MultiWii

Why didn`t post a decision right here? Find: #define DIGITAL_SERVO_TRI_HIGH PORTE |= 1<<2; #define DIGITAL_SERVO_TRI_LOW PORTE &= ~(1<<2); Replace with: #define DIGITAL_SERVO_TRI_HIGH PORTE |= 1<<4; #define DIGITAL_SERVO_TRI_LOW PORTE &= ~(1<<4); Voila Seems there are too few tricopters MEGA...

If the 'not equal' statement is using a bytewise comparison, those 2 NaN numbers will be absolutely equal. Second, if we already got a NaN number - the erroneous division by zero already has take a place. Shouldn`t we avoid that? Also if 'norm=0' that condition will not work too, thus the quaternion...

Thanks, ziss_dm

Though I didn`t get how ever it could return 'true': (m !=m)?
It`ll be a simpler way to compare with zero to prevent div by 0.

ziss_dm Change: #if defined(I2C_ACC) || defined(ADCACC) getEstimatedAttitude(); updateIMU(1); //with I2C or ADC ACC #else updateIMU(0); //without ACC #endif to: #if defined(I2C_ACC) || defined(ADCACC) updateIMU(1); //with I2C or ADC ACC getEstimatedAttitude(); #else updateIMU(0); //without ACC #endi...

jhoexp Well, I must confess I have NO magnetometer at all. It is still in transit to me. I cannot tune the AHRS using MAG without having one. There are the same axis placement problem which still has to be solved. Re the right attitude convergency. It is necessary to tune the gyroFactor that way it...

jhoexp You have to tune the gyroFactor divisor: #if defined(ITG3200) gyroFactor = deltaTime/ 670 e6; //empirical Increase the 670 (not touching 'e6') with the steps of 20-50 until it stops overshooting. It shouldn`t undershooting too. ======== I have rechecked my GUI charts. They are confirmed thing...

Hi ziss_dm Do you have a bunch of surplus quads? I`ve asked NOT to fly with it yet! If you flown the 2.0 version with ITG and BMA in the autolevel mode - it means you flown it without any gauges at all. They doesn`t feed the AHRS module. Good skills though The same question goes to you: can you plea...

jhoexp Thanks for your observations. What gauges are you using? WMP+NK or ITG,BMA etc... Can you please provide some data about the axis movement character on the GUI main chart? I need it to compare with my setup. Thanks in advance For Example: 1. The copter stays level ACC_Z above 0 others are ze...

Hi, There was a bug in the MW code not allowing to display AHRS data (and moving copter too) when a non-Wii accelerometer is used. Fixed. m Please don`t fly it until the GUI indication and gyroFactor was tuned! I`ll describe the tuning process later. There can be gyro and accel axes differences betw...

2.0 version for 1preter7
...moved to the first post...

I am not a mathematician but a good embedded programmer Thus cannot explain what is a quaternion or Euler transform, but it works. I saw a video from this post and was pretty inspired: m I was not satisfied with the current IMU approach because am flying FPV in autolevel mode with an artificial hori...

Hello, I am already PMed to Alex in RCG but had no response. I`ve implemented the MARG fusion algorithm into the Multiwii code and it works just great! It is based on the Ciskje`s MARG source code and goes without magnetometer because I still haven`t one. My setup is WMP+NK+ArduMEGA tricopter. The c...