Search found 107 matches

by marbalon
Tue Jul 17, 2012 1:29 pm
Forum: Software
Topic: Baseflight
Replies: 5
Views: 2472

Re: Baseflight

Here is MS5611 SPI driver if someone looking for. #include "board.h" #include "mw.h" // ************************************************************************************************************ // I2C/SPI Barometer MS561101BA // ************************************************...
by marbalon
Tue Jul 17, 2012 1:26 pm
Forum: Software development
Topic: playing with acc-z altitude hold
Replies: 44
Views: 6346

Re: playing with acc-z altitude hold

I think VBAT is not needed. I param should enough. In most cases alt hold is activated for about few minutes so battery drop compensation is not needed but can be source of some problems. But if you really wan't to use it please define new variable eg. vbatSmooth and create huge LFP for this value.
by marbalon
Mon Jul 16, 2012 11:31 am
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

EOSBandi wrote:
marbalon wrote:Where you buy antena 25x25mm ? Can you post some phothos how your remove small antena?


Any electronics reseller (farnell, mouser, digikey) sells them. I'm putting together a hw diy guide for MultiWii GPS :D stay tuned


Just found it in farnell but 18x18 have 2,5 dB gain but 25x25 have only 2dB ?
by marbalon
Mon Jul 16, 2012 10:09 am
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

Where you buy antena 25x25mm ? Can you post some phothos how your remove small antena?
by marbalon
Sun Jul 15, 2012 9:27 pm
Forum: Software development
Topic: playing with acc-z altitude hold
Replies: 44
Views: 6346

Re: playing with acc-z altitude hold

hi, i did a lot of tests now (and fixed some "port" errors ) and it works much better .. im still waiting for my MS baro coter to do more testes regards felix The question is, how it is working in a windy situation, when pressure changes with the wind..... Works better because when ACC Z ...
by marbalon
Sat Jul 14, 2012 10:47 am
Forum: Software development
Topic: playing with acc-z altitude hold
Replies: 44
Views: 6346

Re: playing with acc-z altitude hold

Thank you merge it in to MWC code and add getACCalt(). Maybe I will try it on my old AtmegaIMU with BMP085.
by marbalon
Fri Jul 13, 2012 4:58 pm
Forum: Software development
Topic: playing with acc-z altitude hold
Replies: 44
Views: 6346

Re: playing with acc-z altitude hold

There is no magic, just dynamic LFP for P and D params. Here is a code: //in computeIMU() - this is dirty and should calculated with acc_1G and using samples count in MWC, I don't need it because work on fixed setup with one sensor and fixed looptime 2500us (400Hz) so don't need a time and 1G ... Ac...
by marbalon
Fri Jul 13, 2012 2:33 pm
Forum: Software development
Topic: playing with acc-z altitude hold
Replies: 44
Views: 6346

Re: playing with acc-z altitude hold

Yesterday I code new algorithm for Alt holt + ACC Z. Idea is simple - It it still standard PID for baro but EstAltit and speed for D is filtered using ACC Z readings. I will post my algorithm in the evening, but it is coded on custom stm32 board but should works on Atmega too. There is only one thin...
by marbalon
Thu Jul 12, 2012 11:33 am
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

Hi,
I have a question: Does u-blox-config.ublox.zip file from EOSBandi post can be used with U-blox NEO-6M GPS module ?
by marbalon
Fri May 18, 2012 10:43 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

I've try to fly with this dev but it is quite nervous. I've checked in qui and when quad is on the table with motors disabled I have a lot of noise on gyro. When I enable MMGYRO fittering (btw. this is really good filtering for gyro!) it is ok, but I tried to find why and I think I found. I printed ...
by marbalon
Mon May 14, 2012 11:11 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

Thanks for your work, I've just upload all codes to my i2c module and MWC board with required changes, compile gui and it works! I get some i2c errors but remove delay(1000) from i2c module setup procedure and now works fine - no i2c errors at start. tomorrow I will try to make tests. Again thank you.
by marbalon
Sun May 13, 2012 8:14 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

No you can't, you will broke your gps. But you don't need this just set 10hz via pmtk command.
Regards.
by marbalon
Tue May 08, 2012 1:27 pm
Forum: Shields, boards and sensors
Topic: 10 DOF sensor board
Replies: 5
Views: 1294

Re: 10 DOF sensor board

Please try to patch driver for L3G4200 provided here. You should see a difference.
viewtopic.php?f=8&t=1598&start=10#p13467

Regards,
Marcin.
by marbalon
Sat May 05, 2012 10:12 pm
Forum: Software development
Topic: Defines for Chinese IMUs
Replies: 66
Views: 35874

Re: Defines for Chinese IMUs

I'm using this pair ADXL345 and L3G4200 in my quads and it works perfect for me. But there is a bug in gyro driver. My friend (wektorx) found this and there is fixed gyro driver. No difference between itg3200 in my opinion. // *************************************************************************...
by marbalon
Thu May 03, 2012 10:43 am
Forum: Software development
Topic: Bug in the code of the ADXL345
Replies: 65
Views: 8915

Re: Bug in the code of the ADXL345

- ROLL/PITCH 5.2-0.03-35 (or 6.0-0.03-40) it helps to get smooth and stable flight for most configs (tested!!!) Did you get this values with default ESC ? or flashed with fastPWM or dedicated... ? I think it is hard to get this values with normal ESC but agree, I'm using Mystery with wii-erc firmwa...
by marbalon
Tue May 01, 2012 10:02 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

jevermeister wrote:
ps.: Sorry for the harsh tone but plz read the posts before complaining ;-)


Please read this thread careful before your write the same about others - you miss this post:

viewtopic.php?f=8&t=649&start=460#p12970

I think this is quite enough for most people.
by marbalon
Tue May 01, 2012 9:56 pm
Forum: Software development
Topic: WinGUI public beta
Replies: 132
Views: 29507

Re: WinGUI public beta

Hi,
i found one bug. In original GUI I can set D for pitch and roll for more than 50 but when I connect with winGUI I get error message.
Nice to see you back EOSBandi!

Cheers,
Marcin.
by marbalon
Mon Apr 30, 2012 9:45 pm
Forum: Software development
Topic: Bug in the code of the ADXL345
Replies: 65
Views: 8915

Re: Bug in the code of the ADXL345

Hi guys, 1. float LPF with 1-2Hz cut frequency used for ACC in IMU. #define ACC_LPF_FACTOR 100 ........... #define lfpFactor (1.0f/ACC_LPF_FACTOR) static float accLPF[3]; .......... accLPF[axis] = accLPF[axis] * (1.0f - lfpFactor) + accADC[axis] * lfpFactor; accSmooth[axis] = accLPF[axis]; 2. Gyro ...
by marbalon
Sat Apr 28, 2012 3:39 pm
Forum: Software development
Topic: Bug in the code of the ADXL345
Replies: 65
Views: 8915

Re: Bug in the code of the ADXL345

i think it is not because better filtering, it is because less correction from ACC, angle is calculated more from gyro data then ACC, so for other sensors it should looks similar. Maybe this is good way, calculate angle more from gyro, and only correct from ACC...
by marbalon
Tue Mar 27, 2012 8:43 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

Hi, Last days I tried to pay with my i2c GPS and have one small suggestion. Like many user descrribe, it will be useful reset home position on request. So I added function: void GPS_reset_home_position() { #if defined(I2C_GPS) //set current position as home i2c_rep_start(I2C_GPS_ADDRESS);i2c_write(I...
by marbalon
Sat Mar 24, 2012 11:33 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 438108

Re: GPS integration

Hi Guys, After 3 weeks delay (because of a design problem and reproduction) Navigatron I2C GPS modules in stocks . I 'am glad to announce that %10 discount for first 20 units http://www.flytron.com/180-648-large/i2c-gps-for-multiwii-and-others.jpg http://www.flytron.com/180-649-large/i2c-gps-for-mu...
by marbalon
Thu Mar 22, 2012 10:45 pm
Forum: Software development
Topic: MultiWii 2.0 is coming
Replies: 256
Views: 52149

Re: MultiWii 2.0 is coming

Trying out preversion 4 on my mini, very stable with reflashed ESC´s - good work. Can someone do a short explanation of the Altitude PID controller. What does each parameter control? Thanks Jussi P - is proportional to alt error, so if your quad return to base position to slow you need to increase ...
by marbalon
Wed Feb 22, 2012 7:40 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Yesterday I've made another version. It is still using baro only. I will cleanup the code and will share it today.

http://youtu.be/ia5bRUce74A

Marcin.
by marbalon
Tue Feb 21, 2012 2:35 pm
Forum: Ideas
Topic: More precise ACC calibration for AltHold and level mode
Replies: 7
Views: 2297

Re: More precise ACC calibration for AltHold and level mode

alexmos wrote:After this calibration, I get 1G=255 for every angle for every axis, and my AltHold working much better now!


I'm working now on Alt. hold, so have a question. What altitude hold method are you using? Old 1.9, new from dev or own ?
by marbalon
Sun Feb 19, 2012 4:54 pm
Forum: Ideas
Topic: Loop time optimization
Replies: 11
Views: 2252

Re: Loop time optimization

Alexinparis wrote:Hi,

I'm agree, some tasks could wait for several cycle.
It's a good idea for time stability to ensure only one could be computed per loop.


Grate. I will try to keep this optimization when codding altitude hold, and will tell you feedback if something goes wrong.

Regards,
Marcin.
by marbalon
Sun Feb 19, 2012 4:49 pm
Forum: Ideas
Topic: Loop time optimization
Replies: 11
Views: 2252

Re: Loop time optimization

Magnetron wrote:Excuse me Marbalon r568 is 20120203 version?

No it is newer version from svn repozitory. Please wait fo new release, this is not finished. Use less memory and CPU time but I think older works better. Need to check some things, and will release new version in main topic.
by marbalon
Sun Feb 19, 2012 8:12 am
Forum: Ideas
Topic: Loop time optimization
Replies: 11
Views: 2252

Re: Loop time optimization

Please look in to code, I only move to switch functions that don't need to fast updates, thanks to this gyro and acc can be updated faster.
by marbalon
Sun Feb 19, 2012 12:01 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Did you test it outside? Maybe this is because temperature drift for baro?

ps. Here is another test from polish forum. The same code as posted.

http://www.youtube.com/watch?v=jhuyFQVAzDk
by marbalon
Sat Feb 18, 2012 11:31 pm
Forum: Ideas
Topic: Loop time optimization
Replies: 11
Views: 2252

Loop time optimization

Hi all devs, In last days I'm working on baro code, but for a long time I have one idea. I found that in MWC code there are som functions called periodically like: - RC idle in 50HZ - getEstimatedAltitude() 40Hz and some function that not to be called in every idle like: - Baro_update() - Mag_getADC...
by marbalon
Fri Feb 17, 2012 8:42 am
Forum: Ideas
Topic: Possible issue with LEVEL I implementation + fix?
Replies: 59
Views: 5559

Re: Possible issue with LEVEL I implementation + fix?

Hi, @shikra I agree that we should look in to new ideas etc. But I read you first post and explanation and I think you try to fix problems in bad way. Why you want huge I and low P? - P is mainly used to level a copter - I to compensate unbalanced situation (and should not to be high) - this will no...
by marbalon
Thu Feb 16, 2012 9:48 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Ok I will switch to cm, but do you mean last dev from svn ? Last dev MultiWii_dev_20120203.zip don't have this boxes.

Regards,
Marcin.
by marbalon
Thu Feb 16, 2012 2:52 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

I have a question to Alex. Today I will try to include may patches to latest dev, and will try to add ACCZ support. But can we switchback to cm instead dm? I know precision for baro is not in cm, but when you get average form last few samples the best if the result is with better precision. And I th...
by marbalon
Thu Feb 16, 2012 2:37 pm
Forum: Ideas
Topic: Possible issue with LEVEL I implementation + fix?
Replies: 59
Views: 5559

Re: Possible issue with LEVEL I implementation + fix?

It felt like the copter would not compensate the lipo weight anymore. As its mounted in the back, and is an asymetric weight. (Go Pro at the front is counterweight but not 100% balanced.) Never had this behaveiour before. May this be related to your code? I almost sure is related with this code - I...
by marbalon
Thu Feb 16, 2012 7:25 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Hi, I have both BMP085 and MS5611 installed on my copter. When I select BMP085, with your code it drops down after ALT is enabled. When I select MS5611, if starts climbing as soon as I enable ALT. I used your suggested PIDs for both. So I coulnd't test the behaviour. BR Adrian - Did you test with m...
by marbalon
Wed Feb 15, 2012 10:48 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Hi, Today I finished my version I think it is the best I can do using baro only. This is version for 20111220. Now I will try to switch to latest dev and merge it. Suggested PID: MS5611 - 3.0/15/12 BMP085 - 1.6/15/7 Changes until last version: - temperature compensation for MS5611 form Kuki83 - repl...
by marbalon
Wed Feb 15, 2012 7:27 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Please start at 3 /0.015/ 12
by marbalon
Tue Feb 14, 2012 11:23 am
Forum: Software development
Topic: Improving Altitude Hold Performance
Replies: 98
Views: 33695

Re: Improving Altitude Hold Performance

hello what is the difference between our mwiiboard and the naza fc? why naza fc has a very good altitude hold and altitude hold is difficult for our wiiboard ?is the barometer sensor different? or is the firmware very different? thank you Answer is simple - this is commercial product and many peopl...
by marbalon
Tue Feb 14, 2012 10:06 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Hi marbalon, Really impressive!!! But huge D... Can you try to set setpoint couple of meters higher? I need to fix problem with MS5611 in low temperatures. Kuki83 have a solution, after this I can test it outside. But my gyro L3G4200 don't like low temperatures too. But will try. And you have used ...
by marbalon
Tue Feb 14, 2012 7:29 am
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Here is boring video 13min hover until battery is empty. m PID tuning algorithm is simple. - Try from suggested PID's eg. 3/15/12. - if you want to faster reaction increase P - Ty to push your quad up and down when it overshot position increase D But if you get to big values quad became "nervou...
by marbalon
Mon Feb 13, 2012 11:35 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

I agreed with Alex - it is not a good idea to get D-part from noisy baro. Accelerometer is the best source for D-term. To get real effect of Alt Hold in real flight, you will need much stronger PID settings. You are right. D is not used to compensate error, it is used to reduce oscillations when qu...
by marbalon
Mon Feb 13, 2012 3:26 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

I still use version 20111220. And you are right I think error used for P calculation can be in bigger range, but like you see on the videos it works fine - I think thanks to good D parameter. Maybe I have smaller PIDs because my quad have too much power it have about 2,8kg thrust and weight 0,7kg. P...
by marbalon
Mon Feb 13, 2012 2:44 pm
Forum: Software development
Topic: Improving Altitude Hold Performance
Replies: 98
Views: 33695

Re: Improving Altitude Hold Performance

I need to agree that there is something wrong in current MS5611 driver. I read datesheet and there is second level temperature compensation for temperatures lower than 20C and -15C. This is not solved yet but will test it today. But precision is absolutely enough, I only want to get more samples to ...
by marbalon
Sun Feb 12, 2012 9:35 pm
Forum: Software development
Topic: Improving Altitude Hold Performance
Replies: 98
Views: 33695

Re: Improving Altitude Hold Performance

Here is my implementation and tests.

viewtopic.php?f=7&t=363&start=90#p8876
by marbalon
Sun Feb 12, 2012 3:21 pm
Forum: Ideas
Topic: Alt. Hold Ideas and discussion
Replies: 193
Views: 62270

Re: Alt. Hold Ideas and discussion

Hi, After changing some experience with Wiktorx I made new procedures for altitude hold. Idea is simple, just full PID regulator - P depend on error, bu use filtered data from baro - I use the same filtered data, thanks to this parameter there is no problem with battery drain - D is the most importa...
by marbalon
Mon Feb 06, 2012 1:30 pm
Forum: Software development
Topic: Multiwii port to STM32 and place to ask stupid questions
Replies: 38
Views: 13991

Re: Multiwii port to STM32 and place to ask stupid questions

Yes but in this price I can design onw PCB without any problem with headers, size etc. like I want ;) with Gyro + ACC should cost about 35$ in Poland (but with gyro L3G4200D and ADXL345 acc).
by marbalon
Mon Feb 06, 2012 12:58 pm
Forum: Software development
Topic: Multiwii port to STM32 and place to ask stupid questions
Replies: 38
Views: 13991

Re: Multiwii port to STM32 and place to ask stupid questions

Adding a bunch of new sensors takes no skill. Just look at the current multiwii code. Yes this is true, but If I build make new board I want to expand it a little to be sure that It will work with GPS etc. What would make much more sense is using more available CPU to do things properly, i.e. prope...
by marbalon
Mon Feb 06, 2012 12:22 pm
Forum: Software development
Topic: Multiwii port to STM32 and place to ask stupid questions
Replies: 38
Views: 13991

Re: Multiwii port to STM32 and place to ask stupid questions

Yes I know it is available, but I want to expand it a little. I think about compass, I2C header to external sensors like MAG or GPS_i2c (or uart header), gimbal, battery monitor etc. But your information is enough. I think we can create separate GUI, but you can find screenshot from new WinGUI for M...
by marbalon
Mon Feb 06, 2012 10:22 am
Forum: Software development
Topic: Multiwii port to STM32 and place to ask stupid questions
Replies: 38
Views: 13991

Re: Multiwii port to STM32 and place to ask stupid questions

Could you paste link to this board in shop? I found it but looks different then yours, and don't have HMC5883L on the board. If you could put photo of this board. Marcin. Edit. I found you make a clone of this board. It is possible to share schematics or maybe PCB files ? I have some plans to make S...
by marbalon
Sat Feb 04, 2012 12:30 pm
Forum: Software development
Topic: dev MultiWii_dev_20120203 test
Replies: 33
Views: 4938

dev MultiWii_dev_20120203 test

Hi, I've jsut uploaded new verwon to my quad and found some problems. 1. There is a little mistake for people with EXT_MOTOR_RANGE Lines like this: ((motor[0]>>2) - 250) + 2) should looks like this (missing ; and ) ): (((motor[3]>>2) - 250) + 2); But this is smal problem. 2. I've just tested new lev...
by marbalon
Fri Feb 03, 2012 12:04 pm
Forum: Ideas
Topic: Possible issue with LEVEL I implementation + fix?
Replies: 59
Views: 5559

Re: Possible issue with LEVEL I implementation + fix?

I don't know your settings but it looks like to big I value. Please try to make this tests: First test - try to decrease I until you will get a stable flight and the try to add some weight to one arm - just unbalance your tricopter. Then try to fly again with unbalanced tri. Repeat the same test wit...