Search found 31 matches

by chris_kmn
Sat Aug 03, 2013 9:23 am
Forum: Shields, boards and sensors
Topic: I2C GPS with NANOWii board - return to home? (quad)
Replies: 4
Views: 5753

Re: I2C GPS with NANOWii board - return to home? (quad)

Hi drunx, NanoWii and GPS is critical due to the fact, that USB support has to be code implemented in the mega32u4 (arduino cares for it). My experience is, that the memory of the NanoWii is to small for the GPS functions, even with the I2C GPS. I hadnabout 106% memory usage. There are ways to exclu...
by chris_kmn
Sun Jul 14, 2013 8:55 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

brm wrote:
the copter is armed - what do you expect?
the board is ok - the operator needs a few afterscool lessons ...


Do you need reading and understanding lessons ? Or just some behaviour lessons ?
by chris_kmn
Sun Jul 14, 2013 8:48 pm
Forum: Shields, boards and sensors
Topic: Crius I2C Nav and Ublox Neo6m Dilemma
Replies: 19
Views: 29380

Re: Crius I2C Nav and Ublox Neo6m Dilemma

Check out this thread: http://www.multiwii.com/forum/viewtopic.php?f=18&t=3721 I think it's the same configurationnas u have. If u are using the I2C nav board u just have to uncomment the define for i2C on the flightcontroller. No baudrate and no ublox or nmea protocol. The configuration hasbto ...
by chris_kmn
Sun Jul 14, 2013 6:29 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Hello Trello, i too have the same problem ... Does anyone have any idea? I experienced the same on my quad. Two props are reving quite high and the other two are on idle. Could it be related to an overflow? My Tri-problem with silly reving props described before also seems very awkward..... I stopp...
by chris_kmn
Wed Jul 03, 2013 10:24 am
Forum: Getting Started - MultiWii config and setup
Topic: Hk/Holybro 328p and Ublox Neo6 i2c gps.
Replies: 4
Views: 5141

Re: Hk/Holybro 328p and Ublox Neo6 i2c gps.

Mainly I used the firmware from this link: m Before I uploaded the firmware I flashed an empty sketch to erease the I2C module. And have in mind that you have to disconnect the I2C module from the MW controller before you are flashing the MWC or using the GUI (otherwise you are flashing both control...
by chris_kmn
Sun Jun 30, 2013 10:01 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

BUT: if (maxMotor > MAXTHROTTLE) { // this is a way to still have good gyro corrections if at least one motor reaches its max. for(i=0; i < LEAVE_HEADROOM_FOR_MOTORS; i++) motor[i] -= maxMotor - MAXTHROTTLE; doesn't the comment in the code exactly tell what we described ?
by chris_kmn
Sun Jun 30, 2013 9:58 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Chris (and PhilS), look at the end of output.ino. ("normalize the Motors values") If I read right its not possible to overshoot minthrottle and maxthrottle boundaries. If a motor value overshoots the maxthrottle, it is reset to maxthrottle and the other motors are normalized to this. It i...
by chris_kmn
Sat Jun 29, 2013 7:30 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Hm, I observed it on a Tri. Maybe it's related to that.... Hmmm, this could be related to the behavior I saw because in my situation, the value was 1000 because of the constrain statement. Which axis did this happen on your tricopter? It was on all three axis. And maybe I'm wrong but on my quad it ...
by chris_kmn
Sat Jun 29, 2013 4:10 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Bug report (@Hamburger): when I compile the rev1503 with oldschool PID I have a strange behaviour at arming: - not armed: motor PWM output is at 1000 - armed: motor PWM output is at 0. Props start turning at midstick position with PID set to 2 (AlexK loop) armed PWM ist at MINCOMMAND and normal arm...
by chris_kmn
Sat Jun 29, 2013 3:05 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Bug report (@Hamburger): when I compile the rev1503 with oldschool PID I have a strange behaviour at arming: - not armed: motor PWM output is at 1000 - armed: motor PWM output is at 0. Props start turning at midstick position with PID set to 2 (AlexK loop) armed PWM ist at MINCOMMAND and normal armi...
by chris_kmn
Sat Jun 29, 2013 2:37 pm
Forum: Getting Started - MultiWii config and setup
Topic: Hk/Holybro 328p and Ublox Neo6 i2c gps.
Replies: 4
Views: 5141

Re: Hk/Holybro 328p and Ublox Neo6 i2c gps.

FINALLY............ I got it work. Had to tweak some configs at the ublox.

If u need help gibe me a sign.
by chris_kmn
Sat Jun 29, 2013 1:21 pm
Forum: Getting Started - MultiWii config and setup
Topic: Hk/Holybro 328p and Ublox Neo6 i2c gps.
Replies: 4
Views: 5141

Re: Hk/Holybro 328p and Ublox Neo6 i2c gps.

I have the same setup - and the same problems But at least I got ublox to work with it. How did u connect ublox to the gps module ? I connected rx to rx of an arduino and same with tx. so no crossover of tx and rx. ublox set to autobaud and it got connected to the gps module. But until now I never g...
by chris_kmn
Sat Jun 29, 2013 12:34 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

And as I said before it never happened again after MINTHROTTLE tweaking! Of course the saturation effect is on the minthrottle AND on the maxthrottle side. I mentioned the max-side becuase Hamburger stated that his wobbling was at fullthrottle. It's "just" a nonlinearity that could distur...
by chris_kmn
Fri Jun 28, 2013 8:58 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Flying with max throttle leads to saturation effects in the control loop. The esc's can just rev down and not rev up. Thats a nonlinearity and could cause the wobling.

Reducing MAXTHROTTLE can compensate this (I thnik)
by chris_kmn
Wed Jun 26, 2013 10:18 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

one question:

Oldschool:

Code: Select all

 axisPID[axis] =  PTerm + ITerm - DTerm;


AlexK:

Code: Select all

    axisPID[axis] =  PTerm + ITerm + DTerm;


Mistake ?
by chris_kmn
Tue Jun 25, 2013 7:05 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Sorry to say that, but I feel that the current state of MWI would need other improovements better than changing PID or IMU, the "base"!!!!! I am very glad that people commit their improvements to this community. What is wrong in evolving something ? The response in this thread shows, that...
by chris_kmn
Tue Jun 25, 2013 10:11 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

@ felixrising: Yes, you are right. There are missing some defs for the AlexK PID and also the changes in the EEPROM.ino would help. I tried to minimize the patch file from AlexK to the definition parts: AlexK: can you please doublecheck your changes to the definition-part ? I Think we are on a good ...
by chris_kmn
Mon Jun 24, 2013 7:02 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

@ Hamburger: the rev1501 won't arm when compiled with AlexK PID (2) I changed this part in Multiwii.ino to: if ( f.HORIZON_MODE ) prop = min(max(abs(rcCommand[PITCH]),abs(rcCommand[ROLL])),512); //----------PID controller---------- for(axis=0;axis<2;axis++) { from the original code: prop = min(max(a...
by chris_kmn
Mon Jun 24, 2013 4:29 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Yes, thats GREAT !!! :-) Thanks to Hamburger AND Alex. This is what MultiWii is all about ! Now the fun part is to all of us :D :D :D :D :D
by chris_kmn
Fri Jun 21, 2013 9:19 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Is there already a SVN release with the new controller implementation ?
by chris_kmn
Sun Jun 16, 2013 12:34 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

is there any chance to get a tutorial how to work with the google.code site ? which tools do I need for example to update all the releases up to r1474 (somebody references the r1474 changes to this thread) based on the last official release r1391 ? update: I used SVN to download the _shared. Hope th...
by chris_kmn
Sun Jun 16, 2013 10:23 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Is there any chance to get a version based on the actual V2.21 together with this Plüschi IMU (I don't know anything about this but it seems to be helpful) ?

And then we need to find a way to get it all to an official release :-)
by chris_kmn
Sat Jun 15, 2013 7:11 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

Some flights later..... I increased the I value up to 1 and still almost no leveling in horizon mode. How high can/should I set the I value ? Yaw is in my opinion to hard. Due to the high rev differences between the props the whole copter is getting instable. Maybe the yaw should be scaled down more...
by chris_kmn
Sat Jun 15, 2013 4:19 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

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. Thanks for your support on this ! The thing is - I like horizon to help just a bit, not be the level mode at sticks centered, so I didn't think ...
by chris_kmn
Sat Jun 15, 2013 2:56 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

ok, I tested it with your proposed values with a good result. With the "rate" values at 0 it is absolt controlable and it's a good base to start with. But what I might not like is the horizon performance. It is really coming back to level very slowly. So for FPV it could be an issue. Unfor...
by chris_kmn
Sat Jun 15, 2013 1:45 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

could you post something like a sketch of the control loop just to understand where the parameters act in what way ? that would be great and helpful to trim.

so far you did a great job !!!
by chris_kmn
Sat Jun 15, 2013 11:18 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

I just came back from first flight. My first try with the new firmware was based on my original PID and scaling settings.It was almost not flyable. Insane rates and tending to oscillating. also the horizon/level was almost not working bebause I used to fly little I - values. So for those guy who are...
by chris_kmn
Mon Jun 10, 2013 7:34 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182704

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

I'm also a friend of a good control loop integration and would love to test the result too with my test'o'copter There is something like a demo application for a PID controller at the atmel.com site. Maybe that could give some hints. And here is another example: https://code.oregonstate.edu/svn/appl...
by chris_kmn
Sun Jun 09, 2013 5:05 pm
Forum: ESCs, propellers , servos and radios
Topic: TX won't arm quad
Replies: 21
Views: 27027

Re: TX won't arm quad

Try to search the constant "MINCHECK" in multiwii.ino . By default it is set to 1100. but the min thrownof some rx/tx is above that value. Try to set it to 1120-1180 (check min throttle value in the GUI). Then the copter should arm. To make it easier to adjust you can move MINCHEKCK and MA...
by chris_kmn
Sun Jun 09, 2013 3:10 pm
Forum: Software development
Topic: TX Stick inverting
Replies: 2
Views: 1189

Re: TX Stick inverting

I have some multicpoter controller boards (no multiwii) where I neither have the source code nor do I have a feature to reverse the channels on the board. Unfortunately they have different directions/travels on the axes. And I want to avoid creating individual models in my TX. Just want to have one ...
by chris_kmn
Sun Jun 09, 2013 11:18 am
Forum: Software development
Topic: TX Stick inverting
Replies: 2
Views: 1189

TX Stick inverting

Hi guys, as I want to control multiple copters with different boards, but with only one TX setup, I tried to integrate a "function" in MultiWii 2.2 to inverse stick travel: RX.ino: /**************************************************************************************/ /*************** com...