MultiWii

brm

i just launched my mpx panda ... more fixed wing stuff to come.
so i am sidetracked and very happy my little glider survived the maiden flight

brm

time for a quck increment: 8 to 32 bit

for shure someone can add a ton of new conditional compiles, but ....

brm

nice work!
i'd rather work with your parser frontend as with the orignal logic.

brm

hi rob,
ok, i have armazila boards ... the base package is close to not flyable.
way to much jitter on the time axis.
i haven't tried the baro filter - might work or not ...
at the moment i am rewriting the whole stuff.
what doesn't work right is now the usb connection.

cheers rob

brm

PatrikE wrote: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 ...

brm

Thanks PatrikE for the explanation. I guess this isn't a 32 board, posted this in the wrong place sorry bout the noober mistake. My Fc is flashed with the new sketch and it flys great. I also found out why I couldn't enter calibration mode with the sticks I had to change my Tx setting from 22ms to ...

brm

https://groups.google.com/forum/#!topic/drones-discuss/VfjH0HIF50k one of the reasons is not allowing higher frequencies to pass. i also had succesfull testing with filtering the pwm output this in case the imu calculates 'crazy' outputvalues. in the mean time i prefer a pt1 element on the pwm outp...

brm

for antialiasing i prefer higher datarates.

the slow recovery after sharp maneuvers mainly has to do with the lowpass filtering.
i would replace all low pass filters by a pt1 elements.

will be interesting to do some testing with such a setup.

brm

is this understandable? Did i piss you off somehow? Sorry you feel this way, wasnt my intention. I think we should move that discussion to another thread, and not hijack patricks plane thread. thanks. to a certain extend there is a techie touch when discussing problems. if it's not too much then i ...

brm

lower looptime is fine to fight gyro drift Setting a low LPF in the gyro should perfectly compensate this. 20hz lpf + Improving the gyro readout accuracy by factor 4 + no "small angle approx" should give a 20ms system a good edge over actual mwii. Only guessing, only partially tested. a p...

brm

to a certain extend a lower looptime is fine to fight gyro drift.
normally a plane is longer in the air as a copter

brm

no - 24 bits are missing!

brm

oh yeah, sometimes i have memory and sometimes i just overclock the mcu to gain the speed momentum.
and yes - i have an aunt with 4 horse shoes and ... she is bitchy.

brm

Phobos wrote:Hi, I busted the CPU in my naze32 acro board.
Can I solder a STM32F3 in it's place? I have some of those laying around and heard they are pin compatible.
How much code change would be required?

it is almost compatible - you should check the i2c pin's.
if you can live with that ... do it.

brm

PatrikE, could you seperate the navigation stuff from the gps code? would make the code more readable. thanks Since the Navigation is integrated in V2.4 and my hack basicly just uses direction to waypoint and Alt error. FW code is isolated in a single void. The rest is just some small tweaks to con...

brm

PatrikE,
could you seperate the navigation stuff from the gps code?
would make the code more readable.
thanks

brm

fiendie wrote:
brm wrote:a girl playing with technical equipment?!?

I can just guess that this was supposed to be funny but you just come off as a chauvinist asshole. Or a terribly old person if you're lucky.

i remember your words about the meaning of plüschi.
you do as well?

brm

The artificial horizon does not return to level after a hard turn. Sometimes it stays at 45 degrees off. It will very slowly return to level after a period of level flight. Anybody have any ideas? a girl playing with technical equipment?!? delay causes your problem. to a certain degree a design / i...

brm

no, you are showing a simpler approach as i have been thinking off.

nice

brm

plüschi, do you use marc's hil package for the simulation?

brm

PatrikE wrote:There's no Naze port of the GPS code from V2.4.
But the current Baseflight have RTH and PosHold integrated.
I hardly believe TC will let Waypoints be intgrared.

ok, i'll check the latest code base from tc.
didn't knew someone integrated the airplane stuff.
thanks.

brm

PatrikE wrote:Ok..
I just uploaded the code in my trunk.
https://code.google.com/p/multiwii/sour ... 150431.zip

the video is nice - quite a few improvements.
is there somewhere an older naze32 port.
would be helpfull as i am not an atmel freak.
thanks!

brm

to further reduce the command latency synced pwm output would be nice.
it already in but i need more test as a few motors might have problems.
just flashing the latest simonk stuff - in case i am able to download these firmware images ...

brm

I have never got it to track straight either. On the other hand i'm satisfied with getting the plane home with RTH. Played around a bit with PID's but don't get anything clearly better. Maybe the reaction time gets too long. It's more noticeable when flying waypoints. But there it seems I value may...

brm

yes, my last flyduino order didn't include the new frame. need to wait ... and the airtime is amazing. as a 2nd idea - a low passfilter on the motoroutput would also help to stretch the airtime. Hey brm, good to hear from you again. Of course, it was clear you are still here . What is the concept b...

brm

Hey Rob, hail to harikiri . I was silently hoping you would say one day that you're coding again. I have not yet seen the need to try out other FCs/firmwares, so it's good to read that you're alive and kicking. Btw, I just had a flight with a standard 400 size copter w/9'' props and latest harakiri...

brm

nice approach!
thumbs up!

brm

yes, full ack for for plüschi.

brm

john,
your arguments make sense.

#define VTAILTHRUST cos(VTAILANGLE * D2R)

would be an alternative - having not to measure an angle in rads

brm

Regarding getting the external mag to work in my build, I had a severe case of stupid going on. The F4 I2C driver I use wants the mag address as 0x1E, the F3 I2C driver I have wants the mag address as 0x32. Forgot about that little detail. Changed the address in my F3 code to 0x32, and what do you ...

brm

brm wrote:Why won't Dominic listen to us, that makes it even worse!!

wrong quote

brm

the old dude: >As a professional developer myself, I've learnt that one of the most important parts of the development lifecycle is customer feedback. I've learnt that rushing out major, non-backwards compatible changes is a recipe for alienating users. looking under the hoods and having a view on t...

brm

* I didn't agree anything with timecop since he ignores me on the forum and on irc (and has done for months now). the onus is on him to be rational and sensible. It's pretty hard to agree on anything without actual communication. I would also speculate that due to his dislike of cleanflight he won'...

brm

I have built an arduino FSK modem using the LTM protocol. Data rate is only 1000 baud, so i get only 2 GPS messages a second, which results in servos shaking twice a second. Has ghettostation a build-in smoother for such low data rates? If yes, could you indicate where? Or is this a non-issue? I ha...

brm

Decided to try the autotune feature. It seems to work, but there is one thing I dont quite understand. Im using an acro naze, and Im not sure how the quad is attempting to maintain its altitude. Its climbing during the tuning and since I was doing this line of sight, I quickly risked it getting too...

brm

and a responsive code maintainer Ah, but that guy (Dominic Clifton) hasn't managed to keep a stable job for more than a year at any place he worked at, since he's impossible to work with in a team, therefore I give it a few more months before he gets bored and moves on to something else, then you'l...

brm

@brm, I'm new here. Just offering my experience: MEMS gyros have to be handled with care in production and post production. Collision of packages and ceramic boards during production can compromise silicon beams inside gyros and accelerometers. this also what i am told. i made the experience that t...

brm

DO you guys figure its possible to damage, without destroying, the gyro's in a crash? I already explained I had one quad that would violently overcorrect in acro mode. that seems to have been solved by installing another naze controller and another firmware, havent yet figured out which of both act...

brm

strips wrote:Where do you get those values from 98 and 188? Why not just have a round number?

classic RTFM.
the datasheet from invensense says what to put in these registers.

brm

IceWind wrote:Tested with 98 and it was no good. Slammed the quad in the ground while doing a fast turn at low altitude.
Wi'll try to test with 188.

i think you are fighting with gyro noise.
i don't expect that it will be much better with higher values.
time will tell until you are through the testing.

brm

Got it, going to try that. But raising so much the LPF won't leave the quad a bit mushy? I want to keep my super fast and crisp rolls, flips and turns. this is the 1st step. rising the gyro_lpf means reducing the delay. Mmmm doesn't the lpf works are a filter, filtering out unexpected spikes in the...

brm

IceWind wrote:Got it, going to try that.

But raising so much the LPF won't leave the quad a bit mushy?
I want to keep my super fast and crisp rolls, flips and turns.

this is the 1st step.
rising the gyro_lpf means reducing the delay.

brm

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 mi...

brm

I dont have a vibration problem. My problem appears identical to what Thorvald reported here: http://www.multiwii.com/forum/viewtopic.php?p=53330#p53330 and antix here: http://www.multiwii.com/forum/viewtopic.php?f=23&t=1947&start=900#p53402 The only difference is that upgrading the firmwar...

brm

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 mi...

brm

there is a difference between static and dynamic balancing.
the later is ok - the other is wasted time.

brm

I have been having a slightly annoying control problem, and after posting this in an rcgroups thread it seems Im not alone. THis happens in acro mode, when inclined at a forward angle and centering the stick or applying a little back elevator to reduce the flight angle, the quad will often violentl...

brm

@dominicclifton you can collect high speed gyro data and throw it against a fft algorythm. what is interesting to see are the spikes beyond the propellerwash. on my medium quad i had no gyro noise - so i removed my pt1 element. will add it again on the smaller quad and then i will see. in essence th...

brm

i also had that issue in the past - lost it lately.
smells like an high frequency noise issue.

added:
i just flew the 08-15 variant of baseflight.
i get unwanted changes in the motorspeed after hard accelerations.

brm

Thanks treym I'll look forward to getting my hands on the next gen versions I've only just started looking through your code, but are you able to point to where you read / filter the MPU? Theres a technique of integrate and dump http://diydrones.com/profiles/blogs/measuring-tilt-dynamics-of-multico...

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