MultiWii

Alexinparis

you can try this:

#if defined(TRI)
gyroData[YAW] = (gyroYawSmooth*2+gyroData[YAW]+1)/3;
gyroYawSmooth = gyroData[YAW];
#endif

=>

#if defined(TRI)
gyroData[YAW] = (gyroYawSmooth*4+gyroData[YAW]+2)/5;
gyroYawSmooth = gyroData[YAW];
#endif

Alexinparis

With or without ACC ?
You're maybe expecting too much from the IMU.
A WMP only multiwii will always drift and can't stay forever straight.

Alexinparis

Hi,

I tried to reproduce it withITG3200+BMA180 without success.
And I've no more a NK+WMP config...

Can someone else confirm this bug ? (with WMP+NK or WMP+BMA020 )

Alexinparis

Hi, I've just tried it, and it works well. It's also a smaller code It's a very interesting observation ! It would be perfect with: - the small angle approximation (one of the fastest code) - the compass integration (the heading value for small angle only would be ok) thanks, I think this is a part ...

Alexinparis

Hi,

You're right, but there is a "counter bug"

The mag indication is reversed in this version. I'll fix it

Alexinparis

sorry, I gave a wrong advise.
the formula that should be changed is inside SERVO_TILT (without + rcCommand[...])
SERVO_TILT can be used with tricopter

GIMBAL is a pure cam stab setup

Alexinparis

right, it's a small bug

but why an angle jump ?

Alexinparis

it's also in the FAQ

http://www.multiwii.com/?page_id=100

Alexinparis

Hi, I think I like it you should be able to play with this formula to adjust it: (maybe after trying +/- modifications) servo[1] = constrain(TILT_PITCH_MIDDLE + TILT_PITCH_PROP * angle[PITCH] /16 + rcCommand[PITCH], TILT_PITCH_MIN, TILT_PITCH_MAX); servo[2] = constrain(TILT_ROLL_MIDDLE + TILT_ROLL_P...

Alexinparis

do you think that the barometer in 1.7final will be improved It will be a little better than in 1.6 (small adjustment already implemented in prebis and preter). But clearly, there are many improvements to code about altitude stabilization. I think about Z ACC coupling. Not in 1.7 because I wan't to...

Alexinparis

I think the triwii described here will be able to carry the extra weight, but I'm not sure it's the best config for it.
I would rather choose a bigger setup for this. (at least 8 inches props)

Alexinparis

The scale for the gyro has been moved so the new L3G4200D doen't have a correct scale, please add: gyroADC[ROLL] = ((rawADC_L3G4200D[1]<<8) | rawADC_L3G4200D[0])/20 ; gyroADC[PITCH] = ((rawADC_L3G4200D[3]<<8) | rawADC_L3G4200D[2])/20 ; gyroADC[YAW] = -((rawADC_L3G4200D[5]<<8) | rawADC_L3G4200D[4])/...

Alexinparis

@Hamburger,
do you want an access to the code repository ?
So that you could upload and share your modification in the branch section.

Alexinparis

Hi,

The frame construction of the triwiicopter you can find in articles is described here:
http://radio-commande.com/experimental_ ... tricopter/
Radius from center to arm extremity is 23cm.
After many crash and reenforcement, it's still live

Alexinparis

BlueAngel wrote:How good is "altitude hold" working now?
because in the change.txt:
BARO is still not working very well with huge amplitude (note it's a code issue, not a baro component issue)

It's still not perfect, but it's better since 1.prebis7.

Alexinparis

Yes, i have too failsafe on copter. So i don't need that code too. Unless there is something like a slow auto landing feature after a fixed time. (for sure only with baro sensor) Note the current failsafe will only work is there is no more ppm coming from the RX (a connexion problem for instance) I...

Alexinparis

Great, Thanks a lot Alex. It would be great to have the new added functions like fail-safe and Auto-level trim implemented so that we can just remove it by checking one line like for the LCD function for example. What make the multiwii software so wonderful it's simplicity and efficiency . We shoul...

Alexinparis

thanks Alex for you great work. I hope i can test the new software soon. I had sometimes too a strange behavior with the ACC. Flying fast in head holding mode and the switch to ACC and the quad does not level right. More 30° turned to one side. So, the stable mode is ok when your multi is static, b...

Alexinparis

ziss_dm wrote:Hi,

This is patch for MultiWii1_preter7.

Regards,
ziss_dm

Thanks, I forgot to add it in preter.
It will be in the next one

Alexinparis

Hi Doug,

Sure I'm interested also.
I've just bought my first GoproHD 15 days ago, and I've never had the opportunity to test my cam stab code.

Alexinparis

thanks for sharing your vid

Alexinparis

Hi rocketray,

It's in fact already implemented

on the LEVEL row: check the 3 white boxes AUX1 low, AUX1 mid, AUX1 high
This way, the LEVEL mode will always be on.

Alexinparis

differences with the previous dev 1.prebis7: OSD: thanks to Rurek and mis_b , optimisation of OSD code Serial write is driven by a switchable interrupt, minimising delay to transmit data MAIN SOFT: thanks to Syberian , a bug was corrected to prevent ACC correction just before hovering. It could exp...

Alexinparis

Hi,

I didn't take time to tune this parameter.
10Hz works good, but you're right, there maybe better parameters.

Alexinparis

Hi,
Your a) assumption is very interesting. It's a sort of wattmeter approximation.
I didn't thing it would be precise enough to give something accurate enough.

Alexinparis

I think it should be quite easy to make a smartphone app to reproduce what you see on the LCD.
Note that today, all parameters can be changed with the LCD.
This way all parameters could be seen on the smartphone, and changed via RC or maybe also via the smartphone.

Alexinparis

Yes, you can change the limits. The code is here for this.
It won't influence the yaw stability.

Alexinparis

I'm a network/telecom engineer in real life

So, my work is not really tied to RC&elec things.

Alexinparis

I think you should just lower your P Yaw

Alexinparis

yes, it's possible:
there are MINCHECK and MAXCHECKvariable you can change for this.

Alexinparis

I think the Voltage stability of VCC is better than V D12.
So you can still power it via D12, no problem, but in this case it's probably better to power it via VCC.

Alexinparis

The only device that needs to be reseted in case of frozen bus is the WMP.
About the Nunchuk in direct connection, I don't know.

I've never seen frozen bus with other I2C devices.
So probably no need to power it via D12

Alexinparis

Hi, I don't catch your explanation the following are the 22 bytes sens from the GUI s[0] = 'C'; s[1] = byteP_ROLL; s[2] = byteI_ROLL; s[3] = byteD_ROLL; s[4] = byteP_PITCH; s[5] = byteI_PITCH; s[6] = byteD_PITCH; s[7] = byteP_YAW; s[8] = byteI_YAW; s[9] = byteD_YAW; s[10] = byteP_LEVEL; s[11] = byte...

Alexinparis

Hi,

Thank you ! It's was a bug not so easy to find.
your workaround is nice and simple

Alexinparis

look here:
http://billgrundmann.wordpress.com/2009 ... tedigital/

Alexinparis

Yes, you're right, it's a GUI bug I corrected on 1.prebis7

Alexinparis

MAIN SOFT: anti yaw jump modification for multi with 4 motors or more ALL: BI COPTER is now a avatar style implementation, still in beta on a pro mini: 9 motor left, 10 motor right, 11 servo left, 3 servo right on mega: 3 motor left, 5 motor right, 6 servo left, 2 servo right ALL: addition of Y4 (no...

Alexinparis

Now Alex, to make the Copter stop a Yaw spinning better, should i increase the +100 in the last line to +150 and should i also change the -100 to -150?

Yes, that's it.
+ addition of some I in the YAW PID

Alexinparis

did you erase all the lines ?
normally, this one could be kept:
axisPID[YAW] = constrain(axisPID[YAW],-100-abs(rcCommand[YAW]),+100+abs(rcCommand[YAW]));

If the yaw stop is still not perfect, you could increase 100 to 150

Alexinparis

Hi, Whouah ! It is a real improvement in the low cost side ! It would allow anyone with a cheap clone to benefit from the ITG3200 perf, and the mod is not so complicated. This mod + a direct NK connection is a real good thing Hi, I'll try to explain how I did this mod: Hardware: 1) It is good idea t...

Alexinparis

Hi, it's not a on/off PIN pattern. It's made to drive a servo and you can define the duration and position: #define CAM_SERVO_HIGH 2000 // the position of HIGH state servo #define CAM_SERVO_LOW 1020 // the position of LOW state servo #define CAM_TIME_HIGH 1000 // the duration of HIGH state servo exp...

Alexinparis

At the risk of taking the fun obtained by working it out for yourself away, ... Don't worry, my aim is to bring the best I can find, from my brain or from other open place, I don't care One more example of open source power: I discovered today this video: m This man is a genius: he took my code, im...

Alexinparis

It's planed: if you look at the last GUI, there are CAM1 and CAM2 RX input on channel 7&8

But there is currently no code behind.

Alexinparis

Hi,

1) there is no need to worry about that because the calibration should occur with no movement

the slow/fast mode is triggered only by the rotation speed.
2) this was my initial tought, but the gyrozero must be apply before the slow/fast correction and not after.

Alexinparis

ok, good argument

Alexinparis

The cam trigger function is already implemented as an option with AUX1 HIGH state position.
I plan to standardize it like the other sensor activation.

Alexinparis

The I2C bus is already booked with the sensors;)
There is no time slot for other non essential parts, otherwise the time loop would continue to grow.
For this, the serial port is a good option.

Alexinparis

There was before in multiwii a procedure to calibrate the ESC with full throttle during 2 or 3s (writeAllMotors(2000);)
I suppressed it because it was too dangerous: the motors could go full throttle if the ESCs are already powered and initialized and if you boot again the arduino.

Alexinparis

@Plata:
There is a description of pullups needs in this post : viewtopic.php?f=8&t=104

Alexinparis

What would be the interest to be able to disengage the cam stabilization ?

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