MultiWii

phenolic

thanks for looking into this! I attached a screenshot of my settings, and the config.h (renamed to .zip because the forum doesnt accept .h or .txt) Thanks! What version of MultiWii are you using? I have not been able to compile any version I have with that config. I tried the latest from subversion...

phenolic

I just tried the latest 2.30 version and it seems to work (so far) but maybe there is a bug or something depending on the config or settings.

Can you send me your config.h? Also, what is your box configuration?

phenolic

Yes, I have a queue of project updates I have been working through. Eventually I'll get to this one. Some things might work fine depending on if any serial commands were changed between version 2.29 and 2.30. The warning doesn't affect any functionality but yes it looks like an error there, somethin...

phenolic

Something is very strange with those errors. What "Board" do you have set in the Arduino IDE?

In any case, I don't think it will work with the ATmega32u4 processor at this time because the timers are different. I should be able to make some changes to make it work, I'll look at it.

phenolic

I'm not sure I understand. Are you trying to integrate the Arduino USB Linker with MultiWii or are you trying to use the Arduino Linker as standalone?

What steps did you take before compiling? One thing I do not understand is why the file is named "ArduinoUSBLinker.cpp".

phenolic

There doesn't appear to be any way to change many of those settings other than a full reset though. I guess it's suppose to be configurable but I don't see any MSP that change them. Things like minthrottle, etc.

phenolic

I have checked almost all the channels with a servo. All servos keep the last value. (The receivers from different manufacturers behave differently here) In my view, therefore, the software can not notice any loss of reception. Many servos will keep the last position if the PWM signal stops. You ne...

phenolic

The RX does not keep all levels the same, it stops the signal completely(*) which in the old versions of MultiWii keep the last known pulse length (or something like that). The new version of MultiWii recognizes when there is no signal. (*) On my RX it stops the signal on channels 1,2,3,6,7,8. Chann...

phenolic

Released version 0.0.5. Pushed source code. Moved binary releases to another page since GitHub no longer supports these. This version has serial port handling changes (better on OS X?) and various other low level improvements. I added limited support for tab completion of commands (might expand on t...

phenolic

Peter wrote:Looks promising! Please remember the last serial port in a config file. So that you only have to call open.
And/or add a commandline parameter like --port /dev/ttyUSB0.

Yes as a user of the tool I want that feature too. It's coming in the next version hopefully.

phenolic

Edit:
I'll make a 0.0.5 version later than fixes that and maybe makes the initial open ident better. I forgot that I have been using changes since 0.0.4 that fix some of that.

phenolic

Try: open("/dev/tty.usbmodem621",true, 19200) There is a built in sleep function but it's currently kind of hard to get to. Try luaserial.sleep(milliseconds). In the next version I'm thinking that will be a global "sleep" function. There is probably no reason to use the sleep if ...

phenolic

I looked through the thread, I hope I didn't miss this but about the new PID calculations/values... When using PID RATEs do those need to be proportionally modified as well or do they stay the same to keep the same behaviour?

phenolic

Also, I thought I should mention again. Follow the README and do not have props on your motors or use a very restricted current power supply when switching to USB Linker mode and flashing. There is always a chance of random motor spool-up when doing this stuff.

phenolic

Those are the same reasons I prefer open source as well. I mean this is a hobby, everyone should be able to hack on everything.

phenolic

Generally the bootloader can not set fuses which is generally the only way to make it unflashable via ISP. So yes, if something goes wrong reflashing via ISP should still work. It's reasonably safe to try reading the flash first a few times. If that works without issue then writing should work as we...

phenolic

That's what I mean, there is no way to access the bluetooth stuff from the NDK, it's Java only. I believe all devices have some sort of bluetooth library but it can be different for every device so not that useful to use directly. Not sure why they didn't just use a normal bluetooth kernel module.

phenolic

Well it runs on Android but there doesn't appear to be any way to get to a serial port from the NDK. Who designs this stuff.

phenolic

I pushed a new version for all platforms. I'm starting to refine some of the details like converting flags to human readable text and such.

The serial port might work better on OSX but it's hard for me to tell on my half working system.

phenolic

Hamburger wrote:In the MWii world, if it is not open source with a suitable licence, for me it does not exist.
Ymmv

I never said it wouldn't be open source. All my stuff has been open source.

phenolic

Hamburger wrote:Interesting - what licence, where is the source?

No source yet, I haven't decided on a license. This tool is not based on any previous code.

phenolic

crashlander wrote:Interesting it works when run with true option:

Great! I probably just need to make the initial exchange more robust, which shouldn't be too hard.

Thanks for testing it

phenolic

Yes. As seen here:
http://forums.openpilot.org/topic/16854 ... 0x5-props/

Look at the size of the root.

Although maybe it would be hard to flatten.

phenolic

OK, at least it's running. That could be related to the weird serial port behaviour I was seeing. I'm assuming "/dev/tty.usbserial-A700eEeB" actually is the correct port? What happens if you run MultiWiiCL then do this: open("/dev/tty.usbserial-A700eEeB", true) -- this skips the ...

phenolic

Using the GemFam "new airfoil" props might work for cutting down. Is that what you used? They have a large root near the hub which means lots of surface area to work with.

phenolic

For me it does not work! Thanks for the test. Sorry it didn't work. Looks like you're using Lion and the binary is for Mountain Lion. Unfortunately OSX doesn't support static binaries so this is the kind of issue that will need to be worked on. I put up a new OSX build that might be targeted to OSX...

phenolic

I added a binary for OSX. My serial port was acting really strange in OSX. I think it's my hardware but I'm not sure. It was working though. It's not a static binary although it only has two dependencies on system libraries. Might have issues if you're not on Mountain Lion but I don't know. I can't ...

phenolic

It should work on OSX as well. I will have to see if I can bring my OSX development environment back to a running state.

phenolic

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phenolic

This is a command line text based tool for configuring MultiWii. It also provides a full scripting environment for whatever fancy future use. I needed this because MultiWiiConf wouldn't run at all on my old laptop and on my newer laptop it was really slow and too fat. I also wanted a way to save and...

phenolic

I meant to post about this ages ago. The Arduino USB Linker can be used to flash devices compatible with the USB Linker protocol. This is mainly used to flash ESC firmware over the servo wire with simonk and similar firmware. When integrated with MultiWii it can be used to flash all the ESC's attach...

phenolic

i tried the acc mode while inverted and it behaves as expected. the quad flips over. if throttle is inverted before then its also inverted after and the quad falls 'actively'. but the same would happen when throttle is low on a normal quad except it doesnt fall that fast. Good to know, thanks for t...

phenolic

Plain HK BlueSeries ESC with simonk firmware. Running MultiWii_shared r1253. No more flying it outside for me until I have better props, the lack of thrust is disturbing.

http://www.youtube.com/watch?v=f6PavUVXFe4

phenolic

you talked about the simonk esc and that a model is capable of doing this if simonk escs are installed. does that mean one just needs to reprogram the mwc board or do you also need to reprogram the escs ? I am flying with normal Blueseries 12A's and simonk firmware. I need to take video when I get ...

phenolic

I was just pointing out my observations. how do you come to this conclusion? by pratically testing it [which can be very error prone due all the additional hardware which also have to be set right and may is not]? By looking at the actual motor outputs on the bench. That is, the raw values that Mult...

phenolic

I thought it only does both when the speed on the motors is maxed out (ie. extreme stick movement or when near max throttle). At least that's the way it looks. When making less extreme stick movements and minor corrections it works similar to my pictures. One side will get more (or less when running...

phenolic

What I'm talking about has nothing to do with the orientation (eg. upside down). It's the gyro logic when the motors are running in reverse and MultiWii does know whether the motors are running forwards or in reverse. I know it works as is but it's less stable when the motors are running in reverse ...

phenolic

i can give you the mod i did to MWC 2.1 .. the oneshot PWM part will be released by amperedieter soon. Thanks for providing information on your patch! It has been fun playing with it. I adapted it to MultiWii_shared and added a bit of code. I'm using it with simonk ESC's and it works (mostly) fine ...

phenolic

Hey alll , this is LittleMo. Yes, it would be less noticeable the closer together the motors are. I'm surprised no one has tried to fix this before because it makes my quad handle so much better IMHO. I'm currently looking at making the swash ring in er9x configurable as a Super Circle. Or maybe it ...

phenolic

Did a quick test with 100% swash ring. Yeah, the exponential effect of PID rates adversely affects the roll rate when the stick is pushed to the corners. eg. it slows down a diagonal flip too much. However, first impression is it did make the quad feel and handle a lot better in general. Feels more ...

phenolic

Although I have known about this forever it just now occurred to me that my quad may not be handling as well as it could be because of this. What I'm talking about is how it's more sensitive when you push directly towards an arm. For example in X mode a sideways flip is slower than a diagonal flip a...

phenolic

Well I didn't have any issues with my motors starting although they "knock" a bit when idling that low. However, it did seem to do a whole lot better in the wind. It was still buffeted around a lot but was more "normal" in that it both gained and lost altitude with strong gusts. ...

phenolic

Hi, i have a thought about this issue. I have experienced something similar, when the minimum throttle for the ESCs was too high - motors spinning too fast in idle. Maybe because of this you get unbalanced corrections? Interesting idea. I wonder what a "correct" idle speed should be. I'm ...

phenolic

Yes, motors and props are rotating the correct directions.

phenolic

If I give full left (CCW) yaw my quad will gain altitude and drift to one side. On full right yaw (CW) the quad will become unstable, angle over to one side, and start drifting and losing altitude. What is going on here? Is there anything I can tune to make it rotate nicely centered? I using MultWii...

phenolic

I think what I need is simply less force on the opposite side of corrections. Lets say the left side of the quad is pushed down. In order to correct itself it's going to apply power to the left motors and I don't know if it simultaneously reduces power on the right motors but that's what I need or I...

phenolic

I have never used it however, there is a RATE setting shown next to the PID settings that I understand adjust the PID rate according to throttle position. That may help, but I am not sure because I never played with it. I do use rate depending on the P I'm using. With a P of 4 I use a rate of 0.3. ...

phenolic

This isn't about altitude hold. I'm not using that nor level mode. It's not caused by vibration as far as I can tell. My MPU-6050 is isolated by foam. In MultiWiiConf I can put max zoom on the gyros at full throttle and there is essentially no vibration whatsoever. I think I would notice problems al...

phenolic

Also I forgot to mention that if I shake the quad back and forth with stick movement (eg. aileron or elevator) it rapidly gains altitude also. To me the problem seems to be a result of a high power light quad and MultiWii is not counteracting additional power on one side with low enough power on the...

phenolic

I'm currently running with the default PID settings of 4, 0.030, 23 but I'm having the problem where wind gusts will make the quad gain altitude like crazy. Trying to fly in heavy winds is very difficult because I almost have to completely cut the throttle to stop it from gaining altitude and zoomin...

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