MultiWii

Your problem must be something other than the code. I've got mine flying. I need to do some tuning but with only board defines changed in the code 2.4 is working as expected for me. Micro MWC fc 3x 6mm brushed motors w/nano qx props 1x 2.5g rotary servo If you want to see more check: http://www.rcgr...

Well everything fired up just fine for me. Servo works fine and the first flight was poorly tuned but functional.

Hmmm, good to know. I'm using an Emax 9251 (2.5g) servo and 6mm motors; I drilled out the srcew hole to accept a 2mm carbon rod and glued it in to make the yaw mechanism. As it sits it'll be a touch heavy (about 2:1 thrust:weight), may switch to 7mm motors if I cannot drop the weight some. tmp_30618...

This has got me worried. I'm just putting the finishing touches on a 3d printed tricopter 70mm motor to motor using brushed motors. I need a step-up for the servo, but that should happen this weekend. Then I'm onto software.

Any chance a solution was found to this? Or was something else the issue?

Okay... one problem is that large chunks of the code added at the bottom of MultiWii.cpp for G-Tune is commented out. Dunno why. Lines 1297 to 1343: #if defined (G_TUNE) if((f.GTUNE) && f.ARMED) { calculate_ZEROPID (axis, imu.gyroData[axis]); //error); /* debug[0]= rc; debug[1]= abs(error) ;...

So I tried this methodology just now and I didn't get positive results... Just flipping over as soon as the throttle was high enough.

Any advice on usage Mhefny?

I dug around last night as I was having the same trouble. Mhefney doesn't explain usage in the part two post he links. I dug and found part 1 (not easy via the mobile sites): m I haven't had time to actually test it but a little down the page there is a flowchart of how to use the mode. I think that...

... Hi, This portion of code is not valid. This whole part should be removed in case of no mag config. And EstM must be initialize with non null value. For instance: EstM = {0,(int32_t)1<<24,0} => north is pointed first. I assume you mean this piece of code is invalid? EstM.A32[axis] += (int32_t)(d...

You're teasing us with a demo and no code!

Looking forward to trying this out myself.

For those interested, I have figured out Github and created a fork to better share.

https://github.com/giiba/MultiWii--HH-H ... gnetometer

Code is in the air and flying.


edit: I changed the URL as I started a new fork to do the changes properly and fix the end of line change issues I was having. This time round it is as clean as possible

Plüschi, I'm wondering if what you speak of about rotating has already been done with the changes to IMU.cpp there is the new variable accZ that seems to be used to correct the gyro axis. The dev code seems to track the heading in the GUI perfectly when the board is pitched/rolled 90° and then rotat...

A tangential question for anyone watching: are these files I'm uploading helpful for understanding what I'm doing? Is there a better way of presenting this info?

I've now tried to merge this change into the 'dev_2014_01_14__r1648' build of MultiWii. Most of it was easy enough, however the changes to IMU.cpp put this over my head I think. I have corrected the syntax of the equations to compile properly, and the build does fly fine; but I get no heading readou...

Another update. By integrating this code further I have simplified it further. I have redone "#if MAG" code to use the mag code as much as possible, only changing the GUI box name (HEADHOLD instead of MAG). On my way to this version I tested one that just changed the math with "#else&...

Does this version now also include full resolution gyro all around ? Or only in the Z axis? I think it has full resolution... I really do not understand the math but it sure looks to use X, Y, and Z variables in the formula. As far as I can see, the Benedikt code and the Goebish code are the the sa...

Tonight's progress involved cleaning up a bit and removing the need for define statements in config.h. Better yet the odd #if MAG around early parts of IMU.cpp have tested to be unnecessary. This is tested in the air and working for me. ********************************************* *** IMU.cpp ***HH...

Success! I've been pouring over this too much the past few days, but I just took my first flight on a working firmware. My problem earlier was placing an annexCode() function before: #else annexCode(); for (axis = 0; axis < 3; axis++) imu.gyroData[axis] = imu.gyroADC[axis]; #endif instead of after: ...

Thanks to your code Goebish I've had a modicum of success; comparing yours to Benedikt's to stock 2.3 I've narrowed the changes down. Now the code compiles, boots, and talks to the GUI as expected. Better the sensor readouts all look rational enough and the compass readout sems to indicate success. ...

I couldn't tell you, except he isn't the originator. The origin of the code I posted is unknown. As to the lines commented out in imu.cpp, I can only confirm that if you uncomment them it breaks the compass. My uneducated guess is that the commented code stops both mag and not-mag compasses working ...

********************************************************* *** config.h MultiWii_2_3_PIDtune_stripped --- config.h MultiWii ********************************************************* *** 212,213 **** - #define HEADFREE - #define HEADHOLD --- 211 ---- *************** **********************************...

Headhold and Headfree without a magnetometer is correct! That being said I've only the faintest idea how it works, but it does. The Headhold drifts a few degrees (maybe 10) over the course of a battery, but the yaw hold in Headhold mode is really good in a breeze. I found this feature in a build by ...

I've been having weak yaw hold in a breeze with my micro quad. I stumbled upon this and like the results. I've settled on 3 for the yaw mix, and am now tuning PID's. I've been able to improve hold and lower my gains significantly. Did this sort of thing ever make it into default code (the Yaw Jump b...

Hello all, I'm new here. This is my first post in fact. I'm trying to build a tandem rotor helicopter. I've had a breakthrough withe the mechanics, which has put me to thinking about the next step: stabilization. Using Deviationtx, I've created the mix to control all 6 cyclic servos (see: http://www...