Search found 529 matches

by ziss_dm
Thu Dec 08, 2011 5:20 am
Forum: Software development
Topic: v1.9 hang with Magneto of FreeIMUv1 enabled - i2c related?
Replies: 55
Views: 6858

Re: v1.9 hang with Magneto of FreeIMUv1 enabled - i2c relate

Hi, Not a convinient, but you can use avr-size.exe utility C:\Users\xxx\AppData\Local\Temp\build8362760963851104549.tmp>"C:\Program Files (x86)\arduino-0022\hardware\tools\avr\bin\avr-size.exe" -C MultiWii.cpp.elf AVR Memory Usage ---------------- Device: Unknown Program: 22016 bytes (.tex...
by ziss_dm
Thu Dec 08, 2011 4:22 am
Forum: Software development
Topic: v1.9 hang with Magneto of FreeIMUv1 enabled - i2c related?
Replies: 55
Views: 6858

Re: v1.9 hang with Magneto of FreeIMUv1 enabled - i2c relate

Hi Hamburger,

No free SRAM left, maybe? ;)

regards,
ziss_dm
by ziss_dm
Wed Dec 07, 2011 1:57 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi mahowik,

The devisor /64 was used to mask 6 (5+1bit "new_data") "unused" bits in data registers. With divisor /32 you relaying on the contents of those bits, which is probably not a good idea as you never know what can appear there. ;)

regards,
ziss_dm
by ziss_dm
Wed Dec 07, 2011 1:33 am
Forum: ESCs, propellers , servos and radios
Topic: Alternative ESC firmware (reflashing)
Replies: 640
Views: 147063

Re: Alternative ESC firmware (reflashing)

Hi,
Good Idea!! I was thinking, to use G.P. wiki for this:
http://code.google.com/p/wii-esc/wiki/H ... figuration

This way everyone can contribute(I'm a bad writer.. ;))

Or if we want fancy one, we can use Google Sites:
https://sites.google.com/site/wiiescproject/home

regards,
ziss_dm
by ziss_dm
Tue Dec 06, 2011 9:23 am
Forum: Software development
Topic: Altitude hold problem
Replies: 12
Views: 1781

Re: Altitude hold problem

Hi,

This is probably because you did shift here:

Code: Select all

bmp085_ctx.up = ((((uint32_t)raw[0] << 16) | ((uint32_t)raw[1] << 8) | ((uint32_t)raw[2])) >> (8 - OSS));


;)

regards,
ziss_dm
by ziss_dm
Mon Dec 05, 2011 11:51 am
Forum: Software development
Topic: Weird way to access BMP085 in current multiwii
Replies: 6
Views: 717

Re: Weird way to access BMP085 in current multiwii

Yes, you right. Better to do everything in _read.

regards,
ziss_dm
by ziss_dm
Mon Dec 05, 2011 11:04 am
Forum: Software development
Topic: Weird way to access BMP085 in current multiwii
Replies: 6
Views: 717

Re: Weird way to access BMP085 in current multiwii

Hi, In every possible compiller? Are you sure? You already assuming endianneds by shifting specific bytes. Or I'm missing something? As I understand for other endiannes you need: bmp085_ctx.up = ((((uint32_t)raw[2] << 16) | ((uint32_t)raw[1] << 8) | ((uint32_t)raw[0])) >> (8 - OSS)); unless you are ...
by ziss_dm
Mon Dec 05, 2011 10:24 am
Forum: Software development
Topic: Weird way to access BMP085 in current multiwii
Replies: 6
Views: 717

Re: Weird way to access BMP085 in current multiwii

Hi, Are you sure this is more human readable: bmp085_ctx.up = ((((uint32_t)raw[0] << 16) | ((uint32_t)raw[1] << 8) | ((uint32_t)raw[2])) >> (8 - OSS)); And how it suppose to solve endiannnes problem? usually for other endiannes you just do: bmp085_ctx.up.raw[0] = i2c_readAck(); bmp085_ctx.up.raw[1] ...
by ziss_dm
Mon Dec 05, 2011 7:33 am
Forum: ESCs, propellers , servos and radios
Topic: Alternative ESC firmware (reflashing)
Replies: 640
Views: 147063

Re: Alternative ESC firmware (reflashing)

Hi Everyone,

What do you think, about releasing v 1.0 of FW? ;) Any outstanding issues or missed/ignored suggestions left? ;)

regards,
ziss_dm
by ziss_dm
Mon Dec 05, 2011 5:49 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi, You righ! And also it is good idea to adjust acc_1g (it is used for graph scaling). #if defined(BMA020) void ACC_init(){ i2c_writeReg(0x70,0x15,0x80); uint8_t control = i2c_readReg(0x70, 0x14); control = control & 0xE0; // control = control | (0x00 << 3); //Range 2G control = control | (0x02...
by ziss_dm
Mon Dec 05, 2011 1:14 am
Forum: Software development
Topic: Little bug from old inheritance in computeIMU()
Replies: 7
Views: 1132

Re: Little bug from old inheritance in computeIMU()

Hi Alex, Could you please refresh my memory: Why we need 2 gyro reads in computeIMU ()? This is pretty much negates the average filter.. long time ago it was: } else { #if defined(I2C_ACC) || defined(ADCACC) getEstimatedAttitude(); updateIMU(1); //with I2C or ADC ACC #else updateIMU(0); //without AC...
by ziss_dm
Sat Dec 03, 2011 10:33 pm
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Hamburger, Problem: ACC data is biased when motors running. Theory: Sensor (or ADC) is overloaded with high frequency vibrations. ToDo: 1) Confirm theory (FFT should show "ski slope" m in 2g mode) 2) Find source of this vibrations (in 8g mode), it could be: - frame resonances (big spike...
by ziss_dm
Sat Dec 03, 2011 1:58 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebius,

It is attached to the previous post. It has arduino sketch. And processing visualizer.
You also can connect RPM encoder to the PPM_SUM pin.
I will write up short instruction later.

regards,
ziss_dm
by ziss_dm
Fri Dec 02, 2011 1:03 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebus,

Wold you be interested to run FFT on your BMA, to compare results? ;)

Some interesting readings:
http://archives.sensorsmag.com/articles ... main.shtml
http://www.helitune.com/application_cap ... r_overload

regards,
ziss_dm
by ziss_dm
Thu Dec 01, 2011 11:23 am
Forum: Shields, boards and sensors
Topic: Compass heading goes wild when throttling up
Replies: 7
Views: 883

Re: Compass heading goes wild when throttling up

Hi,

Give full throttle from flat hover. In case it hold heading fine - it is more likely related to acc if not maybe EM.

ACC is used for compass tilt compensation.

regards,
ziss_dm
by ziss_dm
Thu Dec 01, 2011 11:02 am
Forum: Shields, boards and sensors
Topic: Compass heading goes wild when throttling up
Replies: 7
Views: 883

Re: Compass heading goes wild when throttling up

Hi,
This is more likely the reason. So, try to throttle-up flat, if everything is fine - we would need to solve ACC problem first.

regards,
ziss_dm
by ziss_dm
Thu Dec 01, 2011 10:50 am
Forum: Shields, boards and sensors
Topic: Compass heading goes wild when throttling up
Replies: 7
Views: 883

Re: Compass heading goes wild when throttling up

Hi jevermeister,

Have you defined trusted_acc_z? Is it going wild when you power-up flat or only in bank turns?

regards,
ziss_dm
by ziss_dm
Thu Dec 01, 2011 7:07 am
Forum: Shields, boards and sensors
Topic: Connecting multiple +5v to the board via ESC
Replies: 14
Views: 3770

Re: Connecting multiple +5v to the board via ESC

Hi,
The 99% of cheap chinise esc's have 2-3 7805 connected in paralel inside the ESC. Like this one:
http://www.hobbyking.com/hobbyking/stor ... duct=13430
http://wii-esc.googlecode.com/svn/doc/S ... y-nFET.jpg

I cannot see any reason, why they would not work in parallel. Just do not expect that that 4 2 amp BEC's could handle 8 amp load. ;)

regards,
ziss_dm
by ziss_dm
Thu Dec 01, 2011 3:52 am
Forum: Ideas
Topic: Simple mode for beginers
Replies: 70
Views: 20662

Re: Simple mode for beginers

Hi mahowik,

You also can avoid sin/cos calculations if you remember mag vector instead of angle and calculate cos θ using scalar product of two vectors (current and remembered).

regards,
ziss_dm
by ziss_dm
Wed Nov 30, 2011 6:11 am
Forum: Software development
Topic: v1.10 - added simple check for GUI<->MWii communicati
Replies: 11
Views: 1453

Re: v1.10 - added simple check for GUI<->MWii communicati

Hi, Not sure about complexity though (atleast at MCU side): sending: // Initialize the required buffers mavlink_message_t msg; uint8_t buf[MAVLINK_MAX_PACKET_LEN]; ... mavlink_msg_raw_imu_pack(100, 200, &msg, 0, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag); uint16_t len = mavlink_msg...
by ziss_dm
Tue Nov 29, 2011 12:33 pm
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebus,

Is this close to your results? This is ESC with one of the power stage FETs not working.
So, it is vibrating at Frpm*14.

regards,
ziss_dm
by ziss_dm
Tue Nov 29, 2011 11:16 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi,
Same test with BMA180 (bw:1.2k mode:0).
So, looks like spike around 900hz is more related ADXL sensor.

regards,
ziss_dm
by ziss_dm
Tue Nov 29, 2011 7:17 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebus,

You right, we cannot see nice sinusoidal waves. ;) What we can see, is highly aliased noise. But we should be able to roughly estimate amplitude.
Anyway I have managed to read ADXL345 with 3.2K rate (slightly over-clocked i2c) and pass through FFT.

regards,
ziss_dm
by ziss_dm
Sat Nov 26, 2011 11:23 am
Forum: Shields, boards and sensors
Topic: BMA180
Replies: 9
Views: 1342

Re: BMA180

Hi Carsten,

Schematic from datasheet:
http://www.sparkfun.com/datasheets/Sens ... 000-03.pdf
Figure 21

VDD and VDDIO connected together. So, for external connection you need only 4 wires VDD, GND, SCL, SDA.

regards,
ziss_dm
by ziss_dm
Sat Nov 26, 2011 11:11 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebus,

All around 2ms. (in theory)

regards,
ziss_dm
by ziss_dm
Sat Nov 26, 2011 12:36 am
Forum: Shields, boards and sensors
Topic: BMA180
Replies: 9
Views: 1342

Re: BMA180

Hi Carsten,

It is possible to connect BMA180 without PCB:

Image

regards,
ziss_dm
by ziss_dm
Fri Nov 25, 2011 9:45 pm
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi,

ADXL345: 1600bw, autorange, 1g=256
Motor: DT750
Prop: APC 10x4.7
No LPF, GUI displaying raw ACC values.
by ziss_dm
Fri Nov 25, 2011 3:39 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebus,

You right, shame on me. :oops:

Code: Select all

  m*a*s/t = 0.1*2*9.8*0.000018*750 =~ 0.026W 


In this case it is probably possible.. So, 8g range or foam tape? ;)

regards,
ziss_dm
by ziss_dm
Fri Nov 25, 2011 2:20 am
Forum: Ideas
Topic: Tunable LFP filter for ACC with float implementation
Replies: 19
Views: 2236

Re: Tunable LFP filter for ACC with float implementation

Hi, As I wrote before: this is because that filter implementation "skip" small input values (angles) in spite of frequency and IMU will calculate the angles based only on gyro values (in case of small changes)... and give the correct small angle changes (because gyro less sensitive for vib...
by ziss_dm
Fri Nov 25, 2011 12:13 am
Forum: Ideas
Topic: Tunable LFP filter for ACC with float implementation
Replies: 19
Views: 2236

Re: Tunable LFP filter for ACC with float implementation

Hi, Small values - usually small inclinations. @mahowik Can you explain again how incorrect transfer function of filter (due acumulative round-off errors) can reduce noise in the output of the filter? What output of the filter you expecting, in case input is: 1 3 1 3 1 3 1 3 ... etc 2 or 0? regards,...
by ziss_dm
Fri Nov 25, 2011 12:01 am
Forum: ESCs, propellers , servos and radios
Topic: Alternative ESC firmware (reflashing)
Replies: 640
Views: 147063

Re: Alternative ESC firmware (reflashing)

Hi Andrej,

Is it beepeng after power-up?

regards,
ziss_dm
by ziss_dm
Thu Nov 24, 2011 11:19 pm
Forum: Software development
Topic: Accumulative drift
Replies: 74
Views: 13433

Re: Accumulative drift

Hi Noctaro,

Can you connect GUI after flight without re-connecting power and check gyro values?
If they not 0 - problem with gyro, if not somethere else.

regards,
ziss_dm
by ziss_dm
Thu Nov 24, 2011 5:39 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebus, The Cogging torque ripple defenetly can explain presence ov vibrations with req. 12 times of rotation frequency but cannot explain the accelerations you getting. ;( 1) Cogging torque ripple is pretty much unnoticable with low KV outrunners, we using. m 2) Assuming we are talking about onl...
by ziss_dm
Thu Nov 24, 2011 1:59 am
Forum: ESCs, propellers , servos and radios
Topic: Alternative ESC firmware (reflashing)
Replies: 640
Views: 147063

Re: Alternative ESC firmware (reflashing)

Hi crashlander, Forget my question about BEMF caps, somhow I have missed that you are talking not about Mystery ESC. But another question still remains: Is it starting motor(s) without props? @Heiko So, this board has all n-FETs but they are not inverted? Why it is neccesary to change fuses? Maybe i...
by ziss_dm
Tue Nov 22, 2011 10:17 pm
Forum: ESCs, propellers , servos and radios
Topic: Alternative ESC firmware (reflashing)
Replies: 640
Views: 147063

Re: Alternative ESC firmware (reflashing)

Hi Andrej,

Even without prop? Have you removed BEMF caps?

regards,
ziss_dm
by ziss_dm
Tue Nov 22, 2011 9:54 pm
Forum: Ideas
Topic: Tunable LFP filter for ACC with float implementation
Replies: 19
Views: 2236

Re: Tunable LFP filter for ACC with float implementation

Hi, Mathematically accSmooth[axis] = (accSmooth[axis] * (ACC_LPF_FACTOR - 1) + accADC[axis]) / ACC_LPF_FACTOR; and accTemp[axis] = accTemp[axis] * (1 - lfpFactor) + accADC[axis] * lfpFactor; are the same, assuming that lfpFactor = 1/ACC_LPF_FACTOR So if you change accSmooth[axis] to be float you wil...
by ziss_dm
Tue Nov 22, 2011 12:38 pm
Forum: Ideas
Topic: A different approach to levelling ? - drift killer?
Replies: 61
Views: 18682

Re: A different approach to levelling ? - drift killer?

Hi Shikra, I believe one of the "drift" issues is related to a multirotor tipping slightly to one side in level. This is because of unequal force from balance / motor thrust pushes it over slightly. Closer to level, the force from the code becomes much weaker due to it being related to siz...
by ziss_dm
Tue Nov 22, 2011 8:18 am
Forum: Ideas
Topic: Tunable LFP filter for ACC with float implementation
Replies: 19
Views: 2236

Re: Tunable ACC filter - another method to tune level mode.

Hi marbalon,

I will, but I cant right now.. ;)
You also can try to fly without LPF. Just increase GYR_CMPF_FACTOR, or even assign it to AUX2.. It is hard to describe difference by words, but it feels more "natural" for me.

regards,
ziss_dm
by ziss_dm
Tue Nov 22, 2011 6:39 am
Forum: ESCs, propellers , servos and radios
Topic: Alternative ESC firmware (reflashing)
Replies: 640
Views: 147063

Re: Alternative ESC firmware (reflashing)

Hi, Just a quick update on the progress: ⋅ new dynamically adjusted ZC filter ⋅ less chances of misfire ⋅ one filter for all modes: startup/slow/fast ⋅ reviewed lost ZC recovery strategy. Now it recovers pretty much in all cases. ⋅ Support of Complim...
by ziss_dm
Tue Nov 22, 2011 3:49 am
Forum: Ideas
Topic: A different approach to levelling ? - drift killer?
Replies: 61
Views: 18682

Re: A different approach to levelling ? - drift killer?

Hi, I would suggest to start from begining. So, the rate PID controller: http://www.multiwii.com/forum/download/file.php?id=547 RatePID.png The purpose of this controller is to stabilize angular rates. In simple words that means: you push the stick, it starts rotating. You release sticks it stops. T...
by ziss_dm
Tue Nov 22, 2011 2:10 am
Forum: Ideas
Topic: Tunable LFP filter for ACC with float implementation
Replies: 19
Views: 2236

Re: Tunable ACC filter - another method to tune level mode.

Hi mahowik, I think, you missed this: static float accTemp[3]; As a result it actually has better precision, and not dropping bits. @marbalon The 0.27 is pretty much 0.25 and this what we have in 1.9 but using integer math. Is there so big difference? Can I ask you to compare Floating point implemen...
by ziss_dm
Mon Nov 21, 2011 5:07 am
Forum: MultiWii tweaking - flying experience
Topic: deactivate tricopter disarm
Replies: 3
Views: 728

Re: deactivate tricopter disarm

Hi,

My preffered option - to use thrrotle curve on transmitter and increase lower point up to 15-20% for stunt modes.

regards,
ziss_dm
by ziss_dm
Mon Nov 21, 2011 2:07 am
Forum: Ideas
Topic: A different approach to levelling ? - drift killer?
Replies: 61
Views: 18682

Re: A different approach to levelling ? - drift killer?

Hi Shikra, Why this is needed - the cause: The current method is based upon a PI loop and is theoretically perfect to achieve a level mode. The further away from level, the greater the force applied. This is reduced gradually as level is reached until theoretic position of perfect level is reached I...
by ziss_dm
Sun Nov 20, 2011 11:09 pm
Forum: ESCs, propellers , servos and radios
Topic: Alternative ESC firmware (reflashing)
Replies: 640
Views: 147063

Re: Alternative ESC firmware (reflashing)

Hi Andrej,

You can try to increase startup power:

Code: Select all

#define PCT_PWR_STARTUP 20
#define PCT_PWR_MAX_STARTUP 25


regards,
ziss_dm
by ziss_dm
Fri Nov 18, 2011 4:21 am
Forum: Software development
Topic: To alex: ACC drift Issue: a bench test:
Replies: 99
Views: 30262

Re: To alex: ACC drift Issue: a bench test:

Hi Phebus,

Any news? ;)

regards,
ziss_dm
by ziss_dm
Fri Nov 18, 2011 4:20 am
Forum: Software development
Topic: LED Ring I2C device
Replies: 97
Views: 17084

Re: LED Ring I2C device

Hi donds,

This will be really cool on controllers that don't have I2C bus alreaady packed with sensor readings... Oh, wait, that's none of them.


Could you please explain your point? ;)

regards,
ziss_dm
by ziss_dm
Fri Nov 18, 2011 2:55 am
Forum: Software development
Topic: generic servo code
Replies: 7
Views: 1124

Re: generic servo code

Hi, Yes, they set prescaler to /8 (0.5us) and extending timer2 up to 16 bit in software. I thought that 255 is the hardware maximum ... because even analogWrite has only 255 steps.. This is limitation of hardware generated PWM due 8 bit timers. But we are generating servo pulses manually, so can hav...
by ziss_dm
Thu Nov 17, 2011 11:09 pm
Forum: Software development
Topic: generic servo code
Replies: 7
Views: 1124

Re: generic servo code

Hi Felix, This method gives you only 250 steps of resolution in a range 1000-2020 (as I understand correctly) and this is around 120/250=~0.5 deg per step. With modern servos, which have ~5000 steps it looks quite low. Maybe it is better to use algorithm from ServoTimer2 library which have 2000 step...