MultiWii

Crashpilot1000

Weeeelcome to the dark side brm... oh oh - to defend myself. when counting possible hw breakpoints an atmel sucks. debugging arm cortex devices is much nicer. writing a new altitude hold controler with no delay ... Hi BRM! Great to hear that!! BTW, I have seen this in Armazila m but have not tested...

Crashpilot1000

Hi Guys, this might be a stupid question and I maybe should know better, but: I am getting used to my FrSky telemetry display on the Taranis, where part of the data comes in from the mavlink2frsky Teensy converter. If I am not totally mistaken, the telemetry downstream is paused (no more updates) w...

Crashpilot1000

@ elf128: Yes, definitely and if my aunt had balls she would be my uncle.

Crashpilot1000

Hi, franko!
No dumb question! That repo is not for general usage since I am ripping stuff apart there, re-arranging and trying out stuff, so currently there are a few "softwarecables" dangling around. I am using Mwii 2.2 gui to set auxchannels, watch RC and sensors Acc cal.

Crashpilot1000

Hi Plüschie! If you are unhappy with the small angle approximation loosing track during high speed turns you can optimize the Baseflight rotation for your multiwii. If you are not turning more than 45 Degree (1/4 Pi) between reads you can use the Chebyshev sin approximation depicted here: m Chebyshe...

Crashpilot1000

Hi EOSBandi! I have done some testing on faster sinus and cosinus functions on Arduino like outlined here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=2456&start=750#p64003. I will paste a link to this post here as well, just in case someone will stumble about it in a year or so. Natur...

Crashpilot1000

There is the full vector rotation code in baseflight imu. Not the "small angle" approximation, but the real thing. Using that code we can construct a 3D vector out of GPS bearing and horizontal plane and rotate this into the plane frame (using roll and pitch angles). Then correct the the ...

Crashpilot1000

@Rob, glad to see you're back and coding ! I'll test with pleasure, just tell me when the code on your repo is 'safe enough' ( ) to use. In the mean time I'll be installing BF-airplane on a few birds ... Yep! You will get to know it first in this thread Hey Rob, hail to harikiri . I was silently ho...

Crashpilot1000

Bump ... Hi, Leo! Sorry for not answering here for a long time but quiet busy here. I've been doing a lot of codework (m , note: my English is worse than my coding, it should have been a web storage not a store, so nothing to buy here..). I will look into the taranis stuff but you will have to test...

Crashpilot1000

A month later no answer so just a hoax and eating money? Hope you have a nice party (#PWDD = Party With Dickstarter Dough).

Crashpilot1000

@fnoble: Over a year later I guess all arducopters are flying with cm-GPS precision?

Crashpilot1000

@Mj666: I am really clueless what makes your yaw problematic on your tiny octo. The filtering was just an idea to check that as well maybe no hardware lpf on the mpu and individual filterings / resolutions. If there is one yaw algorithm in the currently available pidcontrollers that works for you - ...

Crashpilot1000

@--Washy-- : There is no problem with using servo tilt to shift the motors by 2 out of the way of the broken pin. Overcoming the problem more properly is fixing the hardware . So the "cmix - method" is not cleaner or something. Cmix: First of all you can load a mixer with "cmix load q...

Crashpilot1000

Busy week, damn. Today I had a chance to play with code again. I tried to tackle codesize again. Putting the mixers from float to integer and preserving a resolution of 13 Bit (8192 steps) gave a nice 800 Byte save and a slight speed boost without sacrificing flight performance - so win, win imho. O...

Crashpilot1000

Try Yaw-I = 0 to verify that the overshooting is related to the I-Term. If that is the case and the really needed I-Term (that means not too high) still produces overshoot on yaw-stick-recenter with the reduced deadband then you could go for a timeout before the I calculation should kick in after re...

Crashpilot1000

Sorry for the high version number, just had a fight with github to delete unneeded mavlink stuff. @e_lm_70: You haven't been missing much.. @Hoppsan: "The only thing that didn't work every time was autostart cause the baro some times didn't stop at 0 after the flight. Maybe HW related." I ...

Crashpilot1000

Just a little update nothing big: "Testcode3_r147" The presets are unchanged (ppsum enabled, my magnetic declination is preset..) Noticeable change: - "rc_oldyw" is removed, the old yaw controller is retired. The new one is active and the little yaw-back effect is gone. Not notic...

Crashpilot1000

@Crasch: Cool. I did not know this feature. Shure I have used RTH and auto landing whit success but this feature I did not know of. So I guess I set the deadband round mid whit rc_db? Will try my new knowledge when it gets less windy. No, it's "rc_dbah" that's the special deadband for alt...

Crashpilot1000

@Hoppsan: The throttlestick has a different meaning in Baromode. And it is not comparable to Mwii/BF/CF.Throttle mid: Hold hight. Above middle: rise. Under middle: drop. Throttlestick to lowest Position: Autoland. If an Autostart target hight is set (like 2 meters) with "set as_trgt = 2" t...

Crashpilot1000

No problem! The Deadpilot function will kick in in EVERY flightmode, if feature failsafe is set and a time in seconds is set fs_ddplt = X (0 - 250, "0" disables deadpilot). This function is mainly for RX that have no special failsafe functions and keep sending the same signals while being ...

Crashpilot1000

P.S : if you're trimming down the code, is there any chance of moving up the the latest BF or CF code base ? It would be a big plus to have Softserial and ... an up to date GUI. Just a thought I will not change to CF or BF trunc any time soon. There are some pitfalls coupled with them I don't want ...

Crashpilot1000

@hinkel: Thank you very much! But other firmwares have their ups and downs as well! @Mr-Fiero: Also big thanks to you for testing mavlink compatibility with that droidplanner! Good to know, maybe I should buy some tablet as well.. I am afraid that those Hobbyking 1000mW modules are way off legality ...

Crashpilot1000

I you look at the picture again with your "no gimbal numbers" you will see that you have differences on diagonal axes, that means a constant yaw error (probably motortilt) that was masked before with the additional gimbal weight. BTW/just for your information: If you want to recalibrate yo...

Crashpilot1000

Dude, it is IMHO def. a problem with your weight distribution (COG) of your copter. Try the softwareoptions I mentioned within Harakiri, or install Baseflight or Cleanflight or whatever but shift the lipo around to even out your motorload (probably put it more on the right and a little backwards). C...

Crashpilot1000

Thank you very much for doing that test. If you put the numbers into the picture of the TC manual you end up with the attached picture. There are a few things to mention. You copter is not underpowered/too heavy since it is hovering below 50% (probably at 44% when imbalance removed). The distributio...

Crashpilot1000

@Hoppsan_84: Currently optimizing some mavlink stuff, but I will keep you posted. I think I will be doing WP stuff BUT it will be most probably not tested. AKA if something goes wrong, you better know how to fly and be quick on the switch to flip back to a normal flightmode... But a BIG warning will...

Crashpilot1000

I am sorry to say missions don't work and I see no way for me to do so. I've done some amount of work on that subject (the PDF that shows how the logic should work etc) and there is also a considerable amount of code behing that (communicating with missionplaner, plausibility checks of uploaded miss...

Crashpilot1000

No softserial in Harakiri so sumsignal is needed for gps functions.

Crashpilot1000

Sbus and softserial not supported.

Crashpilot1000

Sorry, dudes for not doing any copterstuff at all in the last couple of months... GPS is always optional and loosing faith in GPS is actually a good thing, because no FC in the world (I know they advertise it the other way) can compensate for flaky GPS signals over time without further sensorsets (a...

Crashpilot1000

Dude, plz tune up the copter from ground (acro) to top (GPS). 1. Set up your copter properly (acro, level, mag and THEN do GPS) 2. The Gtune result shows that you generally need more p on the Pitch than the Roll axis that is for sure. If you are happy with the numbers is a different story I can not ...

Crashpilot1000

-hate that sinusoidal swing of the BMP as well -it is cured with my slightly off datasheet driver Rob, care to explain the changes and the reason / thoughts behind ? Hi my grumpy friend! Im grumpy because my tricopter with the same board went nuts, uncontrollable, did fly away 100 meters and crashe...

Crashpilot1000

...Everything is pushing fine...I setup a GPS with really obvious wrong settings and it pushed from the FC....but, the autobaud is not working!.. The code is basically this: m. I trusted in Mr eos Bandis work and didn't dig deeper into that so I haven't been digging not half as deep as you into tha...

Crashpilot1000

@dominicclifton: "Copterwerkstatt" once submitted a code for SUMH https://github.com/Crashpilot1000/TestC ... pnersumh.c . Since I have no Graupner gear I can not test it but he said it works.. hope to be helpful.
Cheers Rob

Crashpilot1000

I was thinking you download the actual sourcecode (m) then replace drv_gps.c with your version then patch up your config.c (make a copy..) and copy it over as well. That should do it. The compile errors you see seem to be mainly missing definitions in mw.h and that means you didn't download the actu...

Crashpilot1000

Thanks for the feedback and the video! There are currently no changes in drv_gps.c besides yours - so you can simply exchange the files. There are some changes in config.c you might consider. I did a "diff" and they showed up...: This line was changed: m . Reason: Some ppl seem to like mes...

Crashpilot1000

... I am still working on it. It should be pushing, but I have an issue when I switch gps_type = 1, the FC does nothing after. Its very strange. There is no reason I can see since its only pushing to the uart2Write exactly whats in the code. But I know its something in that block because i had the ...

Crashpilot1000

The bradwii approach has been ported in cleanflight here: m (and called here m). Mhefny has done his zero pid tuner here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=5190 and his repo is here: m Based on Mhefnys' findings I also did an acro P only tuner here: m (note gyrovalues are not div...

Crashpilot1000

Concerning the yaw issue reported esp. on miniquads. BRM pointed out that it is most likely a problem of gyro noise and/or vibrancy of the frame. I agree with that, however the mixer may play a part within that problem as well. When maxing out a motor (like sharp turns etc.) the current multiwii mix...

Crashpilot1000

Sorry dudes for not posting here quiet a while now. I will try to answer/comment on the last posts here. @flyka737: Thanks! @Debogus: There are several options for motor stop stuff. Look here: m . Having a non working OSD is most likely to a serial problem (wrong wiring, wrong baudrates) or a missin...

Crashpilot1000

@Vertigo: Ahh, ok I didn't get that with the throttlestuff. I have no intentions to implement that - but it could be done probably using vbat. MTK 3329 (with different firmwares) is tested for basic function and works in NMEA and both binary formats however ublox is recommended. But BF is also fine,...

Crashpilot1000

cfg.fs_ofdel is just for the guys with no baro. After Baro autoland the copter is turned off automatically after a while. There are parameters that can influence the time needed before disarm (or even sonar, look at config.c al_XXX) the presets are safe to not reach a haslanded condition while still...

Crashpilot1000

Hi my grumpy friend! thank you very much for your answer, is there any way i can move my question to the right section? I am sorry that i am missing 24 bits to post here :p. I posted from my cellphone and I didn't read the part where it says 32 bits, sorry. The test I made on my desk were only with...

Crashpilot1000

... I've got two Flip32+ units here, one of which I'll be puting into the quad and it seems the latest Flip32+ board I received from Paul doesn't include the second accelermeter (Freescale MMA8452). It includes just the single Invensense MPU6050 like the Naze32 includes. I was curious, if choosing ...

Crashpilot1000

@Mr.Fiero: Gtune is fiddeling with the P's all the time (if enabled). There is no special point in time when it is done. I've not seen saturation effects in my copters (that doesn't mean you have none...) - however the P fiddeling is limited to preset 2.0-7.0 range if your copter needs something lik...

Crashpilot1000

Too bad I broke my crystal ball yesterday. Descent wobbles are mainly aerodynamically induced (even propeller shape), however the general reactiontime of the flightcontrol/esc/motor combo is also a factor and in that regard especially the dampening D part. I have no flying Arducopter anymore after s...

Crashpilot1000

@Bamfax: Thank you very much for the DevoRssi feedback, I feared I wrecked it during the versions... For the others that don't know about it (didn't know about that as well until bamfax told me about it: m). Will probably buy a Taranis at one point in time when my TX is F.U.B.A.R. I haven't looked t...

Crashpilot1000

From what I see in the video the car/copter hybrid seems to be more a toy than something really usable. Everybody that owned a real RC car going through dirt will know that you need good shocks on the vehicle and that the dirt will creep into every corner. So after a day of driving you will end up c...

Crashpilot1000

@Debogus: Sorry to let you alone for now with this but I have currently absolutely no nerve to look into that and it's more a cosmetic problem. @Mr_Fiero: Great, nice to hear that it is working with your copter as well! The original Hefny zeropid doesn't contain a D calculation and the "I"...

Crashpilot1000

@Mr-Fiero: That is no problem, however I will stick to the physical centerpoint for althold regulation. It *should* do althold no matter where the stick is when turning on althold. Checking that logic is next (see: m). @Debogus:Frsky RSSI is currently not implemented maybe later maybe not. It's open...

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