| Flight Controller | Weight | Notes | Board Pinout | Source |
|---|---|---|---|---|
| Omnibus | 3.2g | Image | Banggood | |
| NOXE (first version) | 3.4g | Image | ||
| NOXE v1 | 4.3g | untested | Image | Banggood |
| F4-XSD | 4.2g | RCGroups Post | Image | xt-xinte |
The firmware uses the Bayang protocol
- 8 digital aux channels
- 2 analog aux channels
- telemetry for battery voltage, packet count, PID tuning
- low latency 5 ms packet period
- autobind
via a SPI-connected XN297 or nRF24L01+ or nRF24L01+PA+LNA radio module.
| Receiver | Weight | Notes | Source |
|---|---|---|---|
| NRF24 Mini | 0.5g | How to add an wire antenna | use “nrf24l01 mini” as search term (Banggood) |
| NRF24 PA+LNA (GT-24) | 1.1g | How to add an U.FL antenna | use “GT-24” as search term (Banggood) |
| XN297 | Can be harvested from toy TX like H101, H8, … | ||
| XN297 DIY PCB | DIY PCB | ||
| XN297 | untested | Banggood |
| Configuration Type | Filename |
|---|---|
| Main Configuration | config.h |
| Battery Cell Count | battery.c |
| Receiver Module | see radio_config.txt |
| DShot Driver Selection | hardware.h |
| PID Configuration | |
| Basic PID Settings | config.h |
| PID Advanced Configuration | pid.c |
| PID Level Mode Configuration | angle_pid.c |
| DShot Driver Configuration | |
| Bidirectional DShot (RPM Filter) | drv_dshot_bidir.c |
| DMA DShot | drv_dshot_dma.c |
| Conventional DShot | drv_dshot.c |
The default configuration is setup for NRF24 modules. If using a NRF24 module with PA+LNA, it is recommended to adjust TX_POWER in config.h:
#define TX_POWER 1 // 0 .. 3 (use 1 when using an nRF24L01 PA+LNA module)If using a XN297 module, see radio_config.txt for configuration notes.
Make sure that the number of magnets on the motor bell is set correctly in drv_dshot_bidir.c:
#define MOTOR_POLE_COUNT 14 // usually on 22xx motors and above
// #define MOTOR_POLE_COUNT 12 // usually on 18xx motors and belowIf you don’t want to use Bidirectional DShot, you need to choose another driver in hardware.h:
#define DSHOT_DMA_BIDIR // needed for RPM_FILTER, 4k loop frequency max
// #define DSHOT_DMA_DRIVER // conventional Dshot, consumes less cycles, works for 8k loop frequency
// #define DSHOT_DRIVER // delay versionIn that case you also have to comment the RPM Filter in config.h:
//#define RPM_FILTER // requires DSHOT_DMA_BIDIR in hardware.h -- also ensure MOTOR_POLE_COUNT in drv_dshot_bidir.c is correct
//#define RPM_FILTER_HZ_MIN 100
//#define RPM_FILTER_2ND_HARMONIC false // note, that there are 12 notch filters (4 motors * 3 axes) per harmonic
//#define RPM_FILTER_3RD_HARMONIC true
//#define RPM_FILTER_Q 6 // -3dB bandwidth = f0 / Q -- but a higher Q also results in a longer settling time3D flying is enabled by default. If using a 2D setup, following changes are needed:
In the main config file (config.h):
//#define INVERTED_ENABLE
#define FN_INVERTED CH_OFF
//#define LEVEL_MODE_INVERTED_ENABLE // be careful when enabling thisIn the DShot configuration file (e.g. drv_dshot_bidir.c when using RPM Filter):
// Enable this for 3D. The 'Motor Direction' setting in BLHeliSuite must be set to 'Bidirectional' (or 'Bidirectional Rev.') accordingly:
//#define BIDIRECTIONALProps out configuration is enabled by default:
// Invert yaw pid. Necessary when spinning props outwards.
#define INVERT_YAW_PIDIf you are using Props in, just comment INVERT_YAW_PID to disable it:
// Invert yaw pid. Necessary when spinning props outwards.
//#define INVERT_YAW_PIDDefault rates are very high, adjust them if needed:
// rate in deg/sec for acro mode
#define MAX_RATE 1800
#define MAX_RATEYAW 1800By default, SilFware is setup for using Deviaton TX.
| Function | Default Channel |
|---|---|
| Throttle Kill Switch | DEVO_CHAN_5 |
| Inverted (3D) Mode | DEVO_CHAN_6 |
| LED on | DEVO_CHAN_7 |
| Rates | DEVO_CHAN_9 |
| Level Mode | DEVO_CHAN_10 |
| Motor Beeps | DEVO_CHAN_12 |
| Motors Test Mode | CH_AUX1 |
If you are using OpenTX with Multiprotocol Module, you probably want to replace DEVO_CHAN_x with MULTI_CHAN_x, e.g.:
#define THROTTLE_KILL_SWITCH MULTI_CHAN_5As of March 2021, Jumper T-Lite comes with Multiprotocol Module Firmware v1.3.1.78 installed.
For displaying PID Values, MPM firmware with at least v1.3.2.30 is needed (quoting from the release notes):
If supported by the Silverware telemetry the PID values are appearing as sensors: AccX=P, AccY=I, AccZ=D (you can rename the sensors after the discovery)
For updating the MPM firmware, see the MULTI-Module Documentation.
In config.h, comment this line:
//#define DISPLAY_MAX_USED_LOOP_TIME_INSTEAD_OF_RX_PACKETSA Devo 7E build and model file which is able to display PID values can be found in this post. Note that it will only display PIDs set via gestures, not when set via analog aux channels.
It is recommended to use STM32CubeIDE for compiling SilF4ware. Keil uVision can also be used, but it produces some non-working binary when using lot’s of RAM. Change FFT_SIZE in fft.h to 2048 when using Keil. Flashing can be done with betaflight-configurator. After compiling, the target files can be found in the “Release” directory.
When you are used to use other silverware branches, please note that the gestures for PID tuning are swapped.
| Gesture | Function |
|---|---|
| LRU | reboot flight controller |
| LRD | switch to DFU mode |
| LLU | switch to motors test mode |
| LLD | exit motors test mode |
| UUU | toggle autobind flag (remember to save with DDD) |
| UDD | switch to the next PID column |
| UDU | switch to the next PID row |
| DDD | save configuration |
PID_STICK_TUNING is a more comfortable alternative to PID_GESTURE_TUNING.
With the right stick the desired term is selected by moving and holding the stick to the corresponding position, while yaw stick movement changes its value. The rate of change is proportional to the yaw stick deflection, so coarse as well as fine changes are easy to make.
| P | I
| |
decrease ----+---- increase ----+----
| |
| * | D
* next axis
See this demonstration video on YouTube.
With default setup, when using LLU stick gesture (Left, Left, Up) SilF4ware switches into motor test mode (MOTORS_TO_THROTTLE). It can be used to verify that the configured motor order is correct, but also to check for bad/noisy props.
In motor test mode, push the stick in the corresponding direction, e.g. left up will make the motor spin which is configured as front left. LLD stick gesture (Left, Left, Down) turns this mode off again.
If you are used to other silverware branches, please note that with SilF4ware it is not needed to adjust the idle offset to make sure that only one motor spins.
If SilF4ware fails to start and the FC LED flashes, the following table can be used for troubleshooting:
| Flash count | Meaning |
|---|---|
| 2 | low battery at powerup - if enabled by config |
| 3 | radio chip not detected |
| 4 | Gyro not found |
| 5 | clock, interrupts, systick, bad code |
| 6 | flash write error |
| 7 | ESC pins on more than two distinct GPIO ports |
The blink codes are defined in usermain.c.
The variables aux_analog[ 0 ] and aux_analog[ 1 ] hold a value between 0.0 and 2.0 which can be used in various places in the code. Per default they are used to tweak Kp and Kd respectively. This is done in pid.c:
#define AA_pidkp ( x <2 ? pdScaleValue * aux_analog[ 0 ] : 1.0f ) // Scale Kp and Kd only for roll and pitch.
#define AA_pidki 1.0f
#define AA_pidkd ( x <2 ? pdScaleValue * aux_analog[ 1 ] : 1.0f ) // Scale Kp and Kd only for roll and pitch.If you want to use them for something else, change the define for AA_pidkp and AA_pidkd to look similar to the one for AA_pidki:
#define AA_pidkp 1.0f
#define AA_pidki 1.0f
#define AA_pidkd 1.0fNow you could use aux_analog[ 0 ] and aux_analog[ 1 ] for example to tune the filter frequency by adding it to config.h like this:
#define GYRO_LPF_2ND_HZ_BASE 400 * aux_analog[ 0 ]
#define GYRO_LPF_2ND_HZ_MAX 400 * aux_analog[ 1 ]Blackbox logging is possible with an external logging device. See details here
It’s possible to run 8k loop frequency with bidirectional Dshot even on STM32F411 boards.
Overclocking:
In drv_time.h increase SYS_CLOCK_FREQ_MHZ to 150
8k loop frequency:
In config.h set LOOPTIME to 125
necessary for 8k loop:
In drv_dshot_bidir.c use DSHOT 600