Search found 108 matches

by alexmos
Sat Jan 05, 2013 11:39 am
Forum: Ideas
Topic: Brushless direct drive GIMBAL - big revolution for a few $
Replies: 84
Views: 49549

Re: Brushless direct drive GIMBAL - big revolution for a few

I think Brushed motor will not work - it has high non-linearity when switching to next coil. He used brushless motors in order to be able to control the magnetic thrust vector by simultaneously powering all 3 coils (i guess). I also want to know more details about how controller realize in witch pos...
by alexmos
Thu Jan 03, 2013 10:07 pm
Forum: Ideas
Topic: Brushless direct drive GIMBAL - big revolution for a few $
Replies: 84
Views: 49549

Re: Brushless direct drive GIMBAL - big revolution for a few

Hello guys! I am an author of one of this project. I confirm that brushless gimbal work mush better than all servo gimbals I have tryed. And it is very easy to assemble this gimbal (you need H-bridge drivers, arduino, IMU sensor, rewound motors and simple mechanics). MultiWii code is not good for it...
by alexmos
Thu Jul 05, 2012 3:47 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Sorry for long absence, I am a bit bussy now. I will merge to latest 2.0 code in the nearly future but can't say exact time.
by alexmos
Tue Jun 19, 2012 9:45 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

I have wrote above that baro will not work below 1m! I simply does not turn alt hold on this altitudes without sonar. If sonar is present, it holds well on any low altitude, from 10cm to 2m.
by alexmos
Mon Jun 18, 2012 8:02 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

charbot wrote:Is optical currently available in the latest dev version? I cant find anything about it in config.h or other tabs but is listed in the GUI. (tho' the box is black not brown like the other available sensors- I assume not a good sign)

Currently no support. May be box added for future releases?
by alexmos
Mon Jun 18, 2012 8:01 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Yes everything is onfigured for my board, I use an MPU 6050 and it works well. EDIT: I forgot, there is also a small typo in sonar.pde: "SonarErros" should be "SonarErrors" line 159. I dont understand you problem, explain more cleary. In GUI screenshot there is no I2C errors. de...
by alexmos
Sat Jun 16, 2012 5:15 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

I wonder if the module ADSN 5030 work with this code. Another thing, I downloaded the code here http://code.google.com/p/multiwii-alexmos/downloads/detail?name=MultiWii2_0_alexmos_r23.zip&can=2&q=#makechanges And I have I2C errors, in debug2, with just the sonar HC-SR04. If you have an idea...
by alexmos
Sat Jun 16, 2012 5:12 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Am I right in thinking that it is important to make sure the quad is completely vertical during 3 4 5 and 6?

Yes, ROLL (3,5) and PITCH (in 4,6) axis should be vertical to get maximum values for each axis.
by alexmos
Fri Jun 15, 2012 10:41 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

In my firmware I have improved ACC calibration: hold your quad in 6 positions (starting from normal) and press ACC_CALIB (or run acc calibration from sticks) six times in each position. It is important to start from the first (normal position), all other may be ordered randomly. http://ybex.com/inde...
by alexmos
Fri Jun 15, 2012 7:49 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Now i have change all PID Parameter but the Proplem is not realy remove I have found that the proplem is smaller with a Small I term and a high D term . My Parameters for the moment are P 10 I 0.003 D 23 , thats the best result for the moment , but after some times the proplem comes back Soon I wil...
by alexmos
Wed Jun 06, 2012 8:55 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

I have found errors in P,I definition and usage. I have corrected 2 files: config.h and OpticalFlow.ino and uploaded in archive (other files unchanged).

P, I values are integers and relation between GUI is 0.010-> 10, 5.0 -> 50
by alexmos
Tue Jun 05, 2012 6:51 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Hi Alexmos , now i have add OPTICAL_FLOW_P_GAIN and OPTICAL_FLOW_I_GAIN . my parameter for the moment are : P 5.0 and I 0.010 , what is the right method to write this directly in the code ? because OPTICAL_FLOW_I_GAIN 0.100 doesnt work how to write it correct ? no idea ? Attach you code here (all f...
by alexmos
Mon Jun 04, 2012 10:49 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

About good FOV - I can only make theoretical conclusions like you. I have tested lense 9mm (FOV not good terminology because we don't know sensor dimension) and it works from zero ground to 5-10 meters. More narrow lense (longer f.distance) will receive less light and it will leads to worse sensivit...
by alexmos
Fri Jun 01, 2012 5:59 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Hi For sale ADNS-5050 sensors I am about to try this myself so just ordered the parts. But as the shipping was so high, almost 30$ it felt stupid to only buy one unit. So i bought a few and will get them soon. So if anyone is interested send me a PM here. Was thinking about 10$ including uninsured ...
by alexmos
Mon May 28, 2012 12:24 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Hello! I try to use the Adns 2051. But this one don't have the ncs-port, but a PD-Port, can i use the same way? Greetings All Avago sensors has different pinout, and different communication lines and even different protocol! So It is not possible to connect other sensor than ADNS-5050 and use the s...
by alexmos
Mon May 28, 2012 12:20 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

tevada2010 wrote:Is this correct?
Set pins numbers in config.h

Code: Select all

#define OPTFLOW 5050
#define OF_SCLK A3
#define OF_SDIO A6
#define OF_NCS A7



As I know A6, A7 - may not be used as digital pins, so this config will not work.
by alexmos
Sat May 26, 2012 10:22 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

For Crius SE I have definitions:
#define OPTFLOW 5050
#define OF_SCLK PITCHPIN
#define OF_SDIO YAWPIN
#define OF_NCS ROLLPIN

PITCHPIN,YAWPIN,ROLLPIN - marked on the board for RX connection. But you may choose any of free pins and set it numbers in config.h
Also VDD +5V, NRESET +5V
by alexmos
Fri May 25, 2012 6:00 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

On this both Optflow and Sonar sensors are used. ADNS-5050 for Position Hold? Sonar for Alt Hold? I have upload your code my radio tx can't to use. Yes, ADNS-5050 and sonar HC-SR04 I am using SumPPM, if you using separate channels from Rx - set in in config.h And check ALL other parameters carefull...
by alexmos
Fri May 25, 2012 1:55 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

On this both Optflow and Sonar sensors are used.
by alexmos
Fri May 25, 2012 7:56 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Hi Alexmos Now i have bring to work the OpticalFlow code with the newest Dev code But i have one Proplem with the Newest Dev and also your code : If I Activate AltHold the Mwii Hold the Alt Perfekct for the first 20sek. , after that the Mwii does begin to move down and do nearly landing ^^ I have t...
by alexmos
Fri May 25, 2012 7:34 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

didlawowo69 wrote:
alexmos wrote:Yes, HC SR04 is working for me. But I was written code only for 328p chip (check your flight control board).



like arduino pro mini ?


Yes exactly. Also Crius MWC and many other has this chip
by alexmos
Fri May 25, 2012 7:09 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

tevada2010 wrote:How maximum height ADNS-5050 can work? and How maximum height sonar can work?


Sonar works up to 2-3m, optical flow - up to 5m. Above it works to, but proportionaly decrease strenght.
by alexmos
Thu May 24, 2012 10:29 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Yes, HC SR04 is working for me. But I was written code only for 328p chip (check your flight control board).
by alexmos
Thu May 24, 2012 8:04 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Yes - simply disable in config.h sensor that you not needed.
by alexmos
Wed May 23, 2012 5:35 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

The best way - try to compile and you will see which variable missed. Almous all optflow code is in OpticalFlow.pde
by alexmos
Tue May 22, 2012 7:33 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

In the OpticalFlow.pde, find P8[PIDVEL] and I8[PIDVEL] and replace to your values. But defines you wrote is wrong. It should be:
#define OPTFLOW_P_GAIN 50
#define OPTFLOW_I_GAIN 50

(in GUI they are divided by 10, so 5 in GUI will be 50 in code)
by alexmos
Wed May 02, 2012 9:56 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

I have not tested but it should work.
by alexmos
Wed May 02, 2012 8:09 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

didlawowo69,
currently there are 2 boards based on ADNS-3080 (from diydrones) and sensor from Flymentor, both still not working with my code. Wait may be somebody will implement and test them.
by alexmos
Sun Apr 29, 2012 6:53 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

LuFa wrote:

Code: Select all

alt   =   constrain((int16_t)EstAlt, 30, 300)   *   min(avgSqual.res,50) * 2;   // 16   bit   ok:   300   *   50 * 2 = 30000;


this one ? is this stored in cm ?


Yes, exactly
by alexmos
Sun Apr 29, 2012 4:05 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

You should find EstAlt variable in OpticalFlow.pde and replace it to yours BaroAltCal
by alexmos
Fri Apr 27, 2012 3:02 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

A0, A1 - used by gimbal servos, disable it function first in config.h or def.h
D8 - used by buzzer, disable it too in def.h
A6 - don't know what is it. check if it supports digital write/read.
by alexmos
Fri Apr 27, 2012 12:11 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

hi alexmos, i managed to get the ADNS-3080 optical sensor from diydrones. can you advice on the connection diagram plz. looking forward to get it up and running and test with you guys thanks Hi! I have added code for ADNS-3080 to latest revision but it is still not working. If you have skills to de...
by alexmos
Fri Apr 27, 2012 12:09 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

yes , the newest code is based on Mw 2.0 . You can buy the adns5050 for example here : m @Alexmos Wich Altitute Variable is use for calculate the Opticalflow Angle ? because , i try to start to move your alt code to the newest dev code . can you tell me which parts i should change ? Thanks ! Hi! Yo...
by alexmos
Thu Apr 26, 2012 8:28 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

LuFa, I can't give advise about SRF08.. You may get AltHold code from dev 2.0 and completely replace my code. To integrete into my code, you should set 2 variables for sonar reading: SonarAlt (in cm) and SonarErrors (0..SONAR_MAX_ERROR). If SonarErrors (or somewhat simular) is not defined in dev rel...
by alexmos
Wed Apr 25, 2012 11:03 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

LuFa, your sonar integration is incorrect As you can se, in my code sonar distance calculated quite simply: uint16_t dist = sonarData/58; All other more-than-50 lines of code - is error detection to achieve good Sonar/Baro fusion and protection from sonar inaccurate working. Try to search how often ...
by alexmos
Tue Apr 24, 2012 1:02 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Wich PID's you are using for Optical Flow? I have found that low values ( P<=5, I<=0.020) gives best results. For my altitude hold code, P=10, I=0.010, D=20..30 is good working. But ACC fusion is used so precize calibration required. I will add baro code from oficial MWC 2.0 as will have enough time..
by alexmos
Mon Apr 23, 2012 8:29 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

In my code this is already done: GPS angle and optical flow angle are summed: errorAngle = constrain(2*rcCommand[axis] - GPS_angle[axis],-500,+500) - angle[axis] + accTrim[axis]; //16 bits is ok here #ifdef OPTFLOW errorAngle-= optflow_angle[axis]; #endif so no need to change anithing to get it work...
by alexmos
Mon Apr 23, 2012 5:40 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

I have connected it as shown in datasheet, only NRESET is not connected to Arduino but to +5V: m SCLK, SDIO, NCS - can be connected to any of free pins and defined in config.h. For my setup, it was unused pins for RX connector (if you select other pins, check that they are not used by MWC for other ...
by alexmos
Fri Apr 20, 2012 11:08 am
Forum: Software development
Topic: New I2C GPS board
Replies: 13
Views: 5265

Re: New I2C GPS board

Is it possible to lay-out some extra arduino digital pins on your board? I have an idea to move MWC extra sensor communication (like Sonar, Optical Flow, may be others) to second board and get only final data over I2C (like for GPS). This may be usefull because of luck of program space and timers o...
by alexmos
Fri Apr 20, 2012 9:57 am
Forum: Software development
Topic: New I2C GPS board
Replies: 13
Views: 5265

Re: New I2C GPS board

JohnyGab, Is it possible to lay-out some extra arduino digital pins on your board? I have an idea to move MWC extra sensor communication (like Sonar, Optical Flow, may be others) to second board and get only final data over I2C (like for GPS). This may be usefull because of luck of program space and...
by alexmos
Fri Apr 20, 2012 9:49 am
Forum: Software development
Topic: GPS on Crius SE board
Replies: 121
Views: 39274

Re: GPS on Crius SE board

I am using Crius board with serial GPS connected on GPS port located above FTDI port in it's nearby. In the software you have to disable the function serialCom() located in Multiwii.ino by commenting that line. .... Thanks for this info, I am going to use the same config - Crius SE + GPS from remzi...
by alexmos
Wed Apr 18, 2012 12:33 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62223

Re: Alt. Hold Ideas and discussion

schmuggler,
it's optical sensor. But stability depends on surface quality (contrast pattern required) and works only in daylight
by alexmos
Wed Apr 18, 2012 9:25 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62223

Re: Alt. Hold Ideas and discussion

alexmos, I need to get ms6511 working on your code. No idea why it doesnt work. I'm going to try bringing your code up to latest dev level. Colin guru_florida, I have merged with 2.0 and tested it in flight, all works. nhadrian has reported that MS5611 works now, so you can try it too. m I have sli...
by alexmos
Tue Apr 17, 2012 1:06 pm
Forum: Software development
Topic: baro/sonar automatic landing failsafe
Replies: 15
Views: 4836

Re: baro/sonar automatic landing failsafe

Landing with baro is not good because it gives wrong data under 30cm altitude (pumping effect). I was tryed to landing in alt hold mode - very hard to do this. Only sonar works well near ground, but it is not installed for everyone. I think current failsafe routine is the best due to it's simplicity...
by alexmos
Tue Apr 17, 2012 12:53 pm
Forum: Ideas
Topic: Throttle expo
Replies: 22
Views: 4922

Re: Throttle expo

With your expo=0.65 throttle will be very smooth (I have used the same in the begining). Only remember to set THROTTLE_HOVER to value where you copter takes from the ground (for that, connect GUI and see throttle level in the hovering). SHIFT_HOVER may be the same as THROTTLE_HOVER or set it about 1...
by alexmos
Mon Apr 16, 2012 10:46 pm
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Hi Alexmos , i have see that you know move your code to 2.0 I have a idea : What do you think about a Opticalflow and GPS Positionhold fusion ? somethink like : PositionHold_Angle = (GPS_Anlge + OpticalFlow_Angle) / 2 what do you think about this idea ? Thanks ! There is no fusion in your example: ...
by alexmos
Mon Apr 16, 2012 3:48 pm
Forum: Ideas
Topic: Throttle expo
Replies: 22
Views: 4922

Re: Throttle expo

Hi,
This mod can be inserted into 2.0 and works well. Yes, it works with Alt Hold mode, too.

You should manually insert code into MultiWii.ino and config.h (see posts above).
by alexmos
Wed Apr 11, 2012 10:57 am
Forum: Ideas
Topic: Position Hold with Optical Flow sensor - done
Replies: 214
Views: 68525

Re: Position Hold with Optical Flow sensor - done

Yes, Flymentor uses ADNS-2610. It's cleary by picture m It has pinout: Yellow - SCK White - SDIO Red - +5V Black - Ground It can be conected to Arduino only by 2 wires - there are many examples with code in inet. Needs some modifications in my code (registers and SPI reading-writing) to get it worki...