MultiWii

crashlander

Hello,
there are quite some calculations and "bit flipping" done to get proper MSP command and is probably not feasible to do-it in TeraTerm and likes.
That said you can still look at http://www.multiwii.com/wiki/index.php? ... l_Protocol.

crashlander

Thank you Patrik.
I actually wanted to use simple PPM to PWM option due its basic simplicity of haveing all the settings in TX (and receiver far from other components).
But I'll do cmix if other options are off.
How to disable/enable ONLY_ARM_WHEN_FLAT option in BF.

crashlander

I'm trying to use AfroMini as simple PPM to PWM converter, but after switching to that mode nothing works.
I can see RX PPM input in GUI but nothing gets to servos (except 400Hz midpoint).

Any tips how to set this up!

crashlander

timecop wrote:......
Because *default* purpose of afromini is for planes......

Oh! Make up your mind! Last time we had discussion about AfroMini you said it was meant for mini quads...

crashlander

ABL wrote:Enable GIMBAL_TILT - should be working with default mixer...

You are saying that I must enable gimbal tilt to get normal quadX or quad+ working on default pins on AfroMini?!

crashlander

Hello,
today I put (freshly flashed/updated) AfroMini32 on miniquadX and after selecting quadX (or +) in configurator I get no output on S3 and S4 (motors don't spin at all).
I had to mirror outputs from motor 3 and 4 to motors 5 and 6 using cmix to get it working.

crashlander

@PatrikE: I can see in code that limits for max correction are from -450 to 450 cli.c { "gps_maxcorr", VAR_INT16, &cfg.gps_maxcorr, -450, 450 }, { "gps_rudder", VAR_INT16, &cfg.gps_rudder, -450, 450 }, { "gps_maxclimb", VAR_INT16, &cfg.gps_maxclimb, -450, 45...

crashlander

In my experience you can set UBX in cli and Baseflight will took care of setting actual module!

Regards
Andrej

crashlander

Joseph97 wrote:Did I forget anything?

In GPS.h
#define FAILSAFE

Joseph97 wrote:Will Multiwii start home on lost signal? Can i regain control by turning the radio back on?

It works for me (allways)!

Regards
Andrej

crashlander

Second - i tryed to use PID_CONTROLLER 2 and it looks like work worse in level mode.... and when plane goes to home and start to sircle after 3 - 4 turns it yaw down directli to ground so i must intercept control to avoid hit the ground. AFAIK PID_CONTROLLER 2 is not often used/tested even in multi...

crashlander

The board is initialy loded with properly configured MWII and you later sensor configuration is wrong.
Find which sensors are actualy on board or try tem one by one (disable/comment board and uncoment single sensor at the time).

Regards
Andrej

crashlander

Is this possible. Yes! Do I have to make any config.h changes to assign the serial ports to the GUI and the XBee? No change to MWII code is needed. (Apart from setting proper baud rate for connected device) I mean how does the MultiWii know that MSP_SET_RAW_RC is coming on another serial port? MWII...

crashlander

Patrik please share your code!

Regards
Andrej

crashlander

Thread about theoretical limitations of HD video streaming.... http://www.multiwii.com/forum/viewtopic.php?f=7&t=2903&hilit=video The solution that I posted link uses multiple receivers and transmitters in parallel and no compression but it has usable distance of maybe 100m and when dropout ...

crashlander

Also, which set of TX/RX pins? I'm using serial port with included 5V and GND (thru holes) since the other ones are AFAIK not 5V tolerant And it will work with any 3.3 or 5V FDTI. I'm using SparkFun's one (meant for Arduino) and that one has 5 or 3.3V jumper/pads on the bottom (those change VCC and...

crashlander

MAG and ALT must not be enabled/used on fixed wing!

Regards
Andrej

crashlander

Actually RX and TX pins ARE 5V tolerant so you CAN use 5V FDTI (according to spec. and my experience).

Regards
Andrej

crashlander

I have seen it on my HK RadJet too.(Arduino board) First a nice accent to 20m and shoots skywards when it starts navigate. On the Bixler type it's not so visual. O.K. I understand it is true that my BaseFlight wing is very different from my Ardu one (faster and more agile/overpowered). I have lower...

crashlander

Just my 2c
That one is older but range and price are awful:
http://www.globe-flight.de/Globe-Flight ... ansmission
While ago TC explained why those will not be usable for proximity PFV, but if you can live with eg. 1s delay than it might be O.K.

Andrej

crashlander

PatrikE wrote:A airspeed sensor would be optimal and "TPA" (APA) based on that would be nice.
But we can use the fact that we know the angle of attack and throttle and feed "APA" with it.

That would produce bad oscilations after fast dive, during recovery...

crashlander

Some sort of GYRO_SMOOTHING is probably needed for FlyingWings. Would a lower P or/and I value not be better at solving oscillation? We should not compensate wrong PID values by shooting the sensor in the knee. In that case only use of airspeed sensor and some kind of "TPA" (APA) based on...

crashlander

RTH is actually intended for Failsafe and not a normal flightmode. The "Rocket Launch" is to ensure it will reach altitude as fast as possible. It seems that current (Baseflight) code does not use safe max climb parameter (set gps_maxclimb) as set in CLI and would probably stall underpowe...

crashlander

In BaseFlight I'm missing MWII' s alternative of #define GYRO_SMOOTHING Since I can not remove fast dive elevon oscillation (on pitch) even when I set set gyro_lpf = 10 in CLI. Second observation is that my wing always "rocket" (with high pitch angle) into climb when it is lower than set h...

crashlander

Just back from the field and BaseFlight RTH is tested and WORKING!
Equipment used:
Assassin wing (from Crash Test Hobby)
AfroMini 32 (thanks TC for wonderful mini FC and BaseFlight)
Ublox NEO-5
Orange OpenLRS (OpenLRSng)

Thank you Patrik!

Regards
Andrej

crashlander

If your plane does not climb in LEVEL/HORIZON mode than probably your

Code: Select all

#define ELEVATORCOMPENSATION

in def.h is too big.

Regards
Andrej

crashlander

<EDIT> I just saw that line in mw.c if ((failsafeCnt > 5 * (cfg.failsafe_delay + cfg.failsafe_off_delay)) && !f.FAILSAFE_RTH_ENABLE) that disables that delay... </EDIT> I'm missing arduino alternative of #define FAILSAFE_OFF_DELAY In MWII I increase this value to 6000+ (I do not want my plan...

crashlander

Must check my TX/RX since it is not impossible that I'm getting sporadic and short FS's.
Regards
Andrej

crashlander

timecop wrote:shit, DJI makes plane frames now?
* quickly editing product description

Ups...

Not to my knowledge...
I meant that Afro mini is missing disclaimer that is should not be used on any DJI products + planes

crashlander

The question was if normal RTH will disarm (like it used to do) and during todayćs test I got the answer that it still does, as seen 12min 30s into video. m Today's test went really O.K. since RTH worked in strong and gusty north wind and returned my wing from 3 different directions (I have not test...

crashlander

timecop wrote:Weeeelllll this stuff was never planned to use GPS since its for like you know, miniquads right?

Cool! But since you forgot to put DJI like disclaimer/warning we all find it nice for mini (and not so mini) planes

crashlander

Plüschi wrote:
Gaijin wrote:It might be worth adding a little more board space for a GPS pin header breakout on the next revision

+1

After soldering pins on bottom and pull them out with pcb and than finished with soldering wires directly on MCU legs....
+1

crashlander

@PatrikE Browsing the original Arduino code and your comments I understand that FailSafe Landing will only be triggered when there is real FS situation and not during normal user/pilot initiated RTH routine (as was before)?

Regards
Andrej

crashlander

I program my receiver on plane to active GPS_HOME when lost signal. You do not need to do that! The code will auto-detect FAILSAFE condition (on most receivers) and if you enable FAILSAFE in GPS.h (on Arduino) or FAILSAFE_RTH in CLI (on Baseflight(now that we have that too)) RTH will be properly en...

crashlander

scrat wrote:As far as I know, RTH needs magnetometer to function properly.

RTH and PH on multi copters need compas/magnetometer to operate (since copters are/can be stationary)!
For fixed wing (that can not fly without horizontal speed/vector) heading can be/is obtained from there!

Regards
Andrej

crashlander

GPS_Home should be active under conditions!!! Like Distance to home ,and Altitude. Disarm it when lost control near home at very low Altitude. GPS functionality has feature called "auto launch" so when plane is: ARMED + (TH > MINCHECK) + GPS_HOME It will climb out with wings level up-to 2...

crashlander

It does not need compass.

Rgards
Andrej

crashlander

Thread separation can be O.K. but we will get more dispersed information. @PatrikE: in http://www.multiwii.com/forum/viewtopic.php?f=23&t=4934&start=10#p49269 you are saying that 45 degrees banking would be optimal for navigation or I'm getting something wrong? Now on arduino we are doing 15...

crashlander

Mine working attached:

baseflight_NAZE.hex.zip: HEX; (84.9 KiB) Downloaded 1177 times

crashlander

I ve just recompiled it myself and it works...
..it works in GUI and I can set new parameters.
So it seems that HEX in GIT is somehow corrupt!

Regards
Andrej

crashlander

Another observation: vdjc's HEX (file size) is half the size of TC's?!

crashlander

Anybody successfully flashed vdjc's hex on AfroMini? I'm using Chrome Baseflight Configurator and each time I flash that HEX I get completely unresponsive (dead) board. To recover I have to short BootLoader pads and flash original Baseflight, from which I can again and again flash original Basefligh...

crashlander

Sorry but I do not understand exactly how you connect your stuff but Atmega 328p (used on that board) has single UART that is on the outside shared (connected) to two pin headers one for connecting FDTI and other with only 4 pins. So when only one is connected and your app sends sequence of MSP_SET_...

crashlander

RCSERIAL command are active for 0.5 second and I send them 10 times a second. I'm doing it with 40Hz, but 10 should work! Should I see Roll, Pitch, Yaw, Thr changes in MultiWii conf when I send RCSERIAL commands? (my motors are off) Yes! Would I be able to ARM/DISARM with RCSERIAL? Yes! Should I se...

crashlander

Than it is O.K.
BUT!!! You must send the command at least couple of times per second for this to work or normal PCM, PPM decoding routine takes over and than fail safe....

Regards
Andrej

crashlander

Since I''m hobby programer it is probably better (easier for me) to show you my code that works...

https://code.google.com/p/mwii-msp-tx/s ... _BABEL.ino

Regards
Andrej

crashlander

MultiWii Crius is to broad description there are AIO Pro versions with 4 serial ports, SE and LE have only 1!
Since MSP_SET_RAW_RC is normal MSP command it can be used on any available serial port but baud rate must match to what you set it while configuring your config.h

Regars
Andrej

crashlander

PatrikE wrote:I have a Naze32 acro on the bench and started looking at.

Look fast!

(my AIO Pro has some issues)

crashlander

both github and google code have wiki stuff. I'm not sure how public editing it is, but I know on google code at least people need to be assigned to be able to edit. maybe something like google docs would be better, though there's no history and ability to edit/rollback changes. I'm not sure about ...

crashlander

gps hold
in

i3dm wrote:3. horizon + gps home + gps hold + baro + mag (this is for RTH).

is not necessary (and is overridden) when gps home is activated.
baro
is also not needed with airplane (and it probably does nothing).

Regards
Andrej

crashlander

I Want a Afro32!.... Yep it is the sexy-est FC I have ever seen. The bottom TX RX pads are probably not 5V tolerant (from checking the CPU data sheet and TC's code) but since most of UBLOX GPS's have internal Vreg and operate on 3.3V that is not problematic (at least mine gives 3.3V TX and RX when ...

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