MultiWii

doughboy

if TILT_PITCH_AUX_CH and/or TILT_ROLL_AUX_CH are not defined and SERVO_MIX_TILT is defined, then this line is invalid. you need to code it the way it is coded for SERVO_TILT. and since the code is essentially the same, you can factor it out. I already provided the correct code. servo[2] = constrain(...

doughboy

r1227 should be changed so it is similar to the code for SERVO_TILT. as it is now, it will result in compile error if TILT_PITCH_AUX_CH and/or TILT_ROLL_AUX_CH are not defined and SERVO_MIX_TILT is defined the code for setting up S_PITCH and S_ROLL could be factored out as it is common to both SERVO...

doughboy

ok, you lost me there with "conus-emitter". I don't know what that is.
but yes, I checked the raw data and it works fine, just as with penpen77, and the arducopter folks.
so it seems you are alone, perhaps you got a bad sonar.

doughboy

I'm not talking about that compensation code correct or not correct... I'm not using it in my implementation because it's doesn't make sense at all... the trigonometry part makes sense, if you tilt it at an angle, taking cosine on both axes gives you the distance perpendicular to ground. you are as...

doughboy

where is the corrected code? perhaps I may be missing it, but the only code I know of is the one in magnetron branch. everything else is just a snippet here and a snippet there. I think it is a good idea to actually check in the official code in the branch so others can get and test it and we are al...

doughboy

The only erratics values was above 4/5m where tilting correction gave more wobbly readings. #ifdef SONAR_TILT_CORRECTION float temp = cos(float(angle[1])/10) * cos(float(angle[0])/10); temp = max(temp+0.05, 0.707); temp = constrain(temp,0.707,1.0); temp = (float)sonarAlt * temp; if(temp<sonarAlt) s...

doughboy

Ah, thanks for the technical explanation. I suppose I need to look at the code to figure out what exactly it's doing with all those values. As if the topic wasn't hard enough as it is, a bunch of the documentation, wiki, howto's, and forum posts offer conflicting explanations, wording, and descript...

doughboy

if this is for acro mode, the PTerm is just the rc value PTermGYRO = rcCommand[axis]; PTerm = PTermGYRO; The P value is used to reduce the effect of I and D value is negative in multiwii this is all different from the conventional definition of PID, say from wikipedia previous_error = setpoint - pro...

doughboy

looks like r1188 has some major baro code change

doughboy

tinygps only supports 1 ultrasonic sensor (at least last time I checked). atmega328 is a better option. not really worth saving $2 to deal with hassles of programming the attiny chip. or one can just use a promini (about $10 on ebay) and just solder the sensor lines to the board (if you build the bo...

doughboy

I would use tx trim to adjust drift only if you dont plan on using angle or horizon mode at all. otherwise, whatever tx trim you do in acro mode, will be there in angle and horizon mode. plus the way mw is coded, any trim offset from center on the sticks will count towards the error value. a better ...

doughboy

thanks for the sonaralt unit. yes, I use tilt correction and it works fine, but I moved the code to sonar_update. ok, I added debugs to monitor the values and they seem to be right. if I set throttle to about 1350 then turn on the baro mode, I can see positive baropid of I move down the quad, and ne...

doughboy

actually, the tilt correction code is in the wrong place. I moved it to inside sonar update where it belongs. if you do tilt correction in the main loop, it replaces sonarAlt with the corrected value, then in sonar_update, it the uses the corrected value with non corrected reading. the tilt correcti...

doughboy

by the way. Is there a way to use the LED with different funktions? Perhaps as landig lamp? I did exactly this. I added an Ultrasonic sensor and modified the GPS alert section in pilotlamp (blue light) to be used as a "low altitude" warning (well, its basically same as landing light), and...

doughboy

this sonar feature only works if BARO is present? (besides using it to turn on landing lights) I was thinking alt hold within the useful distance capability of ultrasonic sensor would be available but I see it is not (I don't use barometer). I know other FC has this feature and can make the quad fly...

doughboy

my experience with aeroquad is the opposite. I never got anywhere close to a stable flight, while multiwii I got stable flight right out of the box using all default. I don't think you can use aeroquad pid values in multiwii, as the units they use are probably different. I think most multiwii users ...

doughboy

I don't actually understand what acc trim does, i think that the same thing but tweaking the values of the x and y axes of the acc from the TX acc trim does to acc what your TX trims does to RC signals. first, run acc calibration on as level a surface as possible. use a bubble level if possible. if...

doughboy

sorry to see that. it is possible the rx may have gotten out of range and FC went into failsafe. I assume you enabled failsafe. I think there was a bug in failsafe code in 2.1 that is fixed in dev branch, but I think it is for getting out of failsafe once rx recovers If you did not change the failsa...

doughboy

I am thinking of getting this gps. did you get this from rctimer? are you using the i2c converter or just the serial conneciton? is your FC using mega or 328?

doughboy

you always have the option of using the win-gui, which is not dependent on rxtx serial dll, which I think is the main cause of this problem. I use windows7 64 bit and I don't see this problem, well, not anymore once I figured out when google chrome is running, the the mw configurator gui runs slow. ...

doughboy

where is the code snippet?

doughboy

I just tried this with the latest shared code. with the default PID values, there is completely no pitch and roll control !!!! not cool.
probably should be fixed or just completely removed, obviously nobody is using this feature.

doughboy

I've not run into your slow/lag problem without the program running at 100% CPU.

You can download processing 1,5 IDE from processing.org and load the GUI source file and run it from the IDE and you will see any error in the console.

doughboy

question on this part of the code (from m) #ifdef SONAR_TILT_CORRECTION float temp = cos(float(angle[1])/10) * cos(float(angle[0])/10); temp = max(temp+0.05, 0.707); temp = constrain(temp,0.707,1.0); temp = (float)sonarAlt * temp; if(temp<sonarAlt) sonarAlt = temp; #endif The comment for angle array...

doughboy

charging is not 100% efficient. if battery needs 1700mah, and you charge 1900mah, that is about 90% efficiency.
if your charger can do charge/discharge cycle, you can run it to see how much mah is needed to charge the discharged capacity, and it will not be 100% match.

doughboy

as I have said in my first reply, there is another application that is interfering with the multiwii gui application causing it to run at 100% cpu. If rebooting did not eliminate that, then it means it is running when you startup the machine. You need to find that program and remove it. I'm sure the...

doughboy

64 bit does not work because rxtx dll is 32 bit. if your 32bit is running at 100% cpu, that means another application may be contending access to serial port (for example, google chrome, or usually, you probably have several instances of the program already running). if you reboot and just start the...

doughboy

ok, let's say I take your logic behind the design.
There is still a usability issue, as once the user sees the lights blink, they will think they got the acc calib command in, but it is actually blinking for a different action (writeparams). why the need to write eeprom every 20ms?

doughboy

Because in theory, you can switch different stick combo before the 20th, and the 20th will tirgger the first action that satisfies the stick position. I think the intent is for all 20 passes to have exactly the same stick positions. meaning, you are holding the sticks in position for 0.4 seconds. T...

doughboy

No, not for acc trimming. It is executed every 20ms as long as you maintain the stick, and only if the previous blinkLED is finished. ok, I never mentioned acc trim anywhere, I said acc calibration (or Calib Stable Acc). stick combo throttle max, yaw min, pitch min. what you are referring to as acc...

doughboy

the quick fix is to just add rcDelayCommand==20 in the if condition like this } else if (rcData[PITCH] > MAXCHECK && rcDelayCommand==20) { conf.angleTrim[PITCH]+=2;writeParams(1); #if defined(LED_RING) blinkLedRing(); #endif } else if (rcData[PITCH] < MINCHECK && rcDelayCommand==20) ...

doughboy

this is a different issue not fixed by your check in today. before an action is triggered, it must satisfy rcDelayCommand==20 condition, for which those 4 if conditions under throttle>maxcheck section did not do. It is expected. The trigger delay is not based on rcDelayCommand == 20, but on the del...

doughboy

this is a different issue not fixed by your check in today. before an action is triggered, it must satisfy rcDelayCommand==20 condition, for which those 4 if conditions under throttle>maxcheck section did not do.

doughboy

In MultiWii.ino lines 832-852, the if blocks are missing check for rcDelayCommand==20. This bug cost me two propellers yesterday, as the stick combo for acc calibration is not triggered but the second if condition below got triggered instead. no wonder I had a hard time flying level. } else if (rcDa...

doughboy

editing my post as it had incorrect info. the proper way to use stick command is to place both sticks in center, then move to the target direction at the same time. this will avoid any ambiguous combination that will cause the wrong action to be triggered. with the addition of the eeprom profile fea...

doughboy

slightly off topic. what did you use for legs on your quad?

doughboy

thats a bug. this is the code I posted to the pilotlamp thread + //==================GREEN LED=========================== + if (f.ARMED && f.ANGLE_MODE) useResource('G',1000,1000); + else if (f.ARMED && f.HORIZON_MODE) useResource('G',100,1000); + else if (f.ARMED) useResource('G',10...

doughboy

you obviously are not using the unmodified r1171 as your line numbers are all different and the error line should be SerialOpen(0,SERIAL0_COM_SPEED); and not SerialOpen(0,SERIAL_COM_SPEED); like in your screenshot.

doughboy

isn't it just a matter of specifying smaller servomin/max, and its done? I.e. below1000 us... no, because the pulse is hard coded to start with a base time of 1000us. then the servo time is added to that as a value ranging from 20-1000, giving you an effective pulse width of 1020-2000. you need to ...

doughboy

pin change interrupt 2 is assigned to 5 pins (maxed out) thats your thr, roll, pitch, yaw and aux1 pin change interrupt 0 is assigned to 1 pin (either d8 or d12 for aux2) - this has 3 usable pins, D8, D12 and D13. D8 is used for LED status or buzzer. I suppose if you don't use that, you can reprogra...

doughboy

there is not enough pins on that board to support standard aux3 and aux4. you need to use a receiver that has PPM sum so only one pin connection is needed for all signals. I don't know if there exists a device that will combine all 8 RX signals to 1 PPM sum. aux3 and aux4 assigned to potentiometers ...

doughboy

as far as I can tell just from reading output.ino, you can use timer0 for all (promini, promicro and mega cpu), with promini having the restriction of 4 motors only and no restriction on use with mega and promicro.

doughboy

you can upload a simple sketch like the blink sketch to toggle A0 A1 and A2 to test the pins.
Aux2 needs to be assigned to either D8 or D12.

doughboy

I took a quick look at output.ino, and it looks like all 13 timers are used in mega! To minimize changes, I think you can use timer0 OCR0B for mega as well, so I think you can change the if condition to allow promini as long as motors<=4, and mega. To use timer0 for other cpu, you just need to find ...

doughboy

you don't want to use timer0 unless you absolutely have to. mega has 15 timers, less 2 for timer0 so that leaves 13 timers. it'll probably be a 16bit timer though, but the rest of the code can remain the same if you set the timer resolution to 4us per increment. I can look into adding mega support t...

doughboy

In def.h PL_INIT, you just need to change the timer register to one that is available in mega. If its an 8 bit timer, then the rest of the code stays the same. You can look at how camstab servo is setup for mega, and its pretty much the same. Just need to find the available timer register

doughboy

some logic analyzer screenshots chaser lights pattern to the left, find me pulses to the right http://i1193.photobucket.com/albums/aa352/jerrysy/quad/pilotpulses.jpg zoom in to chaser light pulses. the light signals are in groups of 3 and 100ms apart. the single fatter pulse is for buzzer and is 50m...

doughboy

If you own an xAircraft Pilot Lamp accessory, please try it with the code I uploaded, get the files here http://www.multiwii.com/forum/viewtopic.php?f=6&t=1794&start=70#p24289 this is the original thread http://www.multiwii.com/forum/viewtopic.php?f=6&t=1794 xAircraft video m if you don'...

doughboy

I modified the code to use timer interrupts and seems to work well. I need others to test it further just to make sure.

Attached are the full source as well as the svn patch file.

Let me know your test results.

Thanks!

doughboy

Magnetron wrote:The bug was in the circular version... I will solve it in new gui next release.

ok, that was my fault.

viewtopic.php?f=7&t=2524
http://youtu.be/5XqmHboTDRo

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