MultiWii

LuFa

Hi ,

today i have test your code .
Optical Flow works perfect !

but i have some proplems with the Barosensor , its not possible to find the right PID Values .
With Mwii 2.0 standart PID i havent this proplem

Can you tell me how i can use the same Barocode like multiwii 2.0 =?

Thanks

LuFa

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: ...

LuFa

Hi Alexmos ,

any news ? works it now with Mwii 2.0 ?

LuFa

Hi At the moment i try to read the data from multiwii with the new Multiwii Protocoll . But for the moment my programm doesnt work I try it with this code : int Byte; void setup() { Serial.begin(115200); // Serial Monitor Serial1.begin(115200); // Mwii } void loop() { /* Data request */ Serial1.writ...

LuFa

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 :

Code: Select all

PositionHold_Angle = (GPS_Anlge + OpticalFlow_Angle) / 2

what do you think about this idea ?

Thanks !

LuFa

hi ,

wich pid values are use the Sonar and Optical flow ? full PID controll or only PD ...... ?

LuFa

cool , now it works without proplems tomorrow i will make the first tests can you tell me your alt pids for Sonar ? sonar use the same pid like baro , right ? future question : will your sonar and opticalflow code also work with Mega ? work your sonar code now also with Hexa or Octocopter ?

LuFa

mhmm , without lib i get this error : In file included from Multiwii_r21.cpp:2371: /digitalWriteFast.h:1:23: error: WProgram.h: No such file or directory /digitalWriteFast.h:2:20: error: wiring.h: No such file or directory with lib and orginal digitalWriteFast file from the lib i get no error . if i...

LuFa

only need to install the DigitalWriteFast library ? or must also be changed the digitalWriteFast.h file into the library ?

LuFa

yeah

great

is your r21 based on Mwii 2.0 ?
is it possible to use A0 , A1 , A2 or A3 for connection of the ADNS505 or only digitalpins ?

LuFa

alexmos wrote:Good news, LuFa Today I have tested my code for position hold and it works fine! So I have finished working on it and now starting merge with 2.0.

maybe can you upload your finaly 1.9 ?
it will be very cool for my first tests on this weekend

thanks !

LuFa

i know , but its not possible for me to bring mousecam util to run have still the proplem from few posts above .... thatswhy i try it with the x and y move output from the sensor to get the optimal lens position . did you have a "user manuell" how to bring the mousecam util to run ? thanks...

LuFa

great for which distance should i adjust/fix the position of the lense ? at the moment i have this method to find the right lens position : - look to the delta output from the testcode and move the ADNS - if the delta output move at the same way like the sensor , the lense have the right position th...

LuFa

can anyone upload the newest 2.0 with the SRF08 code ?

LuFa

great

cant wait to test it

at the moment i try to bring the java programm to run ......

Is your Position hold now better than on your first video ?

LuFa

today i have finished my test pcb with the adns5050

all works good for the moment

know i waiting for the 2.0 with opticalflow from alexmos

when did you plan to release your code with 2.0 ?

thanks sooooo mutch !!!!!

LuFa

have receive now my adns 5050 sensors

can you tell me where is the front of the sensor ? in wich direction should i mount the sensor ?

how did you connect the NRESET Pin from the adns 5050 ? High , Low or NC ?

thanks

LuFa

the hardware is allready ready

(use BSS123 for levelconverter)
are you shure that is it the right link ? its a google search link

LuFa

i cant find the right download link to the txrx lib

is that the only way to setup the lens ?

i´m to stupid to bring the java programm to run

LuFa

cool , i have also try do programm something like that .
But your code looks mutch cleaner

LuFa

ok , i have chanche the .bat to this :

Code: Select all

set path=.;C:\Program Files (x86)\Java\jre6\bin
java mousecam/MouseCam

and if i start it i see this :

is that right ? how can i see the camera picture ?

Thanks

LuFa

thanks

can you tell me how to run the Java Gui ?

LuFa

Hi , Some ADNS5050 are on the way to me But i have some questions : - which Lens is the best one ? - How to adjust the Lens ? is there any kind of video quality output in the code ? - Can you upload the 2.0 with your optical flow ? because i use the MPU6050 - which PID Values are good for the first ...

LuFa

nice work !

is it possible to juse your code with Hexa with PPM Receiver by activate A0/A1 to get the SPI Pins free ?

have order some ADNS5050

LuFa

Hey ,

can you tell my how to read 2 of SRF08 ?

i think with this function :

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Sonar1 = srf08_ctx.range[0]; // Sonar 1
Sonar2 = srf08_ctx.range[1]; // Sonar 2

is that right ?

Thanks

LuFa

Great !

can you share the code with us ?

LuFa

today i have make some tests

the target alt. is stored in AltHold , so with AltHold = 10 000 the Mwii climp to 10m

LuFa

any plans to increase the GPS accuracy for the final 2.0 ?
or will the gps code unchanged for the 2.0 ?

LuFa

Hi ,

what is about a Vario Alt Control like Mikrokopter ?
I think its a cool Option for MWii 2.0

i think its not so hard to programm it , because its only need to change a variable target alt.

Where is the variable stored witch say the target alt. ? (AltHold =) ?

Thanks

LuFa

to send the coordinates via wi232 if rc control lost and the mw crash

its mutch easyer to refind the mw

LuFa

Hello ,

I look for a way how to send the current gps coordinates via serialport .
The Proplem is , with the newest dev are only support serialize8 and serialize16 , but gps coordinates have 5 bytes -.-

i hope everyone can help me

Thanks

LuFa

LuFa

i think you activate it with passthrue , but im not shure

LuFa

interesting idea.
I have found out the same problem, when the Angle is Zero the Multiwii shoul break for a short time .
I think its not sooooo different to programm it , the higher the angle, the greater the braking effect should be .

LuFa

Hey , with arduino 1.0 IDE i get this compiling error : MultiWii.cpp.o: In function `setup': C:\Users\Ludwig\AppData\Local\Temp\build4385120620906669231.tmp/MultiWii.cpp:525: undefined reference to `initSonar()' MultiWii.cpp.o: In function `annexCode()': C:\Users\Ludwig\AppData\Local\Temp\build43851...

LuFa

great Alex !

Did you plan also to add GPS PosHold for i2c GPS ?

LuFa

any news

?

LuFa

It worked very well! I could hover 1ft off the ground and fly around, it was holding steady. I'm going to do a little more check-over and I will post the code. msev: I ordered mine from robotshop.com in the US. They are sold out until the 8th. I just ordered 4 more from acroname.com. I am going to ...

LuFa

Sounds very goooooooood
have order a SRF08 Now

did you plan to share the Sonar/baro fusion code also with us ?

Thanks !

LuFa

Hey ,

are there any plans for GPS position Hold in the next time ?
It would be nicer than Coming home for gps tests

LuFa

@alexmos :

Today i would test your code .
But i get a Compailing error if i aktivate Hexa

did you can tell my how to juse your code with Hexacopter ?

thanks so mutch

LuFa

alexmos wrote:Hi guys! Here is my alt hold implementation.........

Cool !
Can you tell me how to aktivate the Sonar ? does it automaticly switch on when i switch on Altitute hold ?

thx

LuFa

Hey,

I have see in the newest dev a box named GPSHOLD

does GPS Position Hold now also work ?

Thanks a lot

LuFa

now i have test your code , Vallekano is it normal , that the SonarAlt Value does only refresh at the start ? because when i power up the copter , is see the right Sonar distance , but it does not update the value on the GUI (degug3 window) it shows only the first distance . Next question is , shoul...

LuFa

Vallekano wrote:
I think it would work well, but in the code instead of dividing by 58, I think you'd have to divide by 118.

great !

Is your newest update with switch between Baro and Sonar ? and with Baro Offset ?
i will test it tomorrow

LuFa

yes , but i have a DYP_ME007 ultrasonic sensor , and i think this one doesnt work with your code

if yes , than i will test your code

LuFa

sounds great ! thanks

cant wait to test your code...
is it with VEL in jusing ? or without ?

LuFa

have anyere a idear how to switch between SonarAlt and BaroAlt automaticly ? I have used the following... i got the main idea from megapiratNG: #define MAX_SONAR_RANGE 400 #define BARO_TO_SONAR MAX_SONAR_RANGE+150 // Due to low baro accuracy #define SONAR_TO_BARO_FADE (MAX_SONAR_RANGE/3) // 33% of ...

LuFa

WOW !!!!!

did you like to share your code with us ?

LuFa

Hi ! Today I tested the GPS RTH mode. And I can confirm that it's working... There is one bug in the code which must be corrected.. the orientation of the Pitch and Roll corrections are wrong, but changing the following line fixes it... In MultiWii.ino change this errorAngle = constrain(2*rcCommand...

LuFa

Hey,

have you fix the GPS bugs ?

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