MultiWii

Mis

You're right. This should work OK.

Mis

If you can setup failsafe in your RX - program throttle chanel to 980us and memorize this setting in receiver as failsafe.
In this case MWC recognize 980us on throttle as failsafe and start internal failsafe function.

Mis

Failsafe is triggered after "FAILSAFE_DELAY" time IF:
1 - No valid PPM pulses at ppm input, OR
2 - one or more of first four channels in PPM stream have pulse time bellow 985us.

Mis

Maybe some status screen like this:

Mis

But there is still no channel Six detected by the MWC.

If your receiver have more than 6 channels, connect one additional diode to channel 7 and you get 6 working channels.

Mis

For the math people, is there a difference for the detection of movement, comparing "2 consecutive 200 sample averages" to "40 compares (separated by 10 samples) out of 400 samples" Yes of course. But the effect is similar. Is many ways for getting the same effect I found one, y...

Mis

Timecop, you are wrong. Why if tilt==1 you set calibratingG =1000 and not 400? Load a 1000 to calibratingG counter is for additional delay between stop moving detection and begin of calibration. The calibration begin after calibratingG reached value of 400. (by the way the line after #if defined(GYR...

Mis

I commit this feature some times ago as mandatory. But someone change it to an option, and turn off by default. Why ? I don't know. In my opinion the argument about themperature drift is irrational. It is not possible to quickly change the temperature so that no calibration to be performed. And this...

Mis

Check leatest DEV version. /************************ continuous gyro calibration ********************/ /* Gyrocalibration will be repeated if copter is moving during calibration. */ //#define GYROCALIBRATIONFAILSAFE If you uncomment this line you get effect exactly as you want. Calibration is restar...

Mis

You must decrease endpoints in your TX.

Mis

Hamburger, check your endpoints for first 4 channels. Noone should be lower than 1000us (best keep it above 1030us).

Mis

Time to get back to work

Yes, on old doddery ARM's from Atmel

Mis

Additional channels (above AUX4) can be used for gimbal pitch & roll control, or for something else like control interval of CamTrig servo, and maybe for some others features. Can be directly transferred to servo outputs too.

Mis

Check it at open space, not in house because in house the GPS can't receive sattelites from different georgapchical sites.

Mis

Ublox with binary mode work even at 19200baud with 5Hz update rate, but 38400baud is optimal. Belive me. And you don't need configure your ublox with PC. The MWC firmware (starting from dev version 1117) configure speed and other parameters of ublox in right way.

Mis

Janekx:
Set GPS_BAUD to 38400.

Mis

Mahowik:
Can you look at my last method used in this software version: http://romek_by.republika.pl/MK/MultiWii_2_16_MIS.zip ?
In my tests this get good results.

Mis

This is based on MultiWii 2.1 official code. But many news from dev code is included, and some updates to official development versions is based and tested on my custom version. No way for "simple diff" for find differencies.

Mis

Hi ! This is my custom version of MWC firmware especially designef for Mega2560 controllers - tested on CRIUS AIO Pro. Most important features: -Intelligent failsafe with RTH at specified altitude and AutoLanding -FailSafe activation via FAILSAFE checkbox for easy test -New alternative, quick STABLE...

Mis

mahovik: Your change to my code have one dangerous situation. If you arm the copter before "count" reached zero, the count variable is zeroed, and "measured1G" variable is not divided by 8. Then you substract crazy value from accZ. I think, about good solution, and maybe fusion o...

Mis

I have acces to repository, but before I commit this idea, i need some positive feedback.
Too many my ideas have been nuked by other programmers.

Mis

Yes. Someone irrationally add many settings like vbatscale, vbatlevels, failsafe throttle, gyro smoothing to "conf" structure saved in eeprom. For now is not possible to change these parameters via PC and GUI. Additionally these parameters are initialized from "#define" only duri...

Mis

Are you using officially mwii 2.1 code or some dev. version ?
If any GUI is designed for oryginal mwii 2.1, it can stop propertly working with dev1057 and later. For compatibility with newer dev versions the GUI should be rewrited for dynamic change of checkbox items count.

Mis

pm1 wrote:u08 crc=len; => checksum = 18;

This is only some simplification. Checksum should be calculated from len field, command field and all payload datas. But, zero ^ len field = len field. In this case i can write "checksum = len" instead "checksum = 0; checksum ^= len"

Mis

Working piece of code from my OSD for sending MSP commands ( u08 = uint8_t type ): void MSP_data(u08 cmd, u08* ptr, u08 len) { u08 crc=len; TX_ON; uart_send('$'); uart_send('M'); uart_send('<'); uart_send(len); uart_send(cmd); crc ^= cmd; while(len--) { crc ^= *ptr; uart_send(*ptr++); } uart_send(cr...

Mis

Sebbi. I think, but not sure that altitude drop after switch althold on can be caused by 1G constants difference from real 1G reading. I make some code changes for runtime 1G measuring. Measuring is done within 1 second after gyro calibration ends. Additionally i do one more modification for gyro ca...

Mis

I think, the alarm handler should be rewrited for handling simultanously more than one channel (every channel should have one bit mask in resource variable) and maybe changed for easest using eg maybe in this way: "notification(resource, notification pattern)". Resource can be defined as e...

Mis

OK, but your change have some issues 1. No current active profile signalisation after power-up (only led blinks, no buzzer confirmation) 2. Buzzer and leds is out of sync. In old way the buzzer beeps synchronized with led's, now first the leds blinks, then after a while buzzer is activating. The ala...

Mis

If your THROTTLE chanel can't go bellow MINCHECK you can't arm the motors. Arming is possible only if throttle is bellow MINCHECK.

Mis

for (int i = 0; i < 18; i++) {
checksum ^= (mw[i] & 0xFF);
}
mw[18] = (char) checksum;

Mis

In my private code I have only one choice - UBLOX. If this is commented, software assume that should use NMEA. But someone came up with other way.

Mis

Check your configuration. Are you use NMEA or UBLOX GPS ?
You must choose one of this type in config.h file.

Mis

Hi !
HK_MultiWii_SE_V2 and MEGAWAP_V2_ADV use obsolete "MPU6050_EN_I2C_BYPASS" definition.
This should be replaced by new "MPU6050_I2C_AUX_MASTER", but if work with old definition, i think these boards not use MPU6050 AUX i2c connections.

Mis

Code before r1181 have some more bugs if you use ARM BOX instead arming via stick command. If you accidentally move throttle stick to minimum during flight, the headFreeModeHold variable is updated with current heading. In r1181 this is eliminated by adding if(!armed) condition in go_arm() function....

Mis

The MSP_AUX_COUNT is not needed. PC application should count number of RC channels from "size" field of MSP_RC command.

Mis

I not agre. Sometimes this style is better readable, especially if several similar statements are arranged one behind other.

Mis

The blinkLLED is executed only if you try motors arming, and arming is not possible for some reasons eg failsafe active, ACC not calibrated ect. In this case you see led blink and hear error beep instead motors arming.

Mis

Thank's for feedback. Most of bugs is fixed in r1181. I'm not sure only about failsafe kick.

Mis

This is pretty easy

Now done in r1180
Code is about 300 bytes smaller, and more,more better readable.
All checks is done in full acuracy - position of all 4 sticks are checked.
Old stuff still present, but commented out.

Mis

we can use a byte variable with 2 bits assigned to one stick and 00=min, 11=max, 01=mid, then on each loop detect the position of all 4 sticks and set that variable, then if it is not the same as previous loop, to reset rcDelayCommand counter to 0. if it reaches 20 consecutive passes with the same ...

Mis

Hi. I have little smaler code for fixed cycle time: computeIMU(); // Measure loop rate just afer reading the sensors do{ currentTime = micros(); cycleTime = currentTime - previousTime; }while (cycleTime < FIXED_CYCLE_TIME); previousTime = currentTime; If you set FIXED_CYCLE_TIME to 0, compiler autom...

Mis

In my opinion if any protocol have lenght field, we should use it. At PC side the serial buffer should have lenght bigger than longest message, and should be first cleared, then we should read "length" bytes from serial port, then parse data from the read buffer. In this way we always get ...

Mis

I'm not sure, if it's safe for switching profile during flight. IMHO better is leave as is, eg. select profile before arming.
BTW. Now we need new PC configuration software with selecting profile support. I'm not PC side programmer, and can't make this.

Mis

Look at this more precise.
NEO6M have 5Hz update rate. NEO6P and V have only 1Hz.

Mis

x/y/z = x/z/y, but arguments order make some differencies in code size.

Mis

We need angles also so we do not approximate multirotor behaviour to level at 0°.. In position hold ? Why not ? This topic and discutions is about position hold, not about acro or even normal flight behaviour. At position hold we can use lot of simplifications, because this is ONLY POSITION HOLD wi...

Mis

One small question. We discussing here about the rotation matrix depending on the tilt angle for the position hold function.
But in my opinion, during position hold the tilt angle of copter is close to zero. In this case all of advanced and sloooow calculations are really needed ?

Mis

jy0933 wrote:i was reading the changes in the dev code.. since ublox6 all support 10hz refresh rate.. why dont init-config to 10hz ...but rather 5hz?

Because in this case MORE Hz is not EQUAL to BETTER. It was written about it about 100 times. GPS have worst precision at 10Hz.

Mis

PatrikE wrote:So then there's no bug then?

IMHO no, but i'm not 100% sure because this code is little screwed up

For sure, need to look at the generated assembly code, but it is more unreadable and need lot of time for understand it.

Mis

Interrupt driven software UART: m m This can be easly adapt and shrinked because (big) receive part is not needed. And you simple can send inverted data. BUT IMHO the mega328p is at end of available resources, and this feature should be added only for mega1280 and mega2560 CPU's with lot of hardware...

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