MultiWii

Hi, Based on your suggestion, I removed the gyro orientation correction for the WMP because the implementation was not correct. Here I think it's still not correct because the slow/fast mode compensation won't be apply on the good axis. example for the first axis: rawADC[3]&0x01 is tied to ((ra...

Fix for orientation of (Gyro) Wii Motion plus in sensors.pde line ~888 change code from // Wii Motion Plus Data if ( (rawADC[5]&0x03) == 0x02 ) { // Assemble 14bit data gyroADC[ROLL] = - ( ((rawADC[5]>>2)<<8) | rawADC[2] ); //range: +/- 8192 gyroADC[PITCH] = - ( ((rawADC[4]>>2)<<8) | rawADC[1] )...

As posted on RCGROUPS http://www.rcgroups.com/forums/showpost.php?p=18926065&postcount=17293 there is a bug in sensors.pde which will only manifest itself if you have oriented your wm+ away from stock position and changed the orientation XYZ at the top of sensors.pde #if !defined(ACC_ORIENTATION...

http://www.multiwii.com/?page_id=100#How_should_be_the_sensor_axis_directions i think is wrong. Should it not say roll (gyro: roll left (or left arms down looking from the back of your quad)= negative , acc: left side up = +1g) // not positive pitch (gyro: nose down = positive, acc: tail up = +1g) ...

Your right Alex sorry for the alarm!

Using MultiWii v1.pre7 with WMP and NC on a mega (both original) standard Futaba FP-TV6A 35MHz 6ch Tx, Corona RP8D1 Rx. Normal cycle time for me is about ~6120 I had to increase INTERLEAVING_DELAY to 3050 to stop some glitches in the ACC which is about normal for WM+ and NC. http://www.mediafire.com...