Search found 124 matches

by Magnetron
Wed Nov 21, 2012 10:35 pm
Forum: Software development
Topic: Altitude Hold improvement solution
Replies: 580
Views: 1581477

Re: Altitude Hold improvement solution

Hi guys, Sorry for delays... My plans was little bit changed... To be honest I did enough for the mwii project and comunity and it's time to do something for myself... So now I'm trying to copy naza behaviour related to AH functions and altitude ascend/descend and going to distribute (individually)...
by Magnetron
Tue Oct 16, 2012 10:18 pm
Forum: Ideas
Topic: wishlist for v2.2 - CLOSED
Replies: 150
Views: 46124

Re: wishlist for v2.2

As I am currently trying out Trello for personal use, I took the liberty to rewrite this wishlist as a Trello board here: m Everybody can vote and comment on every card, members can move them arround and add new ones. Could something like this provide more overview for the MultiWii development proc...
by Magnetron
Tue Oct 16, 2012 3:45 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

I understood that the purpose was to use it withoug gps. Fused with gps it works, I did that using some tricks. I think Premerlani worked on that too and he is a good guy, he probably has some code published. I am implementing my code on Mwii but there is no computing power to do that function accu...
by Magnetron
Sun Oct 14, 2012 8:32 am
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

ziss_dm wrote:X, y relative to earth or aircraft body?

to aircraft body...
by Magnetron
Sun Oct 14, 2012 7:50 am
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

We must try to implement routine to obtain a stable value of velocity on X and Y axis reproducint Z behaviour of baro-acc vel introduced by mahowik. Then we can try to hold zero velocity on X and Y axis correctiong pitch/roll command filtered to become stable. Someone had implemented algorithm to ob...
by Magnetron
Sat Oct 13, 2012 11:31 am
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

ziss_dm wrote:Let's imagine, we have very precise velocity in earth frame. What are we doing next?

next is implementing formulas in routine and try, test, test, test...
by Magnetron
Sat Oct 13, 2012 7:44 am
Forum: Pictures & Videos
Topic: MultiWii GPS & Alt Hold are great!
Replies: 1
Views: 1930

Re: MultiWii GPS & Alt Hold are great!

GOOD TESTS!!!!
by Magnetron
Thu Oct 11, 2012 9:49 pm
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 7505

Re: reoganize main loop /timed events?

As mentioned by Alexinparis in another thread, the task switch statement ensures that only one long duration task is executed in every cycle. In you code example there could be cycles where mag, baro and GPS are all executed and cycletime would be a lot higher than normal. Yes my routine was exampl...
by Magnetron
Thu Oct 11, 2012 9:45 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 131411

Re: Position Hold with Optical Flow sensor - done

I have dyp-me007 and a mega2560, could someone tell me what pin I must use and what kind of software modification I must implement to test sonar on mega2560. Alexmos, could you suggest me?
by Magnetron
Thu Oct 11, 2012 7:16 am
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 7505

Re: reoganize main loop /timed events?

I tried to come up with a "fix" for the main loop taskOrder switch statement. Only desk-tested yet, but seems to be much better, since it doesn't waste cycles if sensors arent there or functions in the case-statements didn't do anything. m I think your code is a good idea, but I think tha...
by Magnetron
Wed Oct 10, 2012 11:49 am
Forum: Software development
Topic: reoganize main loop /timed events?
Replies: 31
Views: 7505

Re: reoganize main loop /timed events?

Forget it! There will be only bug fixes there. The mostly used processor I guess, is the 328P. Even now you cannot use new functionality like GPS (ok, I have a i2c nav board too..). The only processor, which is theorectically prepared for new versions, is the mega2560. But why do you want support i...
by Magnetron
Sun Oct 07, 2012 4:12 pm
Forum: Ideas
Topic: A super acccurate MultiWii version?
Replies: 28
Views: 11620

Re: A super acccurate MultiWii version?

Quaternions had my succest to improve stability and general fly attitude: Any chance to see "your success" with a video showing clearly the advantage ? (not a desk video, a flying machine video) Alex excuse me form bad english and typing errors but "succest" is "suggest&quo...
by Magnetron
Sun Oct 07, 2012 3:34 pm
Forum: Ideas
Topic: A super acccurate MultiWii version?
Replies: 28
Views: 11620

Re: A super acccurate MultiWii version?

Quaternions had my succest to improve stability and general fly attitude:
viewtopic.php?f=8&t=2503&start=30
by Magnetron
Wed Oct 03, 2012 5:15 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

My idea is relatively simple: not shure that I got your idea... does it make sense to reduce compensation according to current inclination? why? It make not sense is only a inherited concept from a gaming imu. Main key is global vectors... We must calculate that vectors. Have you some idea on how?
by Magnetron
Tue Oct 02, 2012 11:21 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

We need angles also so we do not approximate multirotor behaviour to level at 0°.. In position hold ? Why not ? This topic and discutions is about position hold, not about acro or even normal flight behaviour. At position hold we can use lot of simplifications, because this is ONLY POSITION HOLD wi...
by Magnetron
Tue Oct 02, 2012 10:23 pm
Forum: Software development
Topic: Altitude Hold improvement solution
Replies: 580
Views: 1581477

Re: Altitude Hold improvement solution

correct is:
static float accVelScale = 9.80665f / acc_1G / 10000.0f;
by Magnetron
Tue Oct 02, 2012 10:16 pm
Forum: Software development
Topic: MultiWii v2.1 GUI Improvements...
Replies: 30
Views: 10333

Re: MultiWii v2.1 GUI Improvements...

new gui with round virtual horizon problem fixed here: http://code.google.com/p/multiwii/sourc ... _2_1_4.zip

doughboy ;)
by Magnetron
Tue Oct 02, 2012 10:10 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

We are trying to obtain position hold without gps using global vector to reach results like this: m in this condition the quad was not on 0° on axis... so we need global vector not only angles... As I told before w/o gps it will be not possible, because we need to correct errors after integration.....
by Magnetron
Tue Oct 02, 2012 9:25 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

One small question. We discussing here about the rotation matrix depending on the tilt angle for the position hold function. But in my opinion, during position hold the tilt angle of copter is close to zero. In this case all of advanced and sloooow calculations are really needed ? We are trying to ...
by Magnetron
Tue Oct 02, 2012 3:12 pm
Forum: Software development
Topic: MultiWii v2.1 GUI Improvements...
Replies: 30
Views: 10333

Re: MultiWii v2.1 GUI Improvements...

The bug was in the circular version... I will solve it in new gui next release.
by Magnetron
Tue Oct 02, 2012 7:07 am
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

hei boys, GOOD JOB. But I think that is a new more efficient solution: Quaternions 3D orientations are commonly represented using rotation matrices and Euler angles. Quaternions offer an alternative representation that is computational more efficient than rotational matrices and is not subject to th...
by Magnetron
Mon Oct 01, 2012 1:56 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

I tryed to develop the routine to calculate global axis on x and y but I have not reached the target...
and You?
by Magnetron
Thu Sep 27, 2012 1:24 pm
Forum: Software development
Topic: Version Uniforming... convention...
Replies: 2
Views: 1196

Re: Version Uniforming... convention...

I am thinking for final users not for developers...
by Magnetron
Thu Sep 27, 2012 11:37 am
Forum: Software development
Topic: R1143 had old GUI version
Replies: 0
Views: 803

R1143 had old GUI version

The new R1143 firmware release had an old GUI version (it is working, but old...)
You can download last GUI from: http://code.google.com/p/multiwii/sourc ... _2_1_3.zip
Alex, please release a new firmware with GUI updated.
by Magnetron
Thu Sep 27, 2012 11:32 am
Forum: Software development
Topic: Version Uniforming... convention...
Replies: 2
Views: 1196

Version Uniforming... convention...

Hi, I would to optimize multiwii firmware release, so I think is better to name various release with a classical version conventions so we must name v2.1.x where "2" is major version, "1" is minor version, "x" is intermediate release or alpha/beta dev so we can avoiding...
by Magnetron
Wed Sep 26, 2012 8:16 am
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

@hkubota To summarise Measures any tilt and how long its tilted, then puts compensation to return it back to the original position. Not just level though - maybe a little more to return it back before applying level. Will still drift with wind, But coupled with GPS hold it should make horizontal po...
by Magnetron
Wed Sep 26, 2012 7:32 am
Forum: Software development
Topic: [PATCH rebased] Increase number of AUX channels and steps
Replies: 27
Views: 9996

Re: [PATCH rebased] Increase number of AUX channels and step

I will implement in an new intermediate dev...
by Magnetron
Wed Sep 26, 2012 6:39 am
Forum: Ideas
Topic: modified configurator gui attitude indicator
Replies: 3
Views: 2125

Re: modified configurator gui attitude indicator

post your multiwiiconf.pde so I can integrate in the new gui...
by Magnetron
Tue Sep 25, 2012 11:22 pm
Forum: General discussions
Topic: MultiWiiCopter vs ArduPilot Mega 2.5
Replies: 11
Views: 9426

Re: MultiWiiCopter vs ArduPilot Mega 2.5

ah ah ah ah
multiwii!!!
by Magnetron
Tue Sep 25, 2012 11:11 pm
Forum: Ideas
Topic: Attemp to integrate sonar (ultrasonic sensor)
Replies: 265
Views: 223929

Re: Attemp to integrate sonar (ultrasonic sensor)

full code, based on last build (r1129) althold with sonar/baro mixed works fine, tested on sr04, dypme007 and tinygps (i dont have i2c native devantech) current define are for crius/mega board, don't forget to enable once baro mode before arming to set "baro home/zero alt level" (visible ...
by Magnetron
Tue Sep 25, 2012 10:48 pm
Forum: Software development
Topic: Need Documentation and Info on new versions...
Replies: 6
Views: 2438

Need Documentation and Info on new versions...

Hi,
it is time to document and write release note on new MultiWii or MultiWiiConf versions documenting new functions. Users need info. Some user crash with multirotor due to new function not documented like Horizon or Angle...
Alex it's time to think. New function, new note.
;)
by Magnetron
Tue Sep 25, 2012 3:11 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

@hkubota To summarise Measures any tilt and how long its tilted, then puts compensation to return it back to the original position. Not just level though - maybe a little more to return it back before applying level. Will still drift with wind, But coupled with GPS hold it should make horizontal po...
by Magnetron
Tue Sep 25, 2012 10:57 am
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

I have analized behaviour of accelerometers data. I think that the first think is to reintroduce moving average on accs due to presence of noises. So we must obtain a vector that indicate direction and intensity of movement independet of inclination. Mahowik could you implement a simple calculating ...
by Magnetron
Mon Sep 24, 2012 12:08 pm
Forum: Software development
Topic: [PATCH rebased] Indicate HEADFREE and MAG heading in GUI
Replies: 3
Views: 1640

Re: [PATCH rebased] Indicate HEADFREE and MAG heading in GUI

right!
I will integrate in a new GUI Intermediate Dev as soon as possible so users can download directly from official repository.
by Magnetron
Sun Sep 23, 2012 7:35 am
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Re: Position Hold using Accelerometers global vectors

Mahowik your code for alt hold really works! I would to obtain some effects in x and y axis calculating velocity like in z axis your routine do, so we must obtain actual vel (debug2) behaviour on x and y, then using it to compensate position, then we can try data fusion with gps data by complementar...
by Magnetron
Sat Sep 22, 2012 2:31 pm
Forum: Ideas
Topic: Attemp to integrate sonar (ultrasonic sensor)
Replies: 265
Views: 223929

Re: Attemp to integrate sonar (ultrasonic sensor)

there are new on sonar / baro implementation?
Baro altitude routine only seems to be very responsive.
by Magnetron
Sat Sep 22, 2012 1:51 pm
Forum: Software development
Topic: Altitude Hold improvement solution
Replies: 580
Views: 1581477

Re: Altitude Hold improvement solution

My idea is out of topic here. My idea is to obtain global acc x and y vector based on mahowik baro idea but only obtained by acc and gyro also. Acc x and y global vector can be used in level mode fly or in a new position hold routine. +1 for using X Y acceleration in position Hold (Naza does this a...
by Magnetron
Sat Sep 22, 2012 1:46 pm
Forum: Software development
Topic: Position Hold using Accelerometers global vectors
Replies: 86
Views: 36255

Position Hold using Accelerometers global vectors

After the great work made by mahowik with barometric altitude hold routine released in R1129 a new very important concept was introduced: accelerometer global vector. In this case only on Z axis but I think that this can be calculated on X and Y axis also. So I would to try with mahowik to obtain th...
by Magnetron
Sat Sep 22, 2012 9:31 am
Forum: Software development
Topic: Altitude Hold improvement solution
Replies: 580
Views: 1581477

Re: Altitude Hold improvement solution

My idea is out of topic here. My idea is to obtain global acc x and y vector based on mahowik baro idea but only obtained by acc and gyro also. Acc x and y global vector can be used in level mode fly or in a new position hold routine.
by Magnetron
Sat Sep 22, 2012 8:49 am
Forum: Software development
Topic: Altitude Hold improvement solution
Replies: 580
Views: 1581477

Re: Altitude Hold improvement solution

Mahowik, your code works very well with ms5611with pid p:1,i:0.01,d:30.
I think that we must implement a bumpless filter due to fast respose when the alt hold function is activated.
I send you a pm please read it and we can do more on multiwii...
by Magnetron
Sat Sep 22, 2012 5:24 am
Forum: Software development
Topic: MultiWii v2.1 GUI Improvements...
Replies: 30
Views: 10333

Re: MultiWii v2.1 GUI Improvements...

ok...
where is the right version?
by Magnetron
Fri Sep 21, 2012 5:07 pm
Forum: Software development
Topic: MultiWii v2.1 GUI Improvements...
Replies: 30
Views: 10333

Re: MultiWii v2.1 GUI Improvements...

PatrikE wrote:Nice..

But a tip.
Replace rxtxSerial.dll with this version in windows versions in the exported application.

It works better if you have a computer with BlueTooth.

Excuse me but I do not understand....
by Magnetron
Wed Sep 05, 2012 6:11 pm
Forum: Ideas
Topic: Attemp to integrate sonar (ultrasonic sensor)
Replies: 265
Views: 223929

Re: Attemp to integrate sonar (ultrasonic sensor)

I have one dyp-me007v2 and a mega2560. What pin I must use to connect to?