MultiWii

If you do not see the value of properly variable naming and good comments then you're clearly not qualified to contribute to this discussion.

And what do you think if MAG datas would be used for compensation of angle calculation? When mag is calibrated corretly, it gives the exact position in three axis. I'm still looking for the proper accMag values, Alexinparis, could you help a bit and suggest some values for that? MAG data are probab...

The purpose of the current code is to define the MAG sensor you like, on then work only with the "MAG" definition via generic functions shared among all MAG sensors. This way, when you add a new mag device, it's very easy to update the code without changing everything. Clearly, but this i...

Earth magnetic field is [0.2;0.7] (from equator to the poles) Gauss Positive BIAS during init for x&y is 1.16 Gauss, z is 1.08 (check this difference Alex!) Maximum field is so 1.86 Gauss We can work without problem with 1.3 Ga scale. (and a lot far away from overflow with the 2.5Ga during init...

MMmmmmm, this is a solution to the problem: #if defined(MAG3110) && !defined(MAG) ...blabla... init read etc. #define MAG #else #error There are 2 or more MAG defined #endif So every programmer doesn't modify a common part (and the maintainer can only cut&copy the part) , and also you ca...

There is also another good method:

#if defined(MAG3110) && !defined(MAG)

...blabla...
#else

Reading source code rapidly, NUNCHUCK is autodetected, but I think you can enable another acc without problem.
NUNCHUCK is too much sensible in the rotating range of the motors.

NK is not a good choice.

in only one place: #if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110) || defined(LASTUBERALLESMAG) .... x100 .... || defined(LASTKNOWNMAGINTHEWHOLEWORLD) #define MAG #endif all over the program: #if defined(MAG) blablabla calibration #endif #if defined(MAG) blablabla com...

no problem with performance, thankfully to the excellent compiler!
No virtual functions so no additional load during runtime, floating point lib in gcc for AVR are really optimized.
It is ready to be used on STM32

New mag initialization inside to return IN TOPIC.

Oh yes! I love to program clean and with FLOATING POINT fully with 32-bit.
You can see my personal multicopter project: http://code.google.com/p/simplo/

yes noobie, There is a problem, searching for min/max and extracting only the zero is not correct, with soft-iron effect the range (also with the test of the fixed field of the BIAS) are different for x,y,z. If you have metallic surface near the sensor (every quad have this problem), the range chang...

I think that the best will be to introduce a define for MAG_PRESENT non for every hardware supported.

Earth magnetic field is [0.2;0.7] (from equator to the poles) Gauss Positive BIAS during init for x&y is 1.16 Gauss, z is 1.08 (check this difference Alex!) Maximum field is so 1.86 Gauss We can work without problem with 1.3 Ga scale. (and a lot far away from overflow with the 2.5Ga during init)...

Hello to all. The BIAS positive for the HMC5883L are different for X&Y than Z, the field generated for X&Y are 1.16 Gauss, Z have 1.08 Gauss (that is 7% difference) according to datasheet. This is a method to compensate: magCal[ROLL] = 1160.0 / abs(magADC[ROLL]); magCal[PITCH] = 1160.0 / abs...

if you have q0 q1 q2 q3 (you must normalize it) and want to convert to roll pitch yaw: // normalise quaternion norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3); q0 = q0 / norm; q1 = q1 / norm; q2 = q2 / norm; q3 = q3 / norm; y=atan2(2*q1*q2+2*q0*q3,2*q0*q0+2*q1*q1-1); p=-asin(2 * q1 * q3 - 2 * q0 * q2); /...

Also Miniwii with this version have wrong orientation: Correct one is: #if defined(MINIWII) #define ITG3200 #define BMA180 #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...

void Gyro_getADC () { TWBR = ((16000000L / 400000L) - 16) / 2; // change the I2C clock rate to 400kHz i2c_getSixRawADC(ITG3200_ADDRESS,0X1D); GYRO_ORIENTATION( + ( ((rawADC[2]<<8) | rawADC[3])/4) , // range: +/- 8192; +/- 2000 deg/sec - ( ((rawADC[0]<<8) | rawADC[1])/4 ) , - ( ((rawADC[4]<<8) | raw...

You can't apply directly GYRO_ORIENTATION because value from WMP are not zero centered.
In the other thread I have found a working patch.

Is this integrated in the source code?

32767 is not 2000 deg/s

ITG3200 have a 14.375 LSB/(deg/s) (read the datasheet) so

32767/14.375 is 2279.44 deg/s

2000 is only a value for the reference scale.

This affect the stable mode.

Sorry Alex you are wrong:

32767 is not 2000 deg/s

ITG3200 have a 14.375 LSB/(deg/s) (read the datasheet) so

32767/14.375 is 2279.44 deg/s

2000 is only a value for the reference scale.

In the serial section:

case 'W': //GUI write params to eeprom @ arduino
while (Serial.available()<29) {}

But with the 2 new byte from powermeter you read 31 byte.

int roll,pitch,yaw; // BUG Correction GYRO_ORIENTATION is not applied when you have WMP // You must save it to exclude swap between vars roll=gyroADC[ROLL]; pitch=gyroADC[PITCH]; yaw=gyroADC[YAW]; GYRO_ORIENTATION( roll, pitch, yaw); In the last dev version there aren't these lines of code to apply...

Please can you reverse the bar on the gyro? when value are positive bar goes negative.

Taken from Baronpilot: B0, B1 B2 B3 B4 have PCINT also on Teensy 2.0+ void setupRx() { #ifdef TEENSYP pinMode(PIN_B0,INPUT); pinMode(PIN_B1,INPUT); pinMode(PIN_B2,INPUT); pinMode(PIN_B3,INPUT); pinMode(PIN_B4,INPUT); PCICR |= (1<<PCIE0); PCMSK0 = (1<<PCINT0) | (1<<PCINT1) | (1<<PCINT2) | (1<<PCINT3)...

You must add this to the end of gyro_common in sensors.pde to apply GYRO_ORIENTATION to WMP: void GYRO_Common() { static int16_t previousGyroADC[3] = {0,0,0}; static int32_t g[3]; uint8_t axis; if (calibratingG>0) { for (axis = 0; axis < 3; axis++) { // Reset g[axis] at start of calibration if (cali...

Great Syberian, I don't understand only why you can't put it in a normal arduino code is not so big.

This can cause an angle jump.

last line is:
for (axis=0;axis<2;axis++) angle[axis] = A[axis]*570.29577951; //angle in multiple of 0.1 degree

but 180/M_PI is 57.29

so the line must be:
for (axis=0;axis<2;axis++) angle[axis] = A[axis]*572.9577951; //angle in multiple of 0.1 degree

Arduino (sigh) compile with -Os (for size), but you can modify it to compile with -O2

-32768 is

over 2000 degrees/sec!!! nearly 330 rpm, or 90 degree in 0.045s a very very very fast movement!

GCC do this automatically.

The scale for the gyro has been moved so the new L3G4200D doen't have a correct scale, please add: gyroADC[ROLL] = ((rawADC_L3G4200D[1]<<8) | rawADC_L3G4200D[0])/20 ; gyroADC[PITCH] = ((rawADC_L3G4200D[3]<<8) | rawADC_L3G4200D[2])/20 ; gyroADC[YAW] = -((rawADC_L3G4200D[5]<<8) | rawADC_L3G4200D[4])/2...