Betaflight gyro calibration reddit. If you are still having trouble, I would advise flashing Betaflight 4. (4. Sort by: Andy_Dread. Notice I'm not changing how the Traxxas Rustler works, just adding advanced FPV as bolt-on subsysterm. You have a high trust in cheap IMU :) . ago. If I roll the quad back and forth by hand while plugged into the configurator, the quad seems to 'lose' some angle over time. 3 When I did it was successful and I went to configure my 'hawk and noticed the Accelerometer and gyro calibration buttons greyed out. Then check the developer mode button and "Load unpacked extension". Integrated Yaw is a feature which corrects a fundamental issue with quad control: while the pitch and roll axis are controlled by the thrust differentials the props generate yaw is different. 2 is defualt setting. Jellible. The gyro calibration in Inav doesn't have a zeroing function, which can result in (trim) drift in Angle mode but is not an issue in Acro mode. I'm running a jbardwell fc with jbardwell 4 in 1 esc, spektrum DX6 radio. hi, yesterday i wanted to fly my mobula7 and noticed that there is a lot of yaw twitching. Streamfab is a movie and television download utility, by the creators of DVDFab. Which included few battery packs,extra props and BetaFPV Meteor75. 0. Dec 9, 2017 · Star 8k. like the quad just snaps 1 or 2 degrees to the right about every half a second and sometimes back to the left. Check motor temps, try to get a blackbox log. Go to Ports tab and note the UART SmartPort is on, and subtract 1 (e. ExpensiveCod6956. With 4K it's fine. Its on the motor tab. Open the ‘Receiver’ tab and plug in your drone battery and c hange the “Channel Map” to “JR / Spektrum / Graupner”. Gyro Temperature Compensation After each gyro calibration, the MPL will record the internal temperature. . 2, just to rule out a potential bug in the pre-release of 4. Try disabling the Accelerometer (in the Configuration tab), reboot the board, enable the accelerometer again, then calibrate it again (with the quad/board on a level surface. 1+) "RC_SMOOTHING_INFO" - Shows the detected RX frame rate. The stock setup was BF 4. Also lower the I and D gains on pitch and roll in order to tune P with minimal interference from I and D. Toggle the arm switch to arm. Had to do 30+ packs a day for 3 days. Now the FC shows up but says there is no Gyro detected and no RX detected. It's there because it needs to be called. The firmware on the FC is reading as version 4. To be more clear, I'm using. When you plug in your quad on betaflight and connect your quad to the transmitter (no battery connected) , You go on the receiver section of betaflight and on the botom right you should be able to see the quad moving when you tilt the gimbals on your transmitter (it's called preview) . You can recalibrate the sticks if its not 0. I just got a Cinelog25 GepRC, everything goes smoothly with the setup via Betaflight 10. this happens in acro as well as in horizon or angle mode. Gyro not calibrating or similiar #4732. • 4 yr. 8 (and previosly with 4. 0-RC3. 4, reduces the severity and duration of un-commanded severe yaw spins. 0, but there is no User1 mode. 42. 1, minimum cell voltage 3. Lost Accelerometer, Gyro, and Rx. If the quad on betaflight does drift check Disabled beeping on gyro calibration during boot; Added gyro overflow protection for some newer gyros (ICMxxx gyro series is known to show inversion due to overflow above +/-2000deg/sec) Added internal resistance adjustment for camera control; Show MSP version in cli; RC5 Bugs (see the Issues and Pull requests in Github for details) Feb 6, 2020 · But, if I plug in the battery, plug into BF and then unplug the battery, the gyro calibrates once the battery is unplugged. In most recent versions of Betaflight, it will default and lock to the frequency that the gyro runs best at (8KHz for the MPU6000, 3. The gyro should start working again. Check the stack mounting again make sure that is not too loose or too tight, Check the arms and make sure they are screwed in really tight. I decided to flash 4. It is important that the copter stay still on the ground until the three beeps sound, so that gyro calibration isn't thrown off. Closed. 1 more reply. No idea why it started to work, maybe picking the correct 4. I have similar issue with Flywoo Flylens 85. 3 and the pid loop frequency was set to 2khz and cpu load was 27%. It takes off normally and reacts to roll, pitch, and yaw, but the throttle is crazy. should i set this to 3. 4. Thanks. A lot of cameras have a VSens input wire that will show VBat on the cameras OSD. This is a very handy feature and allows easy to find variable names that can then be copy/pasted from the CLI display to the command line entry box. I am not new to drones but my knowled is extremely rusty. Mobula 6 Gyro and accelerometer not registering in betaflight. P of 4. 2. Yaw gyro changes happen primarily due to inertia when the RPM of the motors change. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. Good suggestion. 5 seconds of no motion state detection. It would seem to me (from what I am actually able to find on Google) that I may have to change the settings on my transmitter (FS-i6) to IBUS. Of course I always balance charge normally. "DSHOT_TELEMETRY_INFO" - Shows the DShot RPM bi-directional telemetry packet success for each ESC. Unfortunately it seems it is not the problem. When I try to do that though it asks me to select a channel and Sep 9, 2017 · Had a quick look into this. Posted by u/nicebane - 2 votes and 6 comments Check your motor poles is correct in configuration (look up or count your magnets on the bell), check in betaflight motors tab while spinning with props off for RPM data and no errors. This only works if the "Filter" RC signal smoothing type is selected in the Receiver tab, and both "Input Cutoff Reboot the flight controller for settings changes to take effect. I was wrong, the command for the dual gyro boards is gyro_to_use. Enable “I Understand” checkbox, and drag the last slider all the way up (M), this will bring all the sliders to maximum including motor 1 to 4. Turn on the RC TX and move the sticks all the way along both axes. 3] Discussion. The target has to have a command to use the gyro because it needs to use the gyro. Usually the quad will just fly away, or shut down with runaway warning. According to this line in your CLI dump, you have the Serial Provider set to CRSF in the Betaflight Receiver tab. Treat it the same you would an "RSSI critically low" warning. Apr 20, 2017 · I plug the boards into the computer flash the bios to Betaflight 3. I don't even get "custom defaults" prompt anymore. Note that nearly all barometer chips have the same i2c address. Does betaflight detect yaw correctly when you spin the quad manually? You can see the gyro response on one of the first tabs. g. Charged all my packs. According to the Betaflight Wiki: When powering up, gyro bias is calculated. 4 and higher, Configurator builds a custom firmware file 'in the cloud' and flashes it to your flight controller. 0: 128: 32 I had to replace the FC in my Meteor75 Pro and just programmed it from custom defaults and doing my settings. This threshold (default of 32) means how much average gyro reading could differ before re-calibration is triggered. Dont know what BetaFlight stick commands are? Watch this! Hey, thanks for the video ;-) I always was interested in the inflight acc calibration, but never found good information about in the web. Then that bullshit about centering a gyro, demonstrated via whacky antics on plexiglass. 1 again, it works perfectly. I'll try to flash esc. Newbie flashed Betaflight on DarwinFPV TinyApe and now Gyro and Accel are gone! Help! I just got my first quad, DarwinFPV TinyApe, and tried to update it to latest Betaflight firmware ( because of the SPI receiver), and when it flashed, Gyro and Accelerometer disappeared. e. Inav is very sluggish in Angle mode for some unexplainable reason, as if it has a ton of expo. If its just slowly going up, this isn't the issue. This community is for the FPV pilots on Reddit. Calibration will complete within . pivoted around multiple axes, NOT lining up with the main axes of the frame anymore. Interested as well. Pid and gyro should match what they're set to. Go back into the firmware flasher and in the middle drop down menu select OMNIBUSF4SD (Legacy). Defaults work fine for most HS1177-derivatives, if you have issues, try changing the key delay value first. Betaflight is the world's leading multi-rotor flight control software. Run away. A constant acceleration of yaw requires a constant rate of Once it connects to Betaflight again: Copy the CLI dump from the link into the CLI in Betaflight. I've run a few betaflight versions. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying Here, enthusiasts, hobbyists, and professionals gather to discuss, troubleshoot, and explore everything related to 3D printing with the Ender 3. I can fly low to the ground normally but after raising it doesn't lower the throttle even on the controller it is 0. If you are starting to get into the hobby, you might stumble across a tiny whoop as your first drone after some practice in the simulator. Was flying it and loving every second. 9. The gyro is working, since if I go back to 4. Antar_2. Jul 7, 2020 · version Betaflight / STM32F405 (S405) 4. After several data points the MPL Complete Mobula6 19000KV Configuration [Betaflight 4. Once a no motion state is detected the gyro calibration will trigger. Betaflight if you want to use 'bleeding' edge technology and don't mind possible flaws in implementation. 4. The more filtering you use the less noise will be let into the system, but that will reduce the overall responsitivity of the pid controller and provide less stability in prop wash scenarios for example. I flashed the firmware making sure it was the correct and latest version. However, the esc beeper still works and the motors work perfectly in the betaflight configurator, so I know the esc isnt just totally broken. Then when they were forced to release their source code, it was just a dumb lowpass. 1). Your idle % is too high. If the quad on betaflight does drift check On the other I got in Feb 2023, I'm using HOBBYWING_XROTORF7CONV in Betaflight 4. . So I go into the Modes tab to setup my receiver controls but there is no Acro Trainer mode to assign and I cant figure out why. In Betaflight I have telemetry on, CRSF set as the series receiver Inav and Betaflight fly pretty much the same in Acro mode. But when i went to fly the next day it wouldnt link up to my TX. Plug the Revo board in that i know the Accelerometer is disabled on and has been flying, and the model is still not moving when i move the quad around. So I'm kinda new to FPV. For 4. 3. Pushing the Limits of UAV Performance. 4 betaflight version (think it was Jan 2023) even better I spent a couple hours trying to get the Radiomaster controller binding, as it was wirking with the Betaflight. Do you know how to do this with Betaflight or is it a nonfunctional piece of software which only was used in in the times Feb 13, 2022 · Also, use a strong magnifying glass to carefully and thoroughly inspect the board for any minuscule solder balls, splatters of solder, tiny whiskers of wire, or other corrosion/debris that might be causing a short somewhere on the board and preventing the gyro from powering up. 0 running on Windows 10 Built 5 inch drone with SpeedyBee F405 V3 BLS 50A 30x30 FC&ESC Stack. The FC firmware NEEDS to know how the FC axes are This will get you back to the firmware your drone likely shipped with. 2 and an omnibusf4sd with an mpu6000, d shot 600 and 8k/8k. r/fpv. Set it to SBUS and don't forget to save. Even once it does calibrate I seem to be getting some slip on one of the axes. INAV autonomous flight however does use the compass and orientation very much matters. Usually, the gyro orientation on the FC is ink-marked by an arrow pointing forward. Enter and send command serialpassthrough 2 57600 (where '2' is the UART ID; remember, UART 3 is actually ID 2, UART 2 would be 1, and UART 1 would be 0 The flight controller and ESC are all good (motors spin and gyro is accurate). If you're on stock firmware then you still need to arm the board but vfas should update once you have. On the manufacturing site they recommended the firmware version I used and indicated the diff files were below. Reply. I tryed with different firmware, pid and settings templates but nothing. Dunno about GPS though. Oct 15, 2022 · I can confirm that the BMI270 has issues with gyro calibration, and that integration of the gyro data during rapid movements in level mode results in incorrect assessment of the movement of the quad, which is corrected once the quad slows down to less than 15 deg/s, causing a 'jump' in attitude. Type a "get" and part of a CLI command name (example: "get acc"). You can try flipping the value. when i plug the FC in the PC and start If you want to fly angle mode, you need to know how to calibrate and trim the accelerometer! Overview. For the gyro, make sure your flight controller is soft mounted parallel to the bottom plate (tight nuts and screws), make sure the quad is laying flat, and hit the "calibrate accelerometer" button on the Betaflight setup tab. Until it is armed you will only get a2 and rssi. I suppose you should check your pid rate: go to cli and type tasks. While I enjoyed features and performance that only later would be available in Cleanflight I had to live wit some of the bugs too. 3 and earlier, download the correct 'hex' file for your flight controller and flash it manually. The cause for the calibration beeps on startup not working (intermittently) is that the battery presence detection has been improved, and the limits for when the battery voltage is recognised as stable and cell count detection is done have been tightened. - After the drone flashes and reboots, click "Connect" in Betaflight configurator. Here, enthusiasts, hobbyists, and professionals gather to discuss, troubleshoot, and explore everything related to 3D printing with the Ender 3. 2 volts. In rare cases or due to space limitations, the flight controller needs to be positioned on the frame in awkward alignment, i. Set it up no problem. This post is intended for people who are starting with a Mobula 6 as their first drone and need some help with the setup. I don't think it's a betaflight issue because it still says "armed" on the OSD. I had a problem with it being wrong and causing runaways and shutdowns. Flashing obviously failed, as this is not Betaflight 4. Initially Raceflight claimed to have magical gyro filtering, that'd thwart any sort of vibrations and would even allow your quad fly smoothly with broken props. Cinelog25 gyro problem. For Betaflight 4. I just received my parcel today. 2KHz for the BMI270, etc) PID Loop Frequency The frequency at which the PID loop computations are done. - Go to CLI in the left hand pane. Bidirectional DShot, a new feature in Betaflight 4. Regardless, the gyro drift is normal and shouldn't affect flight. When the quad is static on a flat table the drone in setup "twitches" occasionally even though it isn't actually moving. I'm using an AIO BetaFPV F4 proRX FC. View community ranking In the Top 5% of largest communities on Reddit Help yaw is broken in betaflight Hey I just plugged my 5a aio elrs from betafpv and the roll and pitch works, but the yaw isn't moving when I move the drone. If your camera doesn't work, chances are you have to adjust values for key delay, reference voltage or internal resistance. The FLYWOOF7DUAL firmware does not recognize the gyro, as there must have been a change in gyros in the past year. I recently bought my first fpv drone (Mobula 6) and have managed to bind it to my controller when i plug it into betaflight, it doesnt register the motors, gyro, accelerometer or vtx. If you have ever had issues with your flight controller readying NO_GYRO in this video we walk through how to replace it yourself instead of throwing an expe It's the inherent "gyro drift" with most MEMS gyros found in FCs. For example, if a quadcopter clips a gate, tree, branch or other object and causes a high rate yaw spin, it may go into a 'never-ending' uncontrollable spin. During balance charging the charger puts in extra discharge-recharge cycles thus it may show more mAh put in than it actually did and make the measurement inaccurate. 2 - use the latest version of Betaflight configurator to properly installing the firmware. Jan 28, 2024 · Unplug LiPo from quad, connect USB from PC to FC. True heading accuracy cones only with a magnetometer but it has its own issues with sensitivity, noise and calibration. Dec 4, 2023 · Receiver. First of all, make sure resource list CLI command lists camera_control as allocated. 1, and make sure full chip erase is enabled. This is what I'm getting. Without the soft mounting I also could eliminate it on one by desoldering the gyro chip and replacing it with a brand new one. Using as low as possible Dterm can help too. That was an error, gyro would calibrate it seemed, but in betaflight it did not move smoothly in the screen that shows drone orientation. x which lets the flight controller receive accurate RPM telemetry over each motor's ESC signal line. Originally, this product was called DVDFab Downloader, but it was renamed on June 4, 2021 to Streamfab This is a community based support reddit, with no ties to the Streamfab/DVDFab organization. 1, and I've tried calibrating the escs using the "Motors" tab method (max motor command, then plug in lipo, wait for beeping to stop, reduce motor command to zero, wait for To install it, click on the green "clone or download" button and download all the files into a zip. Add a Comment. Try typing version as a command in CLI gyro twitching on Crazybee F4 SX 1280. Typically it makes a distinctive warbling noise and climbs If you're on opentx rather than the stock frsky firmware you need to arm the fc and then "discover sensors" in the appropriate menu of the model on the tx. gyro_calib_noise_threshold: When powering up, gyro bias is calculated. -----cetus x betaflight fc version only----- There is an issue using the newest version of Betaflight Configurator with the Cetus X. The board seems to be flashed with Betaflight 3. For example set baro_hardware = DPS310 will force Betaflight to use the driver for the DPS310 (obviously that driver must be included in the firmware in 4. edited. 5). Mobula6 - no gyro in betaflight. I ended up downloading the original firmware from BetaFPV and that fixed my gyro issue. In both cases, proper soft mounting fixed it. Whether you're looking for guides on calibration, advice on modding, or simply want to share your latest 3D prints on the Ender 3, this subreddit is your go-to hub for support and inspiration. You've almost certainly used the wrong firmware - the STM32F405 target is a generic target that won't have the PID Tuning (borrowed from Betaflights manual) Guide. Cleanflight calibrates the gyro automatically upon every power-up. (1) This may appear on the Betaflight OSD during flight, take it as a sign that your radio system is either faulty or you are flying at the edge of your range. Being an intermittent issue is a bad sign. The receiver is paired (I can see the transmitter in the crossfire menu), wired correctly, and the port is set to UART 2. 5 the pid loop frequency is stuck at 4khz and won't let me turn it down to 2khz. Each DShot frame from the FC gets acknowledged by a frame from the ESC containing the current eRPM. Easy to confuse the two :P That being said, I still don't think you can look at this as a toggle. Plug in your LiPo, your motors will beep for a few seconds. Usually the quad won't arm if this is the case, but you might want to check on the receiver tab what the value is. I configured it basicly setup my transmitter-fpv system Betaflight doesn't use the compass. 1. 5 Mar 16 2020 / 05:19:58 (d4e74e3) MSP API: 1. That should reset the FC back to factory settings, just like you pulled it out of the box for the first time. Hello everybody. Ensure that the slider in the GUI moves from 1000 to 2000 and centers on 1500. This guide will help you if you are having if your are having issues after updating your firmware, or other issues such as lost/incorrect configuration, erased your stock settings, or cannot BIND your flight Cleanflight if you want to use thoroughly tested code. Welcome to the Ender 3 community, a specialized subreddit for all users of the Ender 3 3D printer. That could eliminate the FC by connecting the camera and Vtx directly. I unplugged it for some reason I can’t remember then the next time I plugged it in the Gyro Original Post: Version: betaflight 10. 11 now, so I can use the default configuration, but when I flash it, I get the no_gyro error, it does not detect the gyro at all. Make sure the "gyro/PID tasks rate/hz is running at the specified rate. After updating to BF 4. The cli will return all CLI commands that have the name part with the current value plus what the valid value range or valid Names. Version 4. The FC wouldn't show up at all at first in BF. I've tried changing UARTS and I've also tried changing our the transmitted, but same results. I had to reflash. Select the folder you extracted from the zip, and your good to go! This new feature, enabled by default in betaflight 3. •. I already tried full chip erase too. The accelerometer is used to determine level, and is Long story short, I get no stick movement in betaflight. I think you got me wrong. Simonk ESC calibration through Betaflight. I have a CC3D running version 2. Betaflight's Github lists all supported barometers and their driver code, which includes the i2c address we search on, etc. Check the CPU usage. Acro mode only uses the Gyro for flight So to answer your question the orientation does not matter because GPS doesn't care about that arrow orientation. If you go into betaflight CLI and enter the command "version" it will tell you what target you need to choose when updating firmware. airexes commented on Dec 9, 2017 •. Jan 29, 2018 · What does “Moron Threshold” do? Moron threshold is to postpone Gyro calibration when powering on if the quad is moving too much. I've calibrated the accelerometer several times but under the Info tab I'm getting "CALIBRATING" as an Arming Disable Flag. When I first plugged it in, the gyro had input and looked to be working okay aside from the fact that my 0 axis was off. 5. The other interesting thing is that if you go full throttle for a second or two the motors MAY twitch a bit. 0 since it a one cell pack and they say those sag allot more than 2 or 3 cell packs you can generally run them down to 3. Default / Optimal flight performance: gyro_lowpass = 100. No additional wiring or additional telemetry back-channel is needed. Flight Controller Orientation. dannavarrojr. After watching Josh Bardwell's videos on Betaflight, I decided to flash firmware to 4. After everything is done running, enter "save" and hit enter, if the FC doesn't automatically reboot. And when i plugged in to reflash i noticed that betaflight settings were If you plug in and immediately get calibration flag, no big deal, but if you wait 30 seconds (hopefully in suggestion too much time) and after half a minute the gyro is still calibration, it has problem. 7 and notice that the model that displays orientation from the Gyro does not move when the Accelerometer is not enabled. It only uses the GPS, accelerometer, barometer, and gyro. It is a hardware gyro issue where it is sensitive to noise generated by motors powered by BLHeli-s ESCs. If it is too high, it can cause problems. Connect BLHeliSuite, and go to the Motors tab. I'm connecting the receiver (FS-ia6B) to my FC via IBUS. airexes opened this issue on Dec 9, 2017 · 13 comments. 0 on Pitch and Roll are good starting points. Then go to your settings ---> extensions. Apart from few freestly flights I did not use my ZMR250 that much and sold it after a year and continued with fixedwings as always. 5 - that is quite an old firmware. Sort by: Add a Comment. There are no fluctuations on the inputs, all the stick inputs are correct and the model in the receiver tab turns and pitches correctly. Whilst reflashing betaflight is always a good idea to solve errors, your accelerometer isn't used for those movements you see on screen, that's your gyro. Hi! First of all, it's a Nazgul Evoque F5 HD. Hello, I am having some very frustration issues with my 2s 95mm micro quad. 3. Gyro Update Frequency The rate at which the gyro is sampled. ADMIN MOD. The last night i put it up. Save before leaving the tab. Any idea how I can fix this??? UPDATE: Target firmware is GEPRCF405. Unpack the zip somewhere, and go to Chrome. 2) until I tryed to take off. You can calibrate manually if you want to, you can always look up betaflight stick commands as its always a pain to try and do its when its connected so i always find it easier to do it using the sticks just before i fly if i need to (usually after a bad crash and the frame broke or bent) You need to calibrate after a hard crash when Weirdly I ended up being able to update with the newer versions eventually. 0 or do i need to leave this at 3. Function Throttle Yaw Pitch Roll ARM LOW HIGH CENTER CENTER DISARM LOW LOW CENTER CENTER Profile 1 LOW LOW CENTER LOW Profile 2 LOW LOW HIGH CENTER Profile 3 LOW LOW CENTER HIGH Calibrate Gyro LOW LOW LOW CENTER Calibrate … Read More Three beeps immediately after powering the board means that the gyroscope calibration has completed successfully. Tinyhawk 2 Freestyle Help. Of course this can be further filtered, calibrated and post processed against the absolute values of the Accelerometer. Start with slightly lower than default P gains as provided by the installed BetaFlight firmware. Watch this! : r/Multicopter. There is a bug in the firmware that prevents the beeps when gyro_cal_on_first_arm is on. Make sure nothing is rubbing on the gyro, no wires, battery straps etc. Using a fresh pack is definitely the way to get the most from this method. , if SmartPort is on UART 3, then 2 is the number you want) Open Betaflight Configurator, connect you copter, access CLI. This guide will help you if you are having if your are having issues after updating your firmware, or other issues such as lost/incorrect configuration, erased your stock settings, or cannot BIND your flight Function Throttle Yaw Pitch Roll ARM LOW HIGH CENTER CENTER DISARM LOW LOW CENTER CENTER Profile 1 LOW LOW CENTER LOW Profile 2 LOW LOW HIGH CENTER Profile 3 LOW LOW CENTER HIGH Calibrate Gyro LOW LOW LOW CENTER Calibrate … Read More Three beeps immediately after powering the board means that the gyroscope calibration has completed successfully. Feb 16, 2021 · Gyro Calibration (Fast No Motion) Run-time calibration routine. The MPU6000 (which is very common among FCs and likely used here) claims a tolerance of +-20 º/s ( MPU 6000/datasheet, section 6. The global FPV drone racing and freestyle community choose Betaflight for its performance, precision, cutting edge features, reliability and hardware support. MembersOnline. I have a mob6 brand new out of the box, plugged it into betaflight the other day to get it set up. I'm trying to calibrate my stock 12a simonk ESCs through betaflight on my Eachine Racer 250. Betaflight Firmware. Gyro is working and it is calibrated in betaflight. I recently did something similar in BetaFlight with a different transmitter & receiver. I have betaflight 3. This is fixed in #4109. The one I got in Jan 2022 uses the ICM20689 gyro, while the one from Feb 2023 uses a MPU6500. There might be a problem with the gyro. - Now paste the config I shared below into the CLI command line and press ENTER. I flashed my new wizard v2 to latest betaflight with STM32F405 firmware version and now my giro and accelerometer are not being detected by betaflight config. The drone tries to get up in every way by wobbling left and right. So i got my Meteor65 in the other day. CPU load is 48% sitting on desk. 1. There's a setting in the CLI, yaw_motors_reversed, that might be related. It will be affected by changing yaw P but typically not eliminated. hs zy xn ps zf ze fo kd uh yv