Search found 27 matches

by alex.khoroshko
Sat Jul 06, 2013 1:45 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Hope this helped a bit to find the source of this strange and a bit dangerous behaviour Thank you, I got it. Original PID sets to zero the I component of control when the error is too big (for example when on the ground). Mine doesn't for purpose to keep I control at extreme maneuvers - my bad quad...
by alex.khoroshko
Fri Jul 05, 2013 5:25 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

I don't think so. IMO the general purpose software should be able to fit the needs of everyone, that's why the personal preferences are discussed so often here. It's quite a challenge to make the system in the way that everyone would like it.
by alex.khoroshko
Fri Jul 05, 2013 5:03 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

I didn't know that, thanks - I turned it off using self level slider (or something similar, don't remember the exact name) somewhere in advanced parameters list. But, I wanted to say to do that in-flight. Here's the reason why I want it. When I fly FPV and I'm on some reasonable altitude, the wind t...
by alex.khoroshko
Fri Jul 05, 2013 4:00 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Are you familiar with latest developments of ArduCopter, as here and here? No, never looked through the code. I know for ACRO because I tried the MegaPirateNG and I didn't like the inability to turn on or off this soft self-level feature. It's good idea to learn something from them - I would look t...
by alex.khoroshko
Fri Jul 05, 2013 1:22 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Hello! So is there any sense of further testing this mod There are some more differences. In my implementation the angle rates loop is always active. The angle and horizon mode are just the additions to rate loop - they are now controlled with single parameter, as the PID is already tuned for ACRO. ...
by alex.khoroshko
Sun Jun 30, 2013 5:00 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

I'm currently modeling one idea on PID selftuning in-flight. Looks promising for me. If I get the positive simulation results, I would describe it in details.
Unfortunately, I have no time for real-life firmware tests now, and wouldn't have for about 2 days more.
by alex.khoroshko
Fri Jun 28, 2013 5:41 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

sorry, no video. Oh, it was addressed to PhilS , not you - it wouldn't be very polite to ask reproducing the costly crash, heh. I was asking about his: Another problem I encountered upgrading from piezo to MultiWii is often referred to as "Wobble of Death" - I wonder what config that was ...
by alex.khoroshko
Fri Jun 28, 2013 3:23 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

high amplitude oszillation ocurred as soon as I deflected cylic sticks close to limits. Could you please tell me your config? and also, if you can simulate this one more time and film it (or if you have a video allready) - that would be really nice. I've never met this problem with any FC I've used...
by alex.khoroshko
Fri Jun 28, 2013 12:25 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

CF frame is broken, rebuild in the works, pid controller experiment over Please, accept my condolence! It sounds like I have to rebuild my tri and start testing. Slow oscillations is usually the result of I set too high. I would also test everything to overflow - the range of some variables is stil...
by alex.khoroshko
Fri Jun 28, 2013 4:28 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Oh, that's a good idea! All the coefficients (P, I and D) are scaled by the trust to weight ratio. So, we can make the common parameter, which would adjust them all at the same time (not change their values, but is a scale factor, which implicitly multiplied by them all). It would work as good, as p...
by alex.khoroshko
Thu Jun 27, 2013 3:26 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Hello, I've just received the PM telling that my offer on PID is included into the code. Now I feel bad, that I left so early - sorry to all! I would look though the code, test, and then we can continue on fine tuning it. Are there current unsolved issues with it?
by alex.khoroshko
Sat Jun 22, 2013 7:19 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

No, and I guess there wouldn't - some changes were introduced by someone, but the implementation is still in the mazy form. I have a version, which fits my needs better than original, nobody of the developers seem to care - the fun part here is complete. So now I decided to quit and go build my own ...
by alex.khoroshko
Sun Jun 16, 2013 2:50 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

- cycleTime should be included in I and D Term computation. Does it really have a noticeable effect on flight performance ? I component: flight - no. Tune performance - well, it should be. I would try to compile the code with and without loads of functions to see, whether I meaning change when it i...
by alex.khoroshko
Sun Jun 16, 2013 12:46 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Hey guys! So, what's the deal with SVN updates? How should I proceed? Take the last version and update it to my implementation, post here, if test successful commit to SVN? Also, as multiwii aims the .c and .h files style, would anybody mind if I create separate file filters.c and move the PID (and ...
by alex.khoroshko
Sun Jun 16, 2013 9:32 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Thanks for such a good response! Here's a sketch of the implementation. I've also attached the PDF version (it's hard to read from image). I would try to increase the readablitity (increase font size or something). pid alex.k11.png but in that case you have to hold the value of the integrator cause ...
by alex.khoroshko
Sat Jun 15, 2013 3:48 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

could you post something like a sketch of the control loop Yes, would be done! I'm in progress of drawing the full diagram including maximum variables values etc (I like well documented projects). Would post ASAP. So for FPV it could be an issue You can try to increase the I gain in level settings ...
by alex.khoroshko
Sat Jun 15, 2013 12:23 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Alex ... any reason why you've changed the #define I2C_SPEED 400000L to #define I2C_SPEED 100000L for the Crius AIOP v1 definitions ? The reason was the I2C errors I was getting - it has gone away when I've washed the board with alcohol, but I forgot to change all back (I know, I should have to). S...
by alex.khoroshko
Fri Jun 14, 2013 11:59 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Oh wow, it's not a release at all - just applied my ideas to see whether they are good. What's with gyro scaling? I mean, I saw the thread, but what kind of disturbance are you talking about? If the quad is not horizontal when you turn level mode on, it moves towards stick-defined angle as fast as i...
by alex.khoroshko
Fri Jun 14, 2013 3:59 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

All. Yaw is totally insane (very sensitive) at full rate setting. I can not guarantee that the code is safe in all aspects (more testing needed) but it would fit your needs. If you can bear some risk, it would be great if you help testing.
by alex.khoroshko
Fri Jun 14, 2013 3:33 pm
Forum: Software development
Topic: Reorganising source *.c code with *.h headers; Eclipse IDE
Replies: 146
Views: 51636

Re: Reorganising source *.c code with *.h headers; Eclipse I

Hello! I tried working in arduino IDE and it's such a pain. Eclipse idea is good, but it's still stuck with the bootloader. So I was always interested - why not just flash the good-old way, via USB ASP? Everyone can use at least AVR studio, which is way better, than arduino IDE. As for files, it is ...
by alex.khoroshko
Fri Jun 14, 2013 2:34 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Oh wow, how did you do that? :)
by alex.khoroshko
Fri Jun 14, 2013 1:35 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Guys, wait, don't panic! Here's my firmware with totally rewritten PIDs. Changes: -The sticks scaling is no more affected by PID coefficients. Rates (to the right of the PIDs in GUI) now work as stick scaling. Default is zero (minor response) to 1.00 (totally insane scaling). -D term revised (based ...
by alex.khoroshko
Wed Jun 12, 2013 5:38 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Ok, let me make my point clear. Drawbacks of current version: First and IMO the main - sticks scaling change when PIDs are adjusted. Do everyone agree? All the other mini-drawbacks I find insignificant and I wouldn't start my implementation if this issue wasn't present. 2. Theory: D = (error - previ...
by alex.khoroshko
Tue Jun 11, 2013 10:05 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Oh wow, thanks! I've made the alternative implementation, including nonlinear I adjustment (the most simple single-step increment for now). Didn't have enough time yesterday evening to even pick all the divisions in code so, that gains (ACRO: P, I and D) more or less correspond to current (v2.2) val...
by alex.khoroshko
Tue Jun 11, 2013 3:26 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

Re: V2.2 - ACRO PID implementation is wrong, right?

Is it your personal experience, about best performance? What boards did you compare it to? I compared to KK2.0 board and was disappointed. I love multiwii and really want it to be the best, that's why I started this thread. A little disclaimer - I don't want to make someone's work look less valuable...
by alex.khoroshko
Mon Jun 10, 2013 5:16 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182905

V2.2 - ACRO PID implementation is wrong, right?

Hello! Here's my schematic (sorry for that - made in hurry) of current PID implementation for ACRO mode. Red - variables names. Новый рисунок (9).gif 1. comment says, that it takes into account the cycle time, but in fact, there's no such thing. 2. why there is 32-bit division? else error = ((int32_...
by alex.khoroshko
Sun Jun 09, 2013 9:31 am
Forum: Getting Started - MultiWii config and setup
Topic: Call for full PID settings tutorial!!
Replies: 44
Views: 28100

Re: Call for full PID settings tutorial!!

Hello! Let me refresh the thread a bit. First, I'd like to say - I have no questions how to tune PIDs themselves (I have Russian equivalent of PhD in power electronics). But! Why there are so many control loops, having no explanation? Ok, roll, pitch, yaw, altitude hold, mag, level - it is explained...