MultiWii

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I also saw the magnetometer calibration implemented by EOSBandi .. while that is surely better than before, you should really have a look at my new code for ellipsoid into sphere approximation.. check out the FreeIMU GUI: m It's been discussed also here but people didn't seem much interested.. http:...

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Personally, the more I looked into the DMP the more I understood that it's pretty much marketing vapor words. Too slow, obscure, undocumented, closed to be of any use.
I'm not going to waste time on the DMP anymore.

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It could be.. but what can we do about it since there aren't docs about it? (.. that I'm aware of, of course ..)

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@jy0933 I'm a quadcopter pilot too... I know how different flying conditions can be. Yeah, table level may be different from flying level. This is covered by my calibration approach, as long as you mounted your sensors parallel to the flying level state. @Sebbi Yeah, that app is to be used on my Fre...

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This is one way of doing it. m The calibration I released doesn't include temperature compensation, still it's pretty good if you calibrate at the same temperature of usage. I'm doing this work as part of my research on Human-Computer Interaction so I use such sensors in room temperature.. so temp b...

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Hey, I worked on porting this calibration approach into an easy to use calibration GUI. Today I completed the alpha version of it, please see http://www.varesano.net/blog/fabio/free ... ersion-out

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If you have bad soldering joins which cause temporary power outages to the FreeIMU, the sensors may reset. The MPU6050, after a power on cycle needs to be reconfigured while the MS5611 doesn't. The MultiWii software will simply continue trying to read from the sensors without reinitialize them. This...

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Hi everyone, I just released some new code for accelerometer and magnetometer calibration using the Ellipsoid into Sphere technique as described in AN3192 from ST Microsystems. The code is now on the FreeIMU repository and will become part of the FreeIMU library. Results are pretty good as you shoul...

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didlawowo69 wrote:could you tell me whiche config.h do you use for MPU > I2C address

Please clearify your question.

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working good.. you may wanna try setting some DLPF. Some frames needs it to avoid some kind of resonance problems.

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@Shaun thanks for testing. Yes, that's a bug.

@Alex I think you already understood the problem.. but I can provide a proper patch if needed.. just let me know.

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Try this. Put the following code at the bottom of def.h #if defined(MPU6050) #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;} #endif Then in config.h uncomment onl...

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@mgros that's very good to hear!
@2.4g Shaun how did you setup your board in config.h? Did you do any change in sensor orientation in the code? Did you point your sensor board Y axis to the nose of your copter?

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Looks like some frames somehow have problems with some kind of resonance/vibrations.. that's usually fixed by using a DLPF introduced in the MPU6050 thanks to the code in this page.

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MultiWii_dev_20120504 has the patches from this thread in.

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FreeIMU v0.4.0 was the first board I designed with MPU6050.. at that time (September 2011) Invensense was releasing MPU6050 chips marked with ES (engeenering samples). Those sensors had the accelerometer scale factor halved compared to the final version of the MPU6050. If you go into Sensors.pde, in...

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yes, you can use the code with whichever MPU6050 board you want (also with Drotek

).
yes, if you recompile and upload the code.
yes.

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nice... let us know if the fixed code I posted above seems to work for you Markus..

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LPF filter has no effect. While troubleshooting the same quad jhoexp is referring above (we are common friends) we discovered that with current code, it seems that DLPF settings are not stored in the sensor memory thus never actually used by the sensor and completely useless. More details, includin...

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Hi everybody, while debugging a friend (and FreeIMU user) instability problem on his 4copter we discovered after some bloody debugging hours that, with the current MultiWii MPU6050 initialization code, the DLPF settings aren't actually stored in the sensor memory. This means that any DLPF setting is...

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frank26080115 wrote:sendQuat doesn't do any translation into Euler angles

It does convert the fixed point quaternion into a float quaternion. It then streams the floats to the serial port into the Processing code (also on the webpage). That's where you find the Euler conversion.. see quaternionToEuler function.

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@frank See function sendquat in the Arduino code you find at http://www.varesano.net/blog/fabio/init ... nd-mpu6050

@amourdurisk I'll try investigating your problem.

@jstapels nice you are into building a FreeIMU.. post a picture on my website once your done

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Our initial tests showed that the MPU6050 is quite more stable than the ITG3200.. does the readings seem ok in the GUI??

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Ever tried bzr? I like it a lot more than git.. bzr is very well documented and has a simple to use command syntax.

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Solved in viewtopic.php?f=8&t=1080 .. expect it in post 1.9 Multiwii releases.

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Probably your best bet for raw sensor are Sparkfun or cdiweb.. See http://www.sparkfun.com/products/10937 and http://www.cdiweb.com/ProductDetail/MPU6050/422200 .. Hope this helps!

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@amourdurisk 35 euro for a BreakOut Board (BOB) for the MPU6050 doesn't look too expensive to, supposing they are paying all the taxes they are supposed to pay. The MPU6050 is still not much available and costs quite a lot, especially if bought in Europe. Eventually, many companies will came up with...

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Awesome Alex. Thanks for answering. A couple of thoughts. For GYRO: I think we can use something between 500 and 2000deg/s. 2000 is proven to work fine. 500 is proven to work on analogical gyros // Fabio: is it really good practice to override I2C speed set by the user in config.h? I'd say no. I did...

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Then you are good to go for Arduino. Regarding the UI, you find the source here: http://code.google.com/p/multiwii/sourc ... iiConf.pde .. In order to execute that you will need to have Processing installed, see http://processing.org/download/

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dev_20111220 means that the version has been packaged on the 20th December 2011. As the code we have been working on is a couple days old you will find it on the next developer release. If you wanna try the new software, you can get it from SVN as explained in m otherwise, just get in touch with me ...

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Great work Alex! Thanks! Regarding your comment: note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256) See m I've seen you are doing 3 calls to i2c_getSixRawADC .. wouldn't it be better to access only once per cycle and c...

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What about this?
http://www.analog.com/static/imported-f ... N-1063.pdf

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Any experience using the FIFO?

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@amourdurisk yep.. I'm also seeing that.. let me dig into that.

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@dongs that's great stuff! I'm sure you had a good time, uh? A couple of thoughts on your code, if I may: ⋅ Renaming MPU6000_getSixRawADC() to something more appropriate. You are actually reading 20 raw regs there, not 6. ⋅ You are calling MPU6000_getSixRawADC() both in ACC_getAD...

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Thanks for your contribution. Of course, I do know what the DMP is supposed to do but I do also know how poorly it is documented (basically, no documentation at all). Unfortunately, the code from arducopter doesn't seem to add anything new to what I was already using 2 months ago .. that is reverse ...

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Hi everyone, I finally started writing some code for supporting the MPU6050 gyro+accelerometer in MultiWii. I'm currently in the final stages of FreeIMU v0.4 testing and with the great help of Jussi and his viacopter.eu we should start the production stage of v0.4 soon. Meanwhile, I've sent some pro...

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Lower the pullups to 1K.

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demands, your solutions looks good but I'd go with something simpler. Hacking the DB and output HTML is error prone and won't work for inbound urls from external websites. First, disinstall the dreamhost installed forum and the associated sub domain wbb.multiwii.com (you may need to contact dreamhos...

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MultiWii forum has been recently moved from m to m .. I'm not sure why this has been done.. however this moving broke all the links to the old forum urls. However, there seems to be a direct mapping from the old URLs to the new URLs. Eg: m became http://www.multiwii.com/forum/viewtopic.php?f=8&t...

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Correct orientation for FreeIMU v0.3.5 boards in MultiWii 1.8: #if defined(FREEIMUv035) || defined(FREEIMUv035_MS) || defined(FREEIMUv035_BMP) #define ITG3200 #define BMA180 #define HMC5883 #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = X; accADC[PITCH] = Y; accADC[YAW] = Z;} #define GYRO_ORIENTAT...

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Also, the support for MS5611-01BA is still too buggy to be enabled by default. Please make it disabled. I don't wanna people quads to crash in their heads!

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Yeah, I confirm that there are some problems in the sensor orientation within FreeIMU defines. I was actually working on fixing this but I've been quite busy lately so never dug as much as I wanted into the issue. The correct orientation of FreeIMU v0.3.5 seems to be: #if defined(FREEIMUv035) || def...

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Sure, that's my opinion.

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Ok, I'd say that this has to be done then. Of course, errors will happen but in the end we will have a much better software to understand and extend.

Alex, would you please comment on why all the sensors reading come with the Z axis negated?

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I've been digging a bit into the most recent svn MultiWii version to understand how sensors are being read, especially with respect to their orientation with respect to the holding IMU and the quadcopter itself. Well, I think that the current code has quite some strange things happening. Let's make ...

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I've seen my patch above has been submitted to MultiWii. Please note that a part of the code hasn't been included (at least in r202) so when you enable the MS5611 or FREEIMUv035_MS code won't compile. Simply adding the following code to Sensors.pde fixes the problem. #if !defined(MS561101BA_ADDRESS)...

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I'm getting the following error whenever I submit a post/reply: Warning: Unexpected character in input: ''' (ASCII=39) state=1 in /mnt/humidifier/easyoneclicks/phpbb_cache/queue.php on line 3 Parse error: syntax error, unexpected ':' in /mnt/humidifier/easyoneclicks/phpbb_cache/queue.php on line 3 T...

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See viewtopic.php?f=8&t=471 where I'm collaborating with other developers to support that board.

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I'm not sure about the XYZ orientation.. all my boards have the axis of the 3 sensors aligned and there was a difference between the configuration of v0.1 and the other FreeIMU defined which shouldn't be the case. Regarding the MS5611 support.. there is still something to sort out.. basically when I...

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