MultiWii

penpen77

Actualy, you CAN'T use the generic echo/pulse sonar code with atmega328 or anything below atmega1280/2560, not enough available interrupt and/or it will kill the loop exec time due to time delay of trigger/echo response. The only possibility of using any echo/pulse sonar on atmega328/32u/analog is w...

penpen77

i'm not sure the code will work with 328 based arduino

penpen77

I don't use MWC anymore, so i don't have the code under my eyes, but from what i remember with each version of the code i've given here 1. Noisy /glitch just increase LPF. Default use a 6/4 integrator from previous reading at the same frequency than baro (1/5 exec time of main loop i think). You can...

penpen77

Sorry, i wasn't come here since several weeks

If you want only code lines to change, juste make a diff of files (btw, i dont remenber if mwc still on svn or switch to git, but both have diff tools/compare fonctionnality)

penpen77

this is the same code as before, nothing as changed, it's work as shown in video

penpen77

Yes, this is a (kind of) dead topic since none of questions about request for feature has been answered.... For now, this is just a fusion/stand alone alt hold usinh baro+sonar or sonar alone I've join the sketch i'm using, building and tuning are as described before in the thread. Beware of config....

penpen77

both but i don't connect adc when working on gfx/ah/stab and other pure math stuff for debugging and setup, data are provided to uart and as stellaris has usb host capability, i think i'll be implement some usb keyboard handler to config osd on the field instead of strange stick combo (or having a l...

penpen77

This is some test i'm doing to embbed osd and multiwii (airplane version only the moment) and make a tiny/cheap osd+rth capable platform
It use an lm1881

for now, i've got some issue with the fpu unit and uart (data loss and strange behavior with several uart ) but the osd part works

penpen77

you can use others pin, but in this case, you'll have to change the other parameters/defs SONAR_GEP_TriggerPin_xxx (bit shifting, interrupt, etc...). The DEFINE list in GENERIC_ECHO_PULSE is made to make this easy: refere to arduino 2560 pinout: 12 is PB6 (so shifting 6), 11 is pb5, pcint5 so pcint0...

penpen77

i'm using a crius for my test, the default def.h I left in the archive is made for crius pinout

penpen77

a standard 10DOF 6050/5883/5611 cost around 25/35€ (bay,drotek,glb,dx, etc). the pcb shield is bigger, the "amount production" is smaller, so the cost can't be "smoothed" without a large batch, p&p and reflow machinery, it will require more time. i see 2 options: - a "du...

penpen77

is the imu booster pack available somewhere ? there isn't any infos on the url "aimatt.com" labeled on the board in the pics

penpen77

updated code to r1240 with sr04/dypme007/echo-trigger generic driver

be carefull, this is my current config.h, so check each define to adapt to your config

if you want to merge change, take care of crappy piece of code added to "emulate" Baro mode presence without baro

penpen77

for "tilting issue"

http://www.robot-electronics.co.uk/htm/sonar_faq.htm
http://www.robot-electronics.co.uk/htm/srf02tech.htm

by the way, it's just a tiny piece of code which is not driver dependant nor feature dependant, so, a #define with some blabla for saying "try, may not work" and that's all. No need to argue, let's looking for feature improvement

penpen77

there isn't (at last from what i know) any implementation for serial ultrasonic sensor. Most of serial/rs232/ttl sensor are from maxbotix and there aren't cheap....

for devantech serial, they all have i2c capabilities too if i'm right

penpen77

Is there a code size issue or something which could make that "TVout" library/class unusable ? (except pinout, which i think could be swapped to mobdirone hardware) I think TVout library should made more readable your osd code, the class is alike java/.net/ui Graphics object with some nice...

penpen77

this code is not longer used, it has been corrected

penpen77

just have a try on grass/sand/ground/strange_orange_rubber_ground_of_athletism_stadium and had good behavior with above code. I've pushed more P and I term since i hadn't thing above my head. Still "sleepy/lazy" to climb/react, but different nature of ground hadn't so much bad influence, o...

penpen77

I just had a try, with sonar alone and mixing with baro, even with 1/9 ratio, it's too much, we need raw values, absolutly it's on concret in my basement since it's a little bit too windy outside for now I've recorder with a keychain this time with the sr04 which is the cheapest avaible for those wh...

penpen77

tried on concrete floor, with hcsr 04 and srf08, raw reading wasn't at all the same.... may be at 10cm of the floor with ground multipath reflection, but at 1m and more, raw values aren't the same at all. And with tilting correction, readings became stable and precise even with tilt more than 30°/45...

penpen77

but before all of this, i think we should choose a goal for each point (at this time and as said above, there many feature impl possibility): for now, we have all sensor already impl in stable branch + echo/trigger generics with olaf code snippet (hcsr04, dyp me007, etc...), so we can work direcly o...

penpen77

arducopter use tilt correction so i think it worth a try

sonarAlt is in cm

but i've the strange feeling that there are several code impl/version mixed "into the wild"

depends of which version you're based but tilt correction is buggy with wrong conversion (rad_to_deg)

penpen77

shadow is done with dimming but a little thing which can be used to move quickly in this, without taking to much time could be just to refoactoring a little bit the code..... I never really understand the SPI/SPDR/VideoBuffer in arduino, so don't see my words as a critical (i'm the one who should be...

penpen77

is it to possible to impl new layout, more "readeable" ? or a simple way in code to move different element ? i've tried to change position, but it's very difficult to do it easily since all elements are "chained". In fpv, even with dimming, i've a lot of difficulties to read uppe...

penpen77

use baro at this time but for now, it's just a kind of "dirty" impl, like a baro alt with sonar precision at low alt like in arducopter or arducopterng but it can works without baro, with minor code adjustment but you're right in one way, sonar can't give alone the same functionnality than...

penpen77

I have just tried last impl of "getAltEstimation" during a little fpv session after office day, with hc-sr04 and more smoothing on readings but it became very uneffective. I think it's a wrong idea to oversmooth readings... raw and "crispy" values should be keept. You could see i...

penpen77

and what about ardupilot legacy board, 328 with mux shoud be a good plateform for mwii "airplane" code. The "passthrough" mode could be handled by the muxer, failsafe already working and "hard wiring" rc control from rx in case of malfunction

penpen77

Hi guys, I have spent a lot of time this weekend to play with sonar solutions... About implementation from penpen77. I have found our at least 2 main issues with this approach: a) it's requires to average only correct raw sonar data readings but not 9999 b) there was not workable mix from sonar to ...

penpen77

yep, mistake, wrong adaptation from apm in my work dir at the time of zipping. Use code snippet instead for bug-free/less

penpen77

bad idea, sponsored stuff shouldn't have this place here...

penpen77

yep, you need to use the code snippet of the topic, not the archive, i have mixed 2 version by mistake (current_dev and 2.1)

penpen77

dunno

penpen77

is it normal that BAT1 and BAT2 only display decimal part ?

(all is well tuned, zero-ed everywhere is just that i've powered up only for screen capture)

penpen77

it was just testing values, i've archived my working dir "as is", it's not intented to be working out the box or using perfectly tuned constants

penpen77

indeed, that was my first impl, but it's doing some probs: - until copter armed, EstAlt value isn't correct... - using some OSD (mobidrone for example) firsts reading after startup are used for offset, so if waiting too long for setting barohome, incorrect value are used - if windy day, it's good to...

penpen77

EDIT: use code snippet instead full code, based on last build (r1129) althold with sonar/baro mixed works fine, tested on sr04, dypme007 and tinygps (i dont have i2c native devantech) current define are for crius/mega board, don't forget to enable once baro mode before arming to set "baro home...

penpen77

sr04 and simili works since several months.....

penpen77

updated code for new alt hold code (for MS561101BA) works fine (on pos hold and at low speed), for better result, perform your althold pid tuning around 50% of sonar/baro fusion altitude. at "high" speed, the baro-only EstAlt could increase if not wind-protected, and sonar/baro fusion coul...

penpen77

tried new althold code with baro+sonar this weekend, works fine.

Sonar alone is a little bit dampeling, but sonar+baro fusion interval has a good behavior with same pid setting than baro only

penpen77

@crazyal

1.2/0.0/14, i've noticed playing more with D param has better effect than playing with P,I like other mode.

@magnetron

dyp-me007 works like sr04

penpen77

i'm using this code for my sr04 sonar/baro alt mode, juste mixing both and altering "EstAlt" as in megapirate/arducopter. No tilt correction or advanced stuff, but works fine, alt hold logic isn't altered neither code for sonar device. With a good tuned Alt hold pids value, it's working pe...

penpen77

What about this ?

https://estore.ti.com/Product3.aspx?ProductId=3113

based on http://www.ti.com/product/lm4f120h5qr

cheap p.o at 4.99$

penpen77

arf, not a relatime SLAM so.... BTW, Hamburger made a good point, MWii should be splitted now, different module with different purpose, abstract/interface with other and a common i/o, com bus. Example: - Multicopter stability module, (3/6/9 dof, and baro/sonar) responsible of multi/rc - Navigation m...

penpen77

they use intel atom as "brain" so i think it requiere a "little bit" more cpu than a 8bit avr can do ^_^ by the way, incoming portage on 32bit ARM with more memory and computation power could bring more cool stuff ! The interesting point is their SLAM (self location and mapping) ...

penpen77

v.i.b.r.a.t.i.o.n.s..... (had this problem, crius aiop, unbalanced prop and bad-centered prop adapter) verify with "heavy" lpf (20hz,10hz), if it take off, it's a vibration prob, if not, it's something else ^^ but, dont fly with 20/10 lpf..... the mpu6050 of crius is very sensitive, and to...

penpen77

Seems strange you constrain only x speed target value and not both x and y. What's the reason ?

penpen77

Is it possible to translate/porting mwii airplane code to ardupilot hardware (the legacy one) to have benefit of mux/failsafe ?

Will AP(L) pinout let that possible ? since servo input/ouput wiring is already set.

penpen77

summary (in my opinion, feel free to change/investigate) - Battery: more 'C', like 35C/40C, and buy 2 or 3 (first flight, you dont handle throttle and attitude very well, so many up-down-up-down-up, draw current quickly, 4/5min flight, and wait for charge bat again.... very frustrating ^_^ - Motor: ...

penpen77

a little more 'C' in your lipo, better efficiency, more lifetime, etc... 35C/40C

penpen77

TermicOne : what is your quad size/KV/prop size and what pid values did you set ? I'm using the rctimer i2c/gps board and a mtk gps from a fried APM2, working perfectly, but my Position Hold is wayyyy too touchy, yoyo effect and crazy move, even with 9 sat, and i can't find how to tune correctly my ...

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