Search found 19 matches

by SergioC
Thu Aug 01, 2013 1:13 pm
Forum: Software development
Topic: [patch] errorGyroI[YAW] must be zeroed at MINCHECK
Replies: 7
Views: 2224

Re: [patch] errorGyroI[YAW] must be zeroed at MINCHECK

Yes. But the patch has #ifdef for both. So both need testing/inspection. I Think there's no need for extensive testing .... the patch only sets the Yaw_I to Zero in the AlexK - when stick-command is below Mincheck; same does Oldschool ..... This patch is necessary due to different variable names .....
by SergioC
Tue Jul 30, 2013 1:20 pm
Forum: Software development
Topic: [patch] errorGyroI[YAW] must be zeroed at MINCHECK
Replies: 7
Views: 2224

[patch] errorGyroI[YAW] must be zeroed at MINCHECK

As discussed in the post http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=230#p38772 and following. In PID_CONTROLLER 2, Alex implementation, the copter yaws just after takeoff. This is due errorGyroI[YAW] is not kept at zero when throttle command is lower than MINCHECK. PID_CONT...
by SergioC
Wed Jul 24, 2013 11:41 am
Forum: Software development
Topic: Request for yaw test on r1539
Replies: 32
Views: 12386

Re: Request for yaw test on r1539

the yaw jump problem is caused by not taking in account the MINTHROTTLE motor lower limit. When a sharp yaw correction is required one motor will spin up the other will slow. If the slow motor is to be commanded below MINTHROTTLE it will be instead tied to MINTHROTTLE but the opposite motor will be...
by SergioC
Tue Jul 23, 2013 1:28 pm
Forum: Software development
Topic: Request for yaw test on r1539
Replies: 32
Views: 12386

Re: Request for yaw test on r1539

Your thoughts on this matter look very promising Sergio, and it makes sense that it could be exactly that given the way the quad reacts, when I'm doing fast Yaw, spinning it like a top, you can clearly see two motors barely spinning, my min-throttle is 1100 which with my ESC's and motors is a very ...
by SergioC
Mon Jul 22, 2013 8:24 am
Forum: Software development
Topic: Request for yaw test on r1539
Replies: 32
Views: 12386

Re: Request for yaw test on r1539

the yaw jump problem is caused by not taking in account the MINTHROTTLE motor lower limit. When a sharp yaw correction is required one motor will spin up the other will slow. If the slow motor is to be commanded below MINTHROTTLE it will be instead tied to MINTHROTTLE but the opposite motor will be ...
by SergioC
Wed Jul 17, 2013 10:31 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182355

DANGER!!! Re: V2.2 - ACRO PID implementation is wrong, right

Works for me, thanks Sergioc, with code a little bit smaller .... // perform actions if (rcData[THROTTLE] <= MINCHECK) { // THROTTLE at minimum errorGyroI[ROLL] = 0; errorGyroI[PITCH] = 0; errorGyroI_YAW = 0; errorGyroI[YAW] = 0; errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0; if (conf.activate[BOXA...
by SergioC
Mon Jul 15, 2013 10:36 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182355

Patch Re: V2.2 - ACRO PID implementation is wrong, right?

I think I found it. errorGyroI[YAW] is not zeroed when throttle is below MINCHECK. This is due the two different sets of variables/arrays used by the two PID implementations. The errorGyroI accumulator variables are zeroed at idle throttle in the following code (MultiWii.cpp:818): // perform actions...
by SergioC
Mon May 13, 2013 10:57 am
Forum: Ideas
Topic: Vib Test version
Replies: 38
Views: 26529

Re: Vib Test version

which level of vibrations are acceptable for a fair/good/best copter experience? You should explain the zoom ratio of gui graph e oscillations heights split for both acc and gyro. I think the best would be to attach a screenshoot of the GUI graphs of a single propeller spinning and comment about. I ...
by SergioC
Tue Apr 30, 2013 9:44 am
Forum: Software development
Topic: Multiwii 2.2 hangs when using FrSKY serialsum receiver
Replies: 26
Views: 10640

Re: Multiwii 2.2 hangs when using FrSKY serialsum receiver

Now, I have digged deeper and found the problem. Weeks ago I looked at the wrong init part (the definition for STANDARD_RX and not for PPM_PIN_INTERRUPT definition) . For the ATmega32U4 external interrupts the default interrupt sense is low level. In our special case (the constant low level signal ...
by SergioC
Wed Apr 24, 2013 10:05 am
Forum: Software development
Topic: LEAVE_HEADROOM_FOR_MOTORS - Solved
Replies: 4
Views: 1396

Re: LEAVE_HEADROOM_FOR_MOTORS - Solved

subject changed, I just sow the development branch and found the dynbalance feature, my patch used stick combos to select engine(s) to be driven by the throttle, I'm still unable to compile the GUI so I use RC for such. Actually the copter fell down my list of spare timeslots, sadly I admit Then I t...
by SergioC
Wed Apr 24, 2013 7:02 am
Forum: Software development
Topic: LEAVE_HEADROOM_FOR_MOTORS - Solved
Replies: 4
Views: 1396

Re: LEAVE_HEADROOM_FOR_MOTORS

Oooops, I'm sorry I missed the dev code.
And no I don't use it, I sow it when porting to 2.2 an old mod I made to control single motor to balance them and props

Sergioc
by SergioC
Tue Apr 23, 2013 1:13 pm
Forum: Software development
Topic: LEAVE_HEADROOM_FOR_MOTORS - Solved
Replies: 4
Views: 1396

LEAVE_HEADROOM_FOR_MOTORS - Solved

Hi, the LEAVE_HEADROOM_FOR_MOTORS ifdef block in Output.ino is suboptimal, the two branches code is the very same but the define used. This leads to programming errors mybe updating one branch leaving the other. I suggest to leave only the truth branch (then) and add at the end of def.h #ifndef LEAV...
by SergioC
Thu Apr 18, 2013 1:25 pm
Forum: Software development
Topic: List of problems in Version2.2
Replies: 58
Views: 20561

Re: List of problems in Version2.2

List of Problems: 4. The Command SEI() in RX bring the 32U4 to Stop with some PPM Receiver (Jeti RMK2, Spektrum). FIX: Uncomment the SEI() command in RX. is this fix confirmed ? I had two software freeze midflight with multiwiigui connected via USB http://www.multiwii.com/forum/viewtopic.php?f=8&am...
by SergioC
Wed Apr 17, 2013 2:47 pm
Forum: Software development
Topic: Multiwii 2.2 hangs when using FrSKY serialsum receiver
Replies: 26
Views: 10640

Re: Multiwii 2.2 hangs when using FrSKY serialsum receiver

Is there any developer confirming that removing sei() is the solution?
Did someone understood why it happens?
I had two software freeze midflight (my prev post) and I'm going to go back to 2.1

Sergio
by SergioC
Tue Apr 02, 2013 11:01 am
Forum: Software development
Topic: Multiwii 2.2 hangs when using FrSKY serialsum receiver
Replies: 26
Views: 10640

Re: Multiwii 2.2 hangs when using FrSKY serialsum receiver

I also confirm that removing the sei() call seems to fix the issue. But I had two software freeze when armed and connected to the PC via the USB port. It freeze the motor speed, no more corrections. I was holding it by hand during some PID tuning. One time it freezed during an hard correction... it ...
by SergioC
Fri Feb 01, 2013 5:25 pm
Forum: Getting Started - MultiWii config and setup
Topic: gimbal lock
Replies: 0
Views: 611

gimbal lock

Hi all,
I don't know if this is the best section where post to.
I'm trying to understand the gimbal lock problem, if it apply in MultiWii, acro and/or level mode, when it happens (nose up/down, I guess), what happen next it is locked.


S
by SergioC
Wed Jan 23, 2013 12:54 pm
Forum: Shields, boards and sensors
Topic: NanoWii atmega32u4 (leonardo) FC
Replies: 52
Views: 42808

Re: NanoWii atmega32u4 (leonardo) FC

Hi, just purchased my first NanoWii, incredible, I love it! I'm not able to use the GUI. The GUI see the COM interface, I select, wait, then I click start but nothing come. I digged some, I can upload any sketch to the board and they do works, I tried the very simple led blink and so on. The Serial ...
by SergioC
Wed Jan 16, 2013 11:43 pm
Forum: Connecting elements
Topic: Heading 180 degree out
Replies: 13
Views: 5272

Re: Heading 180 degree out

try to negate only the Z term
{magADC[ROLL] = -X; magADC[PITCH] = -Y; magADC[YAW] = -Z;}


Sergioc.