MultiWii

Mis

One more question about angleTrims. This is not depended from copter setup (e.g. additional weight at front - with camera) ?. If yes, this should be moved to global.conf. I do not want to hunt for it with a million of #ifdef options.

Mis

PatrikE: Look at declaration of params for get_D: int32_t get_D(int32_t input, float* dt, struct PID_* pid, struct PID_PARAM_* pid_param) pid is declarated as poiner to structure witch PID_ type. Then in GPS_calc_poshold() you see get_D call: d = get_D(error[axis], &dTnav, &poshold_ratePID[ ...

Mis

I not add the angleTrims because I'm not sure about role of angleTrim, but OK, i can move it to global_config. Some more variables should be global ? I think about battery alarm levels, but someone need two configurations for flying with 3S or 4S battery, and in this case different alarms should be ...

Mis

jevermeister wrote:Wouldnt it be good to add a buzzer alarm for not calibrated acc?

Maybe this is not a buzzer

, but for now you see constantly blinking onboard LED, and can't arm the copter. Until you calibrate ACC.

Mis

Hamburger, you can't switch profile (i like this name ) during flight. Switching is only possible if disarmed, even from PC. I'm not use sequential change via single stick combination because we not have sure feedback about current setting number. If you enable RCOPTIONSBEEP (i like this option), yo...

Mis

The name... hmmm maybe "Profiles" ? In GUI we need three buttons for profile switching. Click on button should send MSP_SELECT_SETTING command with 1 byte of parameter called profile number (0..2 for profile 1..3). Then gui should perform "READ" click. Second change is displaying...

Mis

Oh yes Tommie, eeprom checksum is great, unusual feature, and you first invented it.
From my side - EOT.

Mis

From new dev version with eeprom checksum, the answer is pretty easy.
If configuration is resetted to defaults after uploading new code, you must recalibrate ACC and MAG.

Mis

Faster way is add one delay after sending "baudrate switch" command at all speeds. Like this: ... ... while(!SerialTXfree(GPS_SERIAL)) delay(10); } // at this point we have GPS working at selected (via #define GPS_BAUD) baudrate SerialOpen(GPS_SERIAL,GPS_BAUD); delay(200); SerialGpsPrint(P...

Mis

Hi ! Is done in r1147 For change setting number via sticks (at disarmed state): SET1 - ROLL left + YAW left + THROTTLE min. - one confirmation beep and led blink SET2 - PITCH up + YAW left + THROTTLE min. - two confirmation beep and led blink SET3 - ROLL right + YAW left + THROTTLE min. - three conf...

Mis

Ok, I'm sorry, I see this thread name, and don't even read it, but think "this is simple and not stupid" Afrer next 15 minutes i have my simple version ready, and tested. I do not care for entries in "credits" file. If you want, I add info about source of checksum idea in code. B...

Mis

Where are you see XOR'ing of the checksum byte ? I use simple adding modulo 256.
I can use full CRC8 checking available in GCC ibutton library, good implementation, but the size... For Mega2560 - no problem, for Mega328 hmmm.

Mis

BUT removing a boxitem move the checksum byte to other position. No way for good checksum in this way.
Tomme, as far i know, your patch check only config data size, and don't checking data integrity.

Mis

I see this bug. Please wait, i must check my idea for fixing it.
Idea is simple. Instead increase GoodPulses, OR'ing it with (1<<rc_value_pos). At the end, check for all needed bits is set, then clear failsafecnr and GoodPulses.

Mis

GPS functions work only in level mode.

Mis

The ACC mode is replaced by ANGLE (=ACC) mode and new HORIZON mode (=little mix of acro and ACC mode).

Mis

I have working better solution.
If all boxes (in GUI) on any AUX channel is unchecked then this AUX channel is used for gimbal PITCH control.
If any second AUX channel is free too, is used for gimbal ROLL control.
That's ALL. Full automatic

Mis

My private version of multiwii code have better failsafe - return to home at designed altitude then land automatically

But this option is very unfavorably accepted by someone, and I don't include this in the official version.

Mis

I find one bug in failsafe detection on pulses<985us. On pulse time goes bellow 985us (before guard time initiate failsafe routine) the throttle value (or any other trigger channel) is updated and used as control value. In this situation (based on throttle example) 980us is first interpretted as min...

Mis

If anyone use ledflasher output for control led strips, with this we have visual feedback of any alarm indicated by buzzer, but if buzzer is silent, the ledflasher work normally. And it breaks compilation if no buzzer is attached. No. This change was introduced in r1056, and no bug until r1068. Som...

Mis

This bug was introduced during moving buzzer code from Buzzer.ino to Alarms.ino. With oryginal Buzzer.ino does not exist.

Mis

Are you sure ?
From r1119 version - enum box ...

Code: Select all

  #if defined(FIXEDWING) || defined(HELICOPTER) || defined(INFLIGHT_ACC_CALIBRATION)
    BOXPASSTHRU,
  #endif

Mis

What does this change do? void auto_switch_led_flasher() { uint8_t seg = (currentTime/1000/125)%8; if (led_flasher_sequence & 1<<seg) { switch_led_flasher(!isBuzzerON()); } else { switch_led_flasher(isBuzzerON()); } } So the flasher pattern is inverted if the buzzer is on? ? If anyone use ledfl...

Mis

LuFa wrote:is this error also in the i2c GPS Code ?

No, only with serial UBLOX GPS connected directly to MWC.

Mis

Ublox GPS protocol dosen't work anymore on MWC21 R1100 with some MPU boards. Tested on two different Crius AIO Mega boards with three different ublox GPS receivers and serial ppm. The yellow led is blinking, the GUI shows GPS activity BUT THE SAT NUMBER STAYS 220, SPEED SWINGS AND BAD COORDINATES A...

Mis

Thank's !
Now fixed in r1110.
Echhh, tons of #ifdefined... statements. It's crazy.

Mis

LRS systems like Thomas / RangeLink / DragonLink and others long range systems can generate 10 or even 12CH PPM. In this case the frame rate time is extended by about 2.2ms for any additional channel above 8. The 12CH PPM have about 28-30ms frame rate. I have RC system with 12CH PPM, and test MultiW...

Mis

OK, for compatibility with promini and mega boards my code need some little changes. Now is tested with promini (on Mega328p) and with Mega2560. Code is commited to shared repository. With standard receivers, pulse absence or pulses below 985us on one of THROTTLE, YAW, PITCH or ROLL channel will tri...

Mis

Hamburger: I have better idea. Try this code. Shoud work, but not tested. In "RX_PIN_CHECK" macro: At first channel the "GoodPulses" variable is cleared, then if pulse is valid - is incremented. With three next channels is incremented too if pulse is valid. Now at the end of inte...

Mis

Why not. In this case really no failsafe pin configuration is needed. But it's not easy to implement in current way.

Mis

My failsafe code is designed for multicopters only, not for plane / flying wings.
Hamburger:
Yes, this is optional function and can be enabled/disabled via #define. If disabled, the oryginal failsafe code is used.
Some video from FIRST test of first failsave implementation: http://www.youtube.com/watch?v=ElgDAdtcP6M. Now work better.

Mis

Inteligent failsafe code exist, and really work well, but is not official because some people insist that it is dangerous and someone will hit the copter with the engine turned off instead of waiting until he returned home at designed height from start point and land (like DJI Naza style FailSafe). ...

Mis

This is available from some days at code.google :
http://code.google.com/p/multiwii/sourc ... Wii_shared

Mis

Does anyone know how to do a 90deg rotation in IMU ? #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = X; accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z;} #define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = Y; magADC[PITCH...

Mis

Camtrig servo not work if you enable MEGA_HW_GIMBAL on mega boards with 2.1 MWC firmware.
Don't use MEGA_HW_GIMBAL option or wait for update (now i have 5 servos working with HW PWM's on Mega boards in copter configuration), but I need some time to test it.

Mis

About timing of eeprom.writes: From arduino site An EEPROM write takes 3.3 ms to complete Yes, but this time is for writing single byte. For whole structure, multiply it by bytes count. Faster and eeprom life friendly version of "writeParams" function (only few bytes longer): void writePa...

Mis

IMHO in this case, better method is disable baro sensor - you get lot of free code space. And now... one more #define in config.h cause confuse most beginers.

Mis

This is due to Alex changes in r1057 : - only the needed BOX ITEMS are used and sent to the GUI

Mis

For predefined boards this can easly be done in "defs.h". Bellow is example for Crius AIO PRO #if defined(CRIUS_AIO_PRO_V1) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;} #define GYRO_ORIENTATION...

Mis

Some piece of code for inflight hover point setting. Switch baro switch forth and back four times within 5 seconds then land. Need to add some global variables and conf.HoverGas in conf structure. if(f.ARMED) { // Hover THROTTLE value memorisation routine if(HoldSwitchTim) { // time counter for savi...

Mis

dongs wrote:What if you discharge enough that your logic begins to think a 3S battery is now 2S..

No way ! Look at this piece of code: if(c > cells) cells = c; The cells count can't decrease during flight.

Mis

dongs wrote:Why would you recalculate cell count each loop time?

Not in each loop, but %VBATFREQ - about 18ms.
The calculation is not complicated, and not waste much cpu time, and this way consume less flash memory.

Mis

No problem. In annexCode function replace vbat code to this piece of code: #if defined(VBAT) static uint8_t vbatTimer = 0; static uint8_t ind = 0; uint16_t vbatRaw = 0; static uint16_t vbatRawArray[8]; if (! (++vbatTimer % VBATFREQ)) { vbatRawArray[(ind++)%8] = analogRead(V_BATPIN); for (uint8_t i=0...

Mis

Someone want this feature ? I have routine for autodetect numbers of lipo cells. The alarms values (VBATLEVEL1_3S and so) should be changed to Volt/cell, multiwii counts number of cells (using maximum detected voltage after power-up), and use VBATLEVEL*cells calculation for low battery alarms. BTW f...

Mis

nhadrian: What OSD you try connect. With Misio-OSD i can use both ports at the same time. Requests from GUI and OSD are parsed separatly by MWC and no problems from this side. The output from MWC is sended by both SERIAL0 and SERIAL3 at the same time. OSD parse the output commands and use it or igno...

Mis

IMHO The coming home is less dangerous than crash or fast landing at the site of lost control.
If the copter climb up to 20-30 meters and start return to home, you have a great chance to quickly restore RC control and manual return to home then land.

Mis

For some time I'm working on intelligent failsafe with return to home. First, stabilization is activated at the level of hovering, then after checking the battery status the copter lands with baro (if battery is low), or perched on a pre-defined height (eg 20m up from takeoff height), then executes ...

Mis

Why do you want to connect GPS via I2C to AIO Pro controller

This board have FOUR serial ports (UART's), and we can connect directly an GPS module to serial 2 port on AIO board.

Mis

Yes, only GGA and RMC are used.

Mis

The "break;" instruction after GPS_update |= 2; is obviously wrong. Please remove this.

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