\/\/ the pwm frequency has to be set independently\r\n#define MOTOR_CURVE_NONE\r\n\/\/#define MOTOR_CURVE_6MM_490HZ\r\n\/\/#define MOTOR_CURVE_85MM_8KHZ\r\n\/\/#define MOTOR_CURVE_85MM_32KHZ\r\n\r\n\/\/ pwm frequency for motor control\r\n\/\/ a higher frequency makes the motors more linear\r\n\/\/#define PWM_490HZ\r\n\/\/#define PWM_8KHZ\r\n#define PWM_16KHZ\r\n\/\/#define PWM_24KHZ\r\n\/\/#define PWM_32KHZ\r\n\r\n\/\/ failsafe time in uS\r\n#define FAILSAFETIME 1000000 \/\/ one second\r\n\r\n\r\n\/\/ level mode \"manual\" trims ( in degrees)\r\n\/\/ pitch positive forward\r\n\/\/ roll positive right\r\n#define TRIM_PITCH 0.0f\r\n#define TRIM_ROLL 1.0f\r\n\r\n\r\n\/\/ ########################################\r\n\/\/ things that are experimental \/ old \/ etc\r\n\/\/ do not change things below\r\n\r\n\/\/ invert yaw pid for hubsan motors\r\n\/\/#define INVERT_YAW_PID\r\n\r\n\/\/some debug stuff\r\n\/\/#define DEBUG\r\n\r\n\/\/ disable motors for testing\r\n\/\/#define NOMOTORS\r\n\r\n\/\/ enable serial out on back-left LED\r\n\/\/#define SERIAL\r\n\r\n\r\n\/\/ enable motors if pitch \/ roll controls off center (at zero throttle)\r\n\/\/ possible values: 0 \/ 1\r\n#define ENABLESTIX 0\r\n\r\n\/\/ only for compilers other than gcc\r\n#ifndef __GNUC__\r\n\r\n#pragma diag_warning 1035 , 177 , 4017\r\n\r\n#pragma diag_error 260\r\n\r\n#endif\r\n\/\/ --fpmode=fast ON<\/pre>\n","protected":false},"excerpt":{"rendered":"
I recently flashed my new Eachine H8 with some custom firmware (Silver13’s CFW, to be particular) and I spent some time tuning it to be flyable in acro mode with the stock remote. Overall, I think this firmware is super cool and really strokes my roots as a hardware engineer and reverse engineer. Not to … <\/p>\n
Continue reading “Eachine H8 Quadcopter Custom Firmware Rates\/Settings”<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":155,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","enabled":false},"version":2}},"categories":[20,9],"tags":[48,42,46,43,45,47,44],"class_list":["post-154","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-electrical-engineering","category-projects","tag-custom-firmware","tag-eachine-h8","tag-pids","tag-quadcopter","tag-rates","tag-settings","tag-toy"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"https:\/\/i0.wp.com\/www.blog.jay-greco.com\/wp\/wp-content\/uploads\/2016\/04\/Screen-Shot-2016-04-19-at-10.47.57-PM.png?fit=779%2C173","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p755Zm-2u","jetpack-related-posts":[],"_links":{"self":[{"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=\/wp\/v2\/posts\/154"}],"collection":[{"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=154"}],"version-history":[{"count":1,"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=\/wp\/v2\/posts\/154\/revisions"}],"predecessor-version":[{"id":156,"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=\/wp\/v2\/posts\/154\/revisions\/156"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=\/wp\/v2\/media\/155"}],"wp:attachment":[{"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=154"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=154"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.blog.jay-greco.com\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=154"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}