Search found 136 matches

by pm1
Mon Sep 16, 2013 9:01 pm
Forum: Software development
Topic: Suggestion for Baro temperature in getEstimatedAltitude
Replies: 22
Views: 5902

Re: Suggestion for Baro temperature in getEstimatedAltitude

MultiWii should transmit baro- (and gyro) temperatures in the GUI to confirm this problem. Pressure calculation of these sensors heavily rely on the measured temperature (see i2c_MS561101BA_Calculate() and i2c_BMP085_Calculate()). Is there a heating element in those sensors which needs to be compen...
by pm1
Mon Sep 16, 2013 8:32 pm
Forum: Software development
Topic: Suggestion for Baro temperature in getEstimatedAltitude
Replies: 22
Views: 5902

Re: Suggestion for Baro temperature in getEstimatedAltitude

On Naze rev.4 the nearby serial chip seems to heat up the baro considerably under foam cover, when serial traffic is present. The uncovered Freeimu did not show that beaviour. I think, the foam cover still makes sense to isolate the chip from radiating heat sources as the sun (directly or housing i...
by pm1
Mon Sep 16, 2013 8:12 pm
Forum: Software development
Topic: Suggestion for Baro temperature in getEstimatedAltitude
Replies: 22
Views: 5902

Re: Suggestion for Baro temperature in getEstimatedAltitude

To expand on that ... aircrafts don't use temperature compensation. Altimeters just need a setting for ground pressure. This comes from the local airport so every plane's altimeter shows the same height even if it isn't the correct height ... because, temperature. You are right: For the alltitude u...
by pm1
Sun Sep 15, 2013 6:36 pm
Forum: Software development
Topic: Suggestion for Althold adjustment with sticks
Replies: 3
Views: 786

Re: Suggestion for Althold adjustment with sticks

Sorry,
I didn't get the point somehow. How is this piece of code related to vario?
by pm1
Sun Sep 15, 2013 4:54 pm
Forum: Software development
Topic: Suggestion for Baro temperature in getEstimatedAltitude
Replies: 22
Views: 5902

Re: Suggestion for Baro temperature in getEstimatedAltitude

No, it's definitely the formula, which includes the *ground* temperature, which is used for all aviation around the world. All barometric altitudes in the aviation for a defined area are calculated based on barometric pressure and temperature of an airport. This is not correct, but since all airplan...
by pm1
Sun Sep 15, 2013 4:21 pm
Forum: Software development
Topic: Suggestion for Baro temperature in getEstimatedAltitude
Replies: 22
Views: 5902

Suggestion for Baro temperature in getEstimatedAltitude

Hi in getEstimatedAltitude a new formula been invented to calculate the altitude. In that formula the *ground* temperature of the atmosphere should be used. Here at *every calculation* the baro chip temperature is used. (not correctly copied from arducopter). Unfortunately this temperature climbs in...
by pm1
Sun Sep 15, 2013 4:00 pm
Forum: Software development
Topic: Suggestion for Althold adjustment with sticks
Replies: 3
Views: 786

Suggestion for Althold adjustment with sticks

Hi, the code for manual adjustment of AltHold resets ErrorAltitudeI. The height is then maintained only by P term, which means, that the initial throttle position has to be set very exact, otherwise the copter drops or climbs significantly (a high P rate is *really* not good if you own a BMP085). I ...
by pm1
Fri Sep 13, 2013 11:07 pm
Forum: MultiWii tweaking - flying experience
Topic: Multiwii 2.2 - GPS hold
Replies: 93
Views: 102304

Re: Multiwii 2.2 - GPS hold

Baro Hold: When I turn this on, it tries to hold altitude, but goes up and down gently. Is this due to less aggressive PIDs? I can easily hoover steady on 50% and be rock steady if I do this manually. with BMP085 baro chips you see jumps of up to 2 m in the gui, while the copter is sitting on the g...
by pm1
Thu Sep 12, 2013 11:03 am
Forum: Software development
Topic: Critical values for self test mag hmc5883
Replies: 1
Views: 307

Critical values for self test mag hmc5883

Hi, after a long time I now updated my 3 copters with different boards to a recent version (r1567). On 2 of them I have the problem, that it often get's to a sensor overflow at Mag_init() and the values are not scaled any more. i2c_writeReg(MAG_ADDRESS, HMC58X3_R_CONFB, 2 << 5); //Set the Gain This ...
by pm1
Sat Nov 17, 2012 9:36 am
Forum: Software development
Topic: New RCtimer GPS Ublox Neo 6M fails to perform on Mega boards
Replies: 152
Views: 60636

Re: New RCtimer GPS Ublox Neo 6M fails to perform on Mega bo

I have some doubt, that the bigger antenna gives any advantages in an area without houses, trees or other obstacles.
by pm1
Wed Oct 17, 2012 8:16 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

My question : is the PosHold PID adjustment affected somehow by the Level PID setup too. I don´t think, that it has much influence, maybe if the I term of level is very high. The copter is nearly level when small corrections due to PH are happening. So P and D corrections from level are very small....
by pm1
Sun Oct 14, 2012 9:54 am
Forum: Software development
Topic: Is the D-term in the multiwii reversed...?
Replies: 21
Views: 1284

Re: Is the D-term in the multiwii reversed...?

That would - to my understanding - mean, that the D-term does actually not "amplify the reaction speed", but it will dampen and "weaken" the reaction of the P-term. The D-term is inversed, and the amplitude will be inversed with relation to the P-term. Exactly this is intended. ...
by pm1
Fri Oct 12, 2012 7:55 pm
Forum: Software development
Topic: Problem with new Serial Protocol
Replies: 6
Views: 926

Re: Problem with new Serial Protocol

u08 crc=len; => checksum = 18;
by pm1
Thu Oct 11, 2012 7:49 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

Hi,,, is there any issue about copter gone up when RTH nav, some time my X quad gone crazy if tilt angle or speed to high on RTH mode. recently I used I2C_GPS_NAV latest from pm1. Nothing known... The speed should be limited to 6m/s, the max bank angle to 30 degrees. But what means "gone crazy...
by pm1
Wed Oct 10, 2012 9:59 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 1860

Re: reoganize main loop /timed events?

copterrichie wrote:Why not a Raspberry or an embedded Linux system? There are just too many options available today. With this said, we should narrow the choices down to three, then make a selection.

A Raspberry as controlling system is fine. But you need realtime and lots of I/O pins ;)
by pm1
Wed Oct 10, 2012 9:46 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 1860

Re: reoganize main loop /timed events?

Magnetron wrote:Why we don't concetrate on mega 2560: more resources, more memory, multi-serial, more i/o.


Why this step? If you concentrate on one processor, why not a much faster one. A lot of code is already ported to STM32 by timecop. A nice guit to compile the whole thing is there, too...
by pm1
Wed Oct 10, 2012 9:40 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 1860

Re: reoganize main loop /timed events?

deleted
by pm1
Wed Oct 10, 2012 9:27 pm
Forum: Software development
Topic: Bug/unintended delays (version 2.0+)
Replies: 18
Views: 1237

Re: Bug/unintended delays (version 2.0+)

Alexinparis wrote:It's difficult to understand why a small function like SerialAvailable costs a lot.

165 bytes ublox messages leading to 165 calls in one loop -> For NMEA it could be even more.
by pm1
Mon Oct 08, 2012 9:14 pm
Forum: Software development
Topic: [Patch for r1179] Improved Barometer code
Replies: 17
Views: 2668

Re: [Patch for r1172] Improved Barometer code

... still, having PID controllers that adjust for different cycle time would be nice. Or ensure, that it is called at about let*s say 5 ms. In the rest of the time I look, if something else has to be done. I will try to readout the Gyro each 2ms, I think, the rest is not very time critical at all.....
by pm1
Mon Oct 08, 2012 7:59 pm
Forum: Software development
Topic: [Patch for r1179] Improved Barometer code
Replies: 17
Views: 2668

Re: [Patch for r1172] Improved Barometer code

I got rid of that statement, since those functions didn't seem to take a lot of time to process, especially since the baro functions have their own internal timer and gps should only take time when new data is available. Didn't test sonar yet. Maybe have a look here: http://www.multiwii.com/forum/v...
by pm1
Sun Oct 07, 2012 7:20 pm
Forum: Software development
Topic: Bug/unintended delays (version 2.0+)
Replies: 18
Views: 1237

Re: Bug/unintended delays (version 2.0+)

Serial GPS causes highest peaks of > 4000 ms. CPU hog is here reading the serial interface. The following change reduces the spikes to about 2000 us, SerialAvailable costs a lot... void GPS_NewData() { ... #if defined(GPS_SERIAL) || defined(TINY_GPS) || defined(GPS_FROM_OSD) #if defined(GPS_SERIAL) ...
by pm1
Sun Oct 07, 2012 6:25 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 1860

Re: reoganize main loop /timed events?

BUT, what about all of the existing hardware out there? Forget it! There will be only bug fixes there. The mostly used processor I guess, is the 328P. Even now you cannot use new functionality like GPS (ok, I have a i2c nav board too..). The only processor, which is theorectically prepared for new ...
by pm1
Sun Oct 07, 2012 6:15 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 1860

Re: reoganize main loop /timed events?

Btw. I just figured out, what costs the biggest delay: Reading a new GPS message from the serial interface with the SerialRead, which only can read one byte at a time. It reads (ublox) up to 165 bytes at once, which costs about 5000 us!!!! i guess, nmea will read a few more...
by pm1
Sun Oct 07, 2012 6:10 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 1860

Re: reoganize main loop /timed events?

... not sure it will be able to use the same code, but things are changing and changing fast. I really wish, this will *never* happen. Porting this ifdeffery and avoiding any structured code 1:1 to any 32 bit platform gives you only the exactly the same problems without more or less any advantages....
by pm1
Sun Oct 07, 2012 4:49 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 1860

Re: reoganize main loop /timed events?

the PID controllers don't :/ Exactly. The constant time would be fine for IMU calculation and writing output to motors. If you make this part in a constant interval, let's say to 5ms, you can put everything else in a loop and do it as fast as you can (or better, as fast as you want!). I think, the ...
by pm1
Sat Oct 06, 2012 8:26 pm
Forum: Software development
Topic: Bug/unintended delays (version 2.0+)
Replies: 18
Views: 1237

Re: Bug/unintended delays (version 2.0+)

the rest is negligible < 0.3 something like adding 10% of the loop time is not negligible There are quite a lot of code pieces in the code, which are increasing the loop time >= 300 ms for single loops, so it *is* negligible. I tried different loop times up to 10 ms. With up to 5 ms i saw no negati...
by pm1
Thu Oct 04, 2012 12:23 pm
Forum: Software development
Topic: Altitude Hold improvement solution
Replies: 580
Views: 1425940

Re: Altitude Hold improvement solution

timecop wrote:ITG3200 is a gyro.

Sry, picked the wrong one... I meant BMA180
by pm1
Thu Oct 04, 2012 12:13 pm
Forum: Software development
Topic: Altitude Hold improvement solution
Replies: 580
Views: 1425940

Re: Altitude Hold improvement solution

ACC calibration -> The readout of my acc (ITG3200) is absolutely stable and reproducible over weeks, when the motors are not running.
by pm1
Thu Oct 04, 2012 10:01 am
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 437458

Re: GPS integration

Ok, I checked that again. It delivers data at 10 Hz..., it isn't less precise... it doesn't produce more noise..., it simply delivers same data twice ;) .....
by pm1
Wed Oct 03, 2012 8:08 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 437458

Re: GPS integration

Because in this case MORE Hz is not EQUAL to BETTER. It was written about it about 100 times. GPS have worst precision at 10Hz. Where does this wisdom come from? Is it because MTK GPSs cannot use WAAS/Egnos at 10 Hz? The precision is a don't care for me. I do not want to make geographical measureme...
by pm1
Tue Oct 02, 2012 9:46 pm
Forum: Software development
Topic: Bug/unintended delays (version 2.0+)
Replies: 18
Views: 1237

Re: Bug/unintended delays (version 2.0+)

I agree the current implementation is far from being perfect. Baro_update(); must be called at least 4 times and with a minimal delay in order to have a computed result (BaroAlt) And getEstimatedAltitude(); is called more than one time during BaroAlt refresh cycle. Code suggestion (works fine for m...
by pm1
Tue Oct 02, 2012 9:36 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

Now I have connected the Ublox-I2c Navboard solo (without Magneto) on 3.3V again . The i2c error is constant staying at 136. I repeated it with same result. The Navboard operates at 3.3V and is getting the Satelites too. Maybe I should go on with this I2c error ? What do you think ? thank you Georg...
by pm1
Tue Oct 02, 2012 8:13 pm
Forum: Software development
Topic: Possible Bug in GPS?
Replies: 18
Views: 1196

Re: Possible Bug in GPS?

[quote="dramida"Where can i test the latest PH code? [/quote] Maybe give this a try, it limits the maximum speed when in poshold mode, and removes the obscure d term static void GPS_calc_poshold() { int32_t target_speed; uint8_t axis; for (axis=0;axis<2;axis++) { target_speed = get_P(error...
by pm1
Tue Oct 02, 2012 8:01 pm
Forum: Software development
Topic: Possible bug in HMC5883 code
Replies: 34
Views: 3979

Re: Possible bug in HMC5883 code

You mean mag chip. I'm pretty sure setp/setc cap is NOT optional, since its the cap for set/reset strap which is pulsed before each measurement (test mode or not). You probably are right. But that was the only idea I had, that test mode outputs a differential vaule near 0, and normal measurements d...
by pm1
Tue Oct 02, 2012 7:53 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

The power supply for the nav board normally is 5v. I don't know, if it does harm, when you pu 5v to the board. How much i2c errors do you have? Are they continously increasing?
by pm1
Mon Oct 01, 2012 8:30 pm
Forum: Software development
Topic: Possible bug in HMC5883 code
Replies: 34
Views: 3979

Re: Possible bug in HMC5883 code

Thanks pm1 for your great support! For time being I have at least a workaround. Btw, is this a normal practice to put a capacitor in mentioned place? (I'm not a good in electronics but know how to solder ) The capacitor should be somewhere on the board. It *has* to be between pin 8 and 12 of the ba...
by pm1
Mon Oct 01, 2012 8:26 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

When using i2C_gps_nav board like the one on rctimers does the PID tuning using android app work? or it is only effected by the PID on the config file of the nav board therefore i have to compile/upload everytimes changes to the PID made? thanks. Every pid change is transferred to the i2c board, I ...
by pm1
Mon Oct 01, 2012 8:22 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

Ébeo wrote:Hello!
I did several tests (with other PIDs) and always makes curves increasing with every lap, like snail.

Sounds like mag needs calibration...
Which software version you run on the i2c nav board?
by pm1
Mon Oct 01, 2012 8:18 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

When using i2C_gps_nav board like the one on rctimers does the PID tuning using android app work? or it is only effected by the PID on the config file of the nav board therefore i have to compile/upload everytimes changes to the PID made? thanks. Every pid change is transferred to the i2c board. se...
by pm1
Mon Oct 01, 2012 8:16 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

Hello I have just received one CRIUS-CN 06 - V2.O GPS Board and the I2C navModule from RCtimer. Can I follow pm1`s receipe for a GPS-I2C setup ( m), or is this only suitable for the CN 06 - V1.0 boards and there is another way to go with V2.0 boards ? Does somebody know ? Thank you Georg 1. The int...
by pm1
Mon Oct 01, 2012 8:03 pm
Forum: Software development
Topic: Possible Bug in GPS?
Replies: 18
Views: 1196

Re: Possible Bug in GPS?

PatrikE wrote:So then there's no bug then?

As i said it could be me having bad luck thinking...
Just me not understanding the code...


No, the code is OK. I didn't see, that a pid structure (with last_derative) per axis was declared, and the whole structure is given to calculation
by pm1
Mon Oct 01, 2012 8:00 pm
Forum: Software development
Topic: Possible Bug in GPS?
Replies: 18
Views: 1196

Re: Possible Bug in GPS?

dramida wrote:I think we have a Bug in GPS. Try to yaw the copter in GPS pos hold and it will go all over the sky till you stop yaw-ing. Is this Bug enough?


Sorry, but i cannot reproduce this. My copter stays within 2m with full yaw (if you like, until battery is empty). Maybe because I changed PH code.
by pm1
Sun Sep 30, 2012 6:54 pm
Forum: Software development
Topic: GPS on Crius AIOP Extend Board
Replies: 3
Views: 1283

Re: GPS on Crius AIOP Extend Board

Have a Crius AIO Pro board with the Extend Board. Was running MW2.1 w/ a few patches on a DJI 450 clone and all was well. Moved the FC over to a DialFonzo V-Tail 500 frame and downloaded the latest DEV. Setup config.h and DL'd to the FC. No matter what I try, I cannot get the GPS to show in the GUI...
by pm1
Sun Sep 30, 2012 6:45 pm
Forum: Software development
Topic: Possible bug in HMC5883 code
Replies: 34
Views: 3979

Re: Possible bug in HMC5883 code

Yes, 0.22 uF
by pm1
Sun Sep 30, 2012 6:39 pm
Forum: Software development
Topic: Crius GPS and I2C_GPS_NAV
Replies: 95
Views: 36869

Re: Crius GPS and I2C_GPS_NAV

Does anyone knows why on mine "distance to home" is always shows 0? while "direction to home" is fine. Do i need to enable anything? thanks. If copter is not armed, home position is deleted. It is set, when you arm. You can influence this with #define DONT_RESET_HOME_AT_ARM -> W...
by pm1
Sun Sep 30, 2012 4:52 pm
Forum: Software development
Topic: Possible Bug in GPS?
Replies: 18
Views: 1196

Re: Possible Bug in GPS?

I received 2 days ago the second ublox-serial (Crius gps from rctimer version 1). It now works great in multiwii and megapirate...
by pm1
Sun Sep 30, 2012 3:44 pm
Forum: Software development
Topic: Possible Bug in GPS?
Replies: 18
Views: 1196

Re: Possible Bug in GPS?

lol... at least it "works" in the worthless (i2c) gps implementation... Why worthless, I even would have to use it on naze32, since I haven't an rx with sum signal. I had the i2c board working in one day, now on an mega2560 it costs me about 2 days to find out, that the serial interfce fo...
by pm1
Sun Sep 30, 2012 3:32 pm
Forum: Software development
Topic: Possible bug in HMC5883 code
Replies: 34
Views: 3979

Re: Possible bug in HMC5883 code

mhhhhh, I looked into the data sheet... Your reading would eventually make sense, if someone has forgotten a capacitor between pin 8 and 12 of the chip. (Just a guess, might be completely wrong).
by pm1
Sun Sep 30, 2012 3:19 pm
Forum: Software development
Topic: Possible Bug in GPS?
Replies: 18
Views: 1196

Re: Possible Bug in GPS?

No, it is not solved. I often don't know, if it's simple a bug or a feature. I think multiwii flies with a bit of magic . Fixing a bug might change too much. For example, if you fix the cycle time of baro, mag, gps, sonar, the new altitude hold will work somewhat different. If you correct the gps pi...
by pm1
Sun Sep 30, 2012 3:00 pm
Forum: Software development
Topic: Possible bug in HMC5883 code
Replies: 34
Views: 3979

Re: Possible bug in HMC5883 code

The calibration is now not temperature compensated. You might have to recalibrate mag from time to time, if using gps or maybe headfree mode....

But I have not asked, which board do you have (or which IMU). It seems, that the test mode of the mag sensor is not working at all at your board...