MultiWii

mahowik

Здравствуйте. Помогите пожалуйста разобраться. Перерыл все форумы и не могу найти ответ на свой вопрос. Я залил в ARDUIO NANO прошивку BalancingWii не чего не меняя. Работает всё кроме шаговиков. "Смотрел" осциллографом на пинах 5,6,7,8 нет сигнала, На пине 4 (Eneble) есть. Драйвера шаговиков прове...

mahowik

if you are pretty sure that compass + declination are correct and it doesn't depends on the throttle level, be sure that vibrations are also acceptable, because INS is based on double integration of accel measurements. My 450 frame hasn't any special foam under the flight controller and slightly cal...

mahowik

No problem with algorithms there!

It was checked tons of times by logs and hundreds of tests. Try to see my friend's channel how it should work approximately https://www.youtube.com/user/artnesterof/videos
My friend used ublox 6 and I used ublox 8 and had with even more precised PH...

What gps module you are using?

mahowik

Right now the only problem I'm having is getting GPS Hold to work properly. The copter starts to fly bigger and bigger circles. My first tries with PID changes didn't help. Usually increasing circles is a problem of not properly calibrated magnetometer. Ideally compass error should not be more that...

mahowik

juanquy wrote:do you have a config file for a CRIUS AIOP V2?

by default it's configured for CRIUS AIOP... V1 or V2 it doesn't matter...

mahowik

For now it's finally here

mahowik

Yes, you can use usual MultiWii GUI 2.4 for main functions/modes excluding navigation way points.

mahowik

=================================== MahoWii rev 2.4 =================================== m Hi guys! Here is the latest revision of my favorite hobby project based on Multiwii project. In two words: it's pretty stable, improved and extended version of Multiwii. Changes: - INS (inertial navigation syst...

mahowik

It seems mwii died when google became read only...
I'm just kidding guys

So really is it current official repo for mwii for now?!

https://github.com/multiwii/multiwii-firmware

mahowik

Leo wrote:What am I doing wrong?

Have you changed chipSelect to 10 as written here?
https://github.com/renes/multiwiiDataLogger#openlog

mahowik

No no no! Please don't do it!

Seriously it too dangerous to trust life to the toys like this!

mahowik

Thanks!

mahowik

Autumn... More time to keep soldering iron and do something cool! So let's continue! Now it's stable 1.0 release of balancing robot. New features: - Fall down?! New auto rise (stand up) function! (can be activated via box in GUI). Now it's also possible to stand up manually when it's fall down. - Po...

mahowik

yes, it's possible with ez-gui android tool. see experimental features there...

mahowik

Shared on git: https://github.com/mahowik/BalancingWii

mahowik

Hi guys! m This is the demo/draft version of balancing robot based on modified/extended MultiWii 2.3 firmware. Hardware: - arduino nano (atmega328p) - mpu6050 gyro-accelerometer (GY_521) - any RC receiver with CPPM (ppmsum) output - A4988 motor drivers - nema 17 stepper motors - 1/8 Buggy Wheels p.s...

mahowik

ST MEMS are shit, particularly popular LSM303DLHC. It's too noise sensitive and has internal parasitic/off-frequency resonances.
mpu6050/mpu6000 best choice for now taking into account quality and price

mahowik

I'm not talking about innovation. This is just plug and play project with cool free IDE. Anyone who want to evolve this for STM32F4 can just take it and play e.g. with new heavy algorithms based on powerful 168mhz F4 processor. Also price! STM32F4-DISCOVERY + GY-86 it's only about 35-40$ with shippi...

mahowik

Hi guys! I shared port of BaseFlight-20131126 (with MultiWii 2.3 features) for STM32F4-DISCOVERY board + GY-86 sensors board (mpu6050 + hmc5883 + ms5611). Project was created for CooCox CoIDE 1.7.5 (with toolchain arm-none-eabi-gcc 4_7-2013q3). It's free powerful IDE with user-friendly GUI, debug ou...

mahowik

Hi guys!

I shared port of BaseFlight-20131126 (with MultiWii 2.3 features) for STM32F4-DISCOVERY board + GY-86 sensors board (mpu6050 + hmc5883 + ms5611).
Project was created for CooCox CoIDE 1.7.5 (with toolchain arm-none-eabi-gcc 4_7-2013q3).

http://www.youtube.com/watch?v=1FZdLTwO87M

https://github.com/mahowik/MahoRotorF4-Discovery

thx-
Alex

mahowik

> But I didn't understand what the multirotor will do when its hitting the low altitude? it just gonna land?
no, it will be switched to althold with minimal/low altitude and deny altitude descending by throttle stick...

mahowik

I had the same idea and already released this feature with my custom firmware two weeks ago /* It helps to protect descending less than specified in define altitude. * Activated when MAG activated to make it possible landing in AH. * E.g. It's should be useful for FPV. */ //#define LOW_ALTITUDE_PROT...

mahowik

Yes, it's possible but you need to apply corrections from absolute position sensor (gps) to remove drift after integration... http://www.multiwii.com/forum/viewtopic.php?f=8&t=2503&start=80 And I can confirm that is also possible to do on atmega chips and I have already done it some months a...

mahowik

Hi Bart! First of all many many thanks for your great android app for multiwii !!! It works amazing on my ASUS prime tab! I also have second one. It's Hyundai A7HD without BT. And I can't to download app from market (Google Play) accordingly. But I'm going to try to use it with 3DR modem. Will it wo...

mahowik

Deet wrote:With the Minim OSD it needs to get all its data from the FCB, I really preferred having Vbat and RSSI connected to the OSD (Mobidrone)

With minim it's possible to catch voltage and rssi directly:
https://code.google.com/p/rush-osd-deve ... dware_Mods

mahowik

Have you activated "Use serial Port for MultiWii" in settings? Also you have to setup your 3DRs for baud rate 115200 or change it everywhere, i.e. flight controller, 3DRs, EZ app...
Also after app run you have to press Connect, i.e. it's not done automatically after app starts...

mahowik

At first thanks for cool project!!! I tried 3DR connection today. It works but little bit unstable. Sometimes application just crashes and closed... Probable it because Hyundai A7HD china device... What setting you have for 3DR: air speed and baud rate? upd: I changed refresh rate to 150ms in app an...

mahowik

Probably it will be useful. ziss_dm already done this for avr, stm32f1 and stm32f3 in his project...
https://code.google.com/p/mwc-ng/source ... Fsrc%2Fhal

mahowik

tj_style wrote:Just tested to install on my tablet with google test key, if anyone want to try here is the signed apk:
https://docs.google.com/file/d/0B-NS5io ... edit?pli=1

Cool! ))
Works on ASUS Prime (android 4.1.1)

upd: BTW I think it will be nice to run this with bluetooth as good start!

Some useful links on this:
https://github.com/arduino/BtSerial#readme
https://github.com/4ntoine/Firmata/wiki

mahowik

Could you share *.pde file also which could be compiled in processing (for android ofcourse). I have not success to install this *.apk on ASUS Prime tab with Android 4.1.1. This one from link below is not prepared for android, i.e. only header changed there... http://www.multiwii.com/forum/viewtopic...

mahowik

copterrichie wrote:If anyone is interested, here are the links to the required files.

I installed fresh software but got the same issue as one year ago

"No library found for processing.serial"... as i remember it's an exception for android...

mahowik

I suppose this solution will work viewtopic.php?f=8&t=649&p=32028#p32028

i.e. Android device+BT <==air==> BT_module<-->uart<-->long range modem (like 3DR roborics) <==air==> 3DR modem<-->uart<-->copter

mahowik

crono wrote:I activate the GPS on quadricopter starts to oscillate as fast as ever on what value I have to fix? pid?

Have the same issue with lead filter, i.e. when GPS_LEAD_FILTER define activated... When GPS_FILTERING activated, issue is gone..

mahowik

You can see mwii IMU as example where deadband applied to accZ before integrator m > Perhaps the WP/RTL stuff can be reduced as well? If you are talking about reducing the number of PID params, when you get right algorithm, as result default PID setting will be acceptable for most configurations... ...

mahowik

if you are using mpu6050, as I know it goes calibrated from factory, e.g. comparing with prev ACCs generation: bma180/020, adxl345... So actually I'm satisfied with precision of scales of mpu6050. But in some cases you just need to apply small deadband (near middle/zero point) before integrators. As...

mahowik

I have played with rotation matrix from harakiri9. At first I can say that all signs and axises are on the place! Cool and thanks a lot! Some times ago I already tried to find all signs but had an error at least for global Z axis... So now it works fine! And you can replace accZ calculation in getEs...

mahowik

General GPS Tip: While fiddeling with some parameters i found that nav_slew_rate = 30 (Default BF) is too much. The slew rate is some kind of lpf at the end of the whole gps output. It will smooth and delay the gps steering commands. Try lower values there. With my copter a value of 12 seems to be ...

mahowik

Hi Sebbi?

How it's going on?!

thx-
Alex

mahowik

Hi Michal,

Does it possible to add indicator for throttle (configurable by define - on/off) or just to show throttle value (0..100%).
In some cases, for FPV it would be very useful.

Thanks in advance.
Alex

mahowik

Thanks Mihai ! I will try it. Any other recommendations? Prediction filter make sense? #define GPS_LEAD_FILTER Also question about long range connection beetwen bluetooth and x-copter (on video below). You are using 3DR modem + BT? m Android device+BT <==air==> BT_module<-->uart<-->long range modem ...

mahowik

Hi guys!

Could someone share optimal GPS pids for position hold? It seems default pids for this too soft... on the wind it keeps position in window of 10-15m

Also this doc (in terms of pid tuning) already obsolete I suppose?
https://code.google.com/p/i2c-gps-nav/d ... c&can=2&q=

thx-
Alex

mahowik

I have already tried to to use acc for position hold stabilization, but only quick tests and w/o correction by gps http://www.multiwii.com/forum/viewtopic.php?f=8&t=2929#p29088 You solution looks full and I'm going to play with that on mega2560 board. But yes, I suppose it will be time consuming...

mahowik

Hi Rob!

Appreciate it! Amazing job!

Have you tried this solution on windy condition?

thx-
Alex

mahowik

start was here http://www.multiwii.com/forum/viewtopic.php?f=8&t=2503 Some weeks ago, I got X,Y acceleration vectors independent from inclination (by using matrix rotation). And tried to integrate this to main PID regulator and even fly with this The idea is working (when you push copter horizon...

mahowik

Hi EOSBandi, I have tried this new solution but after set of calibration attempts I couldn't get linear values... e.g. if on north it shows 0 degree, for south it's ~165, but not 180 With old calibration non-linearity was max 3-5 degree for all directions... Probably at my location ellipsoid much e...

mahowik

I just committed some rework on the HMC5883L gain calibration (init). The code is based on Fabio's FreeIMU code and I think this is as good now as it could be on this platform. After some experimenting I decided to keep the current offset calibration method (MAG DANCE) since the ellipsoid to sphere...

mahowik

some useful links:
http://www.botched.co.uk/
https://github.com/big5824/Picopter

mahowik

nhadrian wrote:So hard to figure out.

you can check the averaged vario for this

e.g. descending is set to -50cm/s... you average the vario by hard LPF (with big factor)... and when averaged speed about zero (~5..10cm/s) it means that you are landed...

mahowik

I am very saddened to tell you that Fabio Varesano, the manufacturer of FreeImu died on Christmas Day. He was only 27 years of age. This morning we attended his funeral. I remember him as a friend with a great desire to try and help others. Shocked!!! It's very strange, but very often when best peo...

mahowik

Crashpilot1000 wrote:Hmmmmm.... already done....viewtopic.php?f=8&t=2371&start=300#p26094

with vario PID controller (to make it independent from copter configuration)?

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