MultiWii

Hi I'm experimenting with inverted flight, and I need a variable that indicates the angle of the accelerometer while inverted. att.angle[PITCH] appears to max out at 90 degrees (vertical), at 10 per degree of rotation. If the FC is rotated past vertical vertical to inverted, this value does not incr...

If anyone is interested, I think that I may have arrived at a possible solution, thanks to the assistance of several people here: in multiwii.cpp, at #if PID_CONTROLLER == 1 // evolved old school comment out the default so it's like this: //if ( f.HORIZON_MODE ) prop = min(max(abs(rcCommand[PITCH]),...

Try this? in multiwii.cpp, at #if PID_CONTROLLER == 1 // evolved old school comment out the default so it's like this: //if ( f.HORIZON_MODE ) prop = min(max(abs(rcCommand[PITCH]),abs(rcCommand[ROLL])),512); then put this in its place: // this uses equal angle and horizon mode corrections - limited ...

I also wondered what would happen if you over-wrote the 50 degrees max inclination to say 90 degrees?
C

Hi Patrick Thanks to your advice I found the AcroTrainer code. It seems to be an all or none switch, operable in Angle mode, that disables all modes (i.e. puts you into Acro) when the sum of the roll and pitch sticks add up to a value exceeding the AcroTrainer value. It could be useful as a testing ...

Hi - and my apologies for cross-posting... I fly a lot in Horizon mode and I really enjoy it. I do quick flips, rolls etc and have a great time. To whoever made it - thank you! I've noticed, however, that when near-vertical (i.e. nose pointing to sky), the quad is very uncomfortable - with hardly an...

Hi I fly a lot in Horizon mode and I really enjoy it. I do quick flips, rolls etc and have a great time. To whoever made it - thank you! I've noticed, however, that when near-vertical (i.e. nose pointing to sky), the quad is very twitchy - with hardly any throttle at all, it very strongly wants to l...

HI You might be trying to tune D in the wrong direction. Most of us think that higher D numbers mean *more* Differential component in a classical PID algorithm. Actually, in multiwii, it is the other way around. See m Higher D numbers in the GUI actually *reduce* the Differential component of a clas...

Isn't the Pitch/Roll PID Rate applicable to gyros in all modes - not just Horizon mode? Are you absolutely certain that it applies to Acc? As far as I'm aware, the Pitch/Roll PID Rate value reduced gyro PID's at high stick values. I didn't think it has anything at all to do with Horizon mode or with...

Hi I find Level andHorizon modes great. I understand that they use the Acc signal to keep the frame level. I notice also that Baro mode uses the Acc signal for the D component of it's PID algorithm, and that seems to me to work really well for short-term stability in the vertical plane. So obviously...

Hi In Horizon mode, the documentation for 2.2 says that there is a gradual removal of the Acc contribution (becoming more like manual/acro) when pitch/roll sticks are moved away from centre. I've tried this mode and like it a lot. This functionality implies that it is possible in software to reduce ...