Search found 45 matches

by guru_florida
Mon May 21, 2012 2:38 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

Had a good flight test last night in a large parking lot. Both position hold and return to home worked great. No GPS PID changes here, just defaults. RTH saved me a few times since it was dark and I dont have lights on! At one point a low flying large aircraft flew overhead - I thought, "hmm......
by guru_florida
Sat May 19, 2012 6:01 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

No the MEGA has the same 8bit atmel core at 16MHz. It just has a whopping lot more I/O like serial ports, PWM, multiple i2c and other peripherals. I think there is some porting of MultiWii to STM32 underway...not sure though. 4are cycle times better on MEGA? asking because I'm thinking about going t...
by guru_florida
Sat May 19, 2012 5:10 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

This status indicator is only for the i2c-gps version, not for the MEGA. So in i2c-gps you have the GPS device connected to a dedicated Atmel chip, then this atmel chip wired to the MultiWii controller via the i2c port. So in this sense, you have two Atmel chips, 1 running MutliWii, and the other ru...
by guru_florida
Sat May 19, 2012 3:03 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

Hi Y.Mita, I am talking about the LED status indicator for eosbandi's i2c-gps code, not the MultiWii code. There is no def.h in the 92c-gps code. The status indicator for i2c-gps indicates if the gps module has (1) not found satellites yet (2) in 2D gps lock (3) in 3D gps lock. Mr.guru_florida, Sear...
by guru_florida
Sat May 19, 2012 6:32 am
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

Hi Eosbandi, Thanks for putting my status indicator patch in there. I forgot to tell you to set the LED STATUS pin13 to output in setup() though. It worked after I added: void setup() { ... // enable status LED pin pinMode(13, OUTPUT); } Your code works on a Trimble Condor C2626, and your startup co...
by guru_florida
Fri May 11, 2012 2:18 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

i2c gps does not work with the r10, it's a dev version for testing the algorithms and works only with serial gps. Currently i'm porting it to the i2c gps and to latest dev MultiWii code... stay tuned I think I misunderstand something. R10 is the release version of the i2c-gps-nav project right? Is ...
by guru_florida
Fri May 11, 2012 6:22 am
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

So I have the i2c GPS working, using latest R10 eosbandi release, and also using MultiWii 2.0 May5th dev (latest). I configured the GPS HOME and GPS HOLD switched. But I have no idea what those switches actually do? I flight tested and flipped the switches but no response. I cant find info on how to...
by guru_florida
Fri May 11, 2012 6:19 am
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 463083

Re: GPS integration

Hi Eosbandi, Thanks for doing such a great job on the i2c-gps code. Well done! I made a little mod that turns the STATUS light (pin 13) into a GPS lock status light. It: * blinks once per second if gps is sending data but no position lock yet * blinks twice fast, then off for a second if gps 2D posi...
by guru_florida
Sat Mar 17, 2012 9:53 pm
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

Thanks alexmos for your input. You have some great points. 1. Yes, the digital sensor requires 65ms between ranging. I am waiting 80ms, and this parameters is set in SRF08_RANGE_WAIT =80000. 3. This is a great point! The sonar sensors use a sensitive op-amp. other electrical noise could get coupled ...
by guru_florida
Sat Mar 17, 2012 5:32 am
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

I went through the datasheet again and the range is set to maximum by default. I have the SRF08 and I dont have any issues over 60cm. I get up to 100 in my office here and it still pretty steady. There is lots of things to bounce off of, but it's within an acceptable range for sure. I do have my son...
by guru_florida
Wed Mar 07, 2012 5:09 pm
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

It should. I checked the datasheet and it uses the same protocol. I also bought some SRF02's and I will test them out soon and report back. Either way, I will get the SRF02's working as well if they dont already work. is this code also running with SRF02 without changes? m The SRF02 is avail on the ...
by guru_florida
Wed Mar 07, 2012 2:59 am
Forum: Ideas
Topic: Attemp to integrate sonar (ultrasonic sensor)
Replies: 265
Views: 139973

Re: Attemp to integrate sonar (ultrasonic sensor)

Tifani wrote:Hi !
Why not Ultrasonic Range Finder - Maxbotix LV-EZ1 ???
Tom


It could work. The A6 and A7 input line is unused.
by guru_florida
Tue Mar 06, 2012 4:19 am
Forum: Ideas
Topic: GUI: sensor status ON/OFF column superfluous now? - resolved
Replies: 15
Views: 1530

Re: GUI: sensor status ON/OFF column superfluous now?

I suppose it has some value - the checkboxes don't actually tell you if its working! How about changing color of checkboxes - go green when enabled/active? That's what hamburger was implying with the red color coding of the checkbox headers in the screenshot. The checkboxes wont change color, but t...
by guru_florida
Mon Mar 05, 2012 4:49 am
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

Correct, the 5V I2C header. Also, you can pull the power from the servo header or the serial header if you are not using it. Since you are using the quadrino then that code should work for you without modification, def.h and config.h already setup. Dear guru_florida! I'm going to prepare for SRF08. ...
by guru_florida
Sun Mar 04, 2012 3:05 am
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

I also tried in *very* high winds today. The copter was doing pretty good to maintain altitude even though I was having a tough time keeping the copter from blowing away. Seriously it was gusting to about 25mph winds out there! During the high gusts the copter was acting like a wing so the wind was ...
by guru_florida
Sun Mar 04, 2012 3:01 am
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

Here's the link. This code is originally from user Alexmos who coded the analog sonar and his own Alt hold implementation. He fused the sonar readings with the baro readings. If the sonar is beyond range then only the baro is used. All I did was add the code for i2c sonar sensors instead. You will h...
by guru_florida
Sat Mar 03, 2012 9:36 pm
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

Sorry guys, I've been recovering from a major case of exhaustion. I'll post the code when I get home tonight. There is still a few little tuning things, but works good. any updates...? My srf08 is on the way.... :D:D Dear guru_florida, please share your working code for testing and development. Eve...
by guru_florida
Thu Mar 01, 2012 6:15 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

alexmos, I just flew your code with bmp085 and the SRF08 i2c sensor. It worked awesome! I went through 4 batteries mostly flying at 1-4 feet just because it was awesome seeing the copter fly around a few feet off the ground and not crash. lol. Really this makes flying at 1 foot off the ground possib...
by guru_florida
Thu Mar 01, 2012 5:56 am
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

I just went through 4 batteries. I got the copter and alt hold tuned well. The alt hold actually works the best at 1-4 feet! lol. There is still some tweaking to the code that needs to happen when the copter is at 6 feet and above. I think the code is still relying too much on the baro then when it ...
by guru_florida
Wed Feb 29, 2012 10:02 pm
Forum: Ideas
Topic: Attemp to integrate sonar (ultrasonic sensor)
Replies: 265
Views: 139973

Re: Attemp to integrate sonar (ultrasonic sensor)

I see now, thanks. I took a look at the code. You will want to set the address of the sonar to 0xF0. This is where my code will look for the first sensor. The shield code ignores the register byte in i2c transactions so that is good in the sense my code tries to read register 2, the shield will retu...
by guru_florida
Wed Feb 29, 2012 8:57 pm
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

Yes, the SRF02 should work completely as well. It also supports many sensors on the bus. I am going to get some of these too. These are going to be great for lateral sensors since they are smaller and I can fit them on the wings/arms. They are also less than half the price! Why do some sensors have ...
by guru_florida
Wed Feb 29, 2012 8:50 pm
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

Some notes on performance at different altitudes: 1ft holds to within a few inches. A few times it almost dropped to the ground, but seriously, I am 1ft off the ground!! 5ft works very well. most of the time it holds still. Sometimes it's skipping like a stone on water a bit - symptoms of poor PID p...
by guru_florida
Wed Feb 29, 2012 8:40 pm
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

It worked very well! I could hover 1ft off the ground and fly around, it was holding steady. I'm going to do a little more check-over and I will post the code. msev: I ordered mine from robotshop.com in the US. They are sold out until the 8th. I just ordered 4 more from acroname.com. I am going to t...
by guru_florida
Wed Feb 29, 2012 3:53 pm
Forum: Ideas
Topic: Attemp to integrate sonar (ultrasonic sensor)
Replies: 265
Views: 139973

Re: Attemp to integrate sonar (ultrasonic sensor)

the code for SRF08 works perfectly with my i2c shield for HC-SR04, just need some tweaking with address I dont get it, the SR04 is not an i2c sensor, how could the SRF08 code work for it? My code will try to change the i2c address of the sensor so that multiple SRF08's can be put on the same bus. I...
by guru_florida
Wed Feb 29, 2012 3:50 pm
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Re: Integration of SRF08 I2C sonar sensor (done)

I'll share everything. The only sonar/baro fusion code I know of is alexmos's as found in thread:
viewtopic.php?f=7&t=363&p=9568#p9568

I am going to try that today.
by guru_florida
Wed Feb 29, 2012 8:01 am
Forum: Ideas
Topic: Attemp to integrate sonar (ultrasonic sensor)
Replies: 265
Views: 139973

Re: Attemp to integrate sonar (ultrasonic sensor)

I integrated the SRF08 I2C sonar sensor into the latest dev. Details here:
viewtopic.php?f=7&t=1282

I also integrated into alexmos's code that has baro/sonar sensor fusion but I havent tested it yet. Looks good in the GUI.
by guru_florida
Wed Feb 29, 2012 7:59 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

I integrated the SRF08 I2C sonar sensor into the latest dev. Details here:
viewtopic.php?f=7&t=1282

I also integrated into alexmos's code but I havent tested it yet. Looks good in the GUI.
by guru_florida
Wed Feb 29, 2012 7:56 am
Forum: Ideas
Topic: Integration of SRF08 I2C sonar sensor (done)
Replies: 89
Views: 44003

Integration of SRF08 I2C sonar sensor (done)

Hi all, I integrated the SRF08 sonar sensor into the latest dev 20120225. (It can also be backported easily.) The nice thing about this sensor is it has a long range (6m) and you can have up to 16 of them on the same i2c bus. No other pins are needed. The main purpose I did this is to fuse the readi...
by guru_florida
Sat Feb 25, 2012 9:56 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Hi Lapino, I zipped everything up. If you just want to do MATLAB, you can download the matlab .m files and the MultiWiiLink.dll from below. There are instructions in the zip to modify MultiWii code...very simply, just adding a command to the serial 'switch' statement to return only the variables you...
by guru_florida
Sat Feb 25, 2012 9:33 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Thanks Magnetron. Where can I download your latest code? 20120219 or whatever. I can use zip or svn no problem.

Magnetron wrote:Hi, I am working now on 20120219... I will try 20120225...
by guru_florida
Sat Feb 25, 2012 9:17 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Magnetron, the copy you are working on is the standard MultiWii code repository as MultiWii_dev_20120225, correct?
by guru_florida
Sat Feb 25, 2012 9:09 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Hi Magnetron, Alexmos did something like this in his code. I think it's a good idea, having the vertical velocity dampen the output through D. What's interesting is he uses Kp*Kd*EstVelocity . Here is the line from alexmos's PID code: DTerm = ((int32_t)D8[PIDALT]) * P8[PIDALT] * constrain(EstVelocit...
by guru_florida
Fri Feb 24, 2012 5:10 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Tobi, I have been using Matlab to test out my own algorithm. I made a DLL for matlab that allows me to read the values from the control board and also write back the throttle value so I can do hardware in the loop testing. My baro hold was then coded in matlab for testing. I can also plot the result...
by guru_florida
Fri Feb 24, 2012 1:14 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Wow! Alexmos, that actually works! For the first time I had it hovering! You just made my day! I think it was the THROTTLE_EXPO that was giving me the wierd throttle reaction, I disabled it. I had it hovering for a long time, and it was correcting very well. I could see the copter was following the ...
by guru_florida
Thu Feb 23, 2012 2:21 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Then there is definitely something wrong in my setup. I could not get the BARO to light up in the GUI, STABLE and ACC would fine though. But the copter would want to take off into the sky once I flicked my AUX1 switched, even if I didnt have any mode boxes on. Wierd. I will look into it and report b...
by guru_florida
Wed Feb 22, 2012 5:21 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Hi alexmos, No luck here. Copter just flies away (into the sky). I adjusted the THROTTLE_HOVER/SHIFT to 1275 which was my throttle just before the copter would take off. Maybe it's just my PIDs are way off. I left P as default 4.7. TRUSTED_ACCZ is enabled. I am using the BMP085 like your setup. Also...
by guru_florida
Wed Feb 22, 2012 4:29 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Great videos! What VEL/ALT PID do you recommend? You are using the VEL pids right because you speak of velocity estimator. Hi guys! Here is my alt hold implementation: m It is very simular to ziss_dm method introduced in 1.9, but it was developed independetly and has some nice features. The main tar...
by guru_florida
Fri Feb 03, 2012 4:39 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

Here is a screenshot of the tuning UI I made that plugs into MATLAB (It is a C# dll). The UI allows me to change the control loop parameters in realtime and see the effect. The process I use so far is to (switch to baro mode) then increase the Gravity Prefeed until the copter is just about to lift o...
by guru_florida
Fri Feb 03, 2012 4:31 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

To follow up. I've gotten the copter to fly with MATLAB in the loop. You can see my setup at: m I've also gotten baro hold to work....BUT...I find the tether wire hanging from my test stand provides too much of a dampening effect. The copter can hover pretty well without any algorithm! So I am going...
by guru_florida
Fri Feb 03, 2012 4:22 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 65666

Re: Alt. Hold Ideas and discussion

I was just pointed to this thread after PMing ziss_dm about my initial stab at getting baro hold to work. I've tried to tackle 2 of the hardest things to deal with when working on coding baro-hold: 1. Having to walk to the park everytime for testing 2. Dealing with the nuances of coding big-boy algo...
by guru_florida
Wed Sep 21, 2011 7:36 pm
Forum: Software development
Topic: dev20110619 plus hardware current sensor, LCD keys navigatio
Replies: 18
Views: 2315

Re: dev20110619 plus hardware current sensor, LCD keys navig

What are the possible hardware sensors that can be used? I know just about anything that outputs an analog signal, but what have people used so far and what luck have they had? I see the ACS758 is one option. How is the hardware sensor fairing versus the soft mode in accuracy? Measuring real current...
by guru_florida
Sun Apr 03, 2011 7:28 am
Forum: Shields, boards and sensors
Topic: WM+ with ITG3205
Replies: 84
Views: 31497

Re: WM+ with ITG3205

My quadrino board... :)
Quadrino-Rev1A-ssm.png
by guru_florida
Sun Apr 03, 2011 6:53 am
Forum: Shields, boards and sensors
Topic: WM+ with ITG3205
Replies: 84
Views: 31497

Re: WM+ with ITG3205

So is everyone working well on 1preter7 without the ITG3200 gyro going all wonky? I've made my own PCB with onboard arduino plus ITG3200 gyro plus BMA180 accelerometer. I've been flying with it for a while without *any* issues, but I am not an aggressive flyer yet. My friend tried my board in strong...
by guru_florida
Mon Mar 28, 2011 5:43 am
Forum: Software development
Topic: Alex: code optimization
Replies: 3
Views: 814

Re: Alex: code optimization

Really, cool! :) I didnt know it had that optimization. I assume then that arduino compiles with full -O.
by guru_florida
Sat Mar 26, 2011 4:53 am
Forum: Software development
Topic: Alex: code optimization
Replies: 3
Views: 814

Alex: code optimization

Hi Alex, I think we can use shifting here to eliminate a few multiplies... yes? Line 1765: rcOptions = (rcData[AUX1]<1300) + (1300<rcData[AUX1] && rcData[AUX1]<1700)*2 + (rcData[AUX1]>1700)*4 +(rcData[AUX2]<1300)*8 + (1300<rcData[AUX2] && rcData[AUX2]<1700)*16 + (rcData[AUX2]>1700)*32;