MultiWii

alll

Thanks Clough42!, i can't try it out now, will do it soon.
manu

alll

http://www.multiwii.com/forum/viewtopic.php?f=8&t=2931&start=20#p37239 To be quick up and running on most OS's, most is done by the effort of others... Install Arduino Install Eclipse C++ for developers (+ eventually Java) Install the Eclipse Arduino plugin Install the Eclipse SVN plugin Tes...

alll

MultiWii.h #if defined(THROTTLE_ANGLE_CORRECTION) extern int16_t throttleAngleCorrection; // correction of throttle in lateral wind, extern int8_t cosZ; // cos(angleZ)*100 #endif MultiWii.cpp #if defined(THROTTLE_ANGLE_CORRECTION) int16_t throttleAngleCorrection = 0; // correction of throttle in lat...

alll

thank you for this clough42 You're welcome. Casquad and alll did a lot of the work. I am really happy we got it done, and that everybody see the benefit of it, thought the hardest work has still to be done, "the real reorganization" . As TC said, a more modular structure, with reusable &q...

alll

scary wishlist..., lets focus first on "rock solid" PID control loops, gps HOLD, and easy to tune them ("more/less" via transmitter?)
Only once this is done, add special features...
IMHO
manu

alll

The "boss" is back!

You are welcome to temper the minds down, i feel we are on the right track finally.
Thanks,
Manu

alll

..., cpp/header organized

alll

+1 richie Wathever PID control loop implemented, 1st, it should never induce calculation "overflow" when P I and D are maxed ie = 255, never! 2nd, any PID should be able to handle all combinations of PID ie PD-loop (I=0), D-loop-only P&I=0), ... General rule to set it up: Knowing the &...

alll

Kiss, kiss, kiss,
Many thanks for keeping the CPP branch up to date,
manu

alll

Most important for us to be able to tune the different PID values (0..255 is to explain (the developer of the PID loop) how and what the ERROR is and how it is calculated, this for each PID. And the PID formula in speudo code : eg: previous_error = 0 integral = 0 start: error = setpoint - measured_v...

alll

Welcome back alex! I think the discussion on obfuscating PID values with "user friendly" 0-100 scale is simply off topic. Related perhaps, but start another thread if it's so important. So far I've seen only two sets of working PIDs posted here, please post your PIDs!. My experiments with...

alll

but yet, it is the BEST I have seen as of today. Yes i like these kind of "simple" explanations, you see he "knows" by experience. This is very good, excellent in fact! The only misgiving I can see is, if the P value is too low from the start, it will oscillate also but somewhat...

alll

copterrichie wrote:I think part of the problem is, many do not understand what the PID process is or not to tune it. This Explanation should be incorporated into the Wiki.
http://www.rcgroups.com/forums/showthread.php?t=1890703

He also only talks about "increasing", "back off", "speed", ...

manu

alll

PS:could we have the "more/less" (0-100%) PID values implemented, this will so much clearer. no difference at all. Both ranges [0;100] and [0;255] (or [0;0.255]) are of the same category - numbers with no resemblance to real world. One is not in any way better than the other - in both cas...

alll

IMO it would be better to have "safe" default values (that will never overshoot on any machine). As no copter is the same, and people pretending they use default values are lucky if it works or are not aware it could be 100x better with the right values for a given copter. manu PS:could we...

alll

timecop wrote:bumping this before it gets too outdated.

Mmmm, too late ?

I saw Revision r1501, I really hope we could move to the new reorganized cpp/h structure. As i see it going, to get the cpp-branch in sync, we will have to do it manually, and apply diffs based on r1474?

manu

alll

Mmmm,

I saw Revision r1501, I really hope we could move to the new reorganized cpp/h structure. As i see it going, to get the cpp-branch in sync, we will have to do it manually?

manu

alll

Multiwii can do all the dji / nasa can do, it's a matter of having a good multi and the right PID values.
Show me a dji/nasa or other ... keeping pos hold with 25-30 km/h gutsy wind and doing 3D and "fly" like a charm. Only drawback, it needs looooots of time to get there.
manu

alll

@casquad i tried to make a new "svn" project from eclipse, point to the right CPPMigration directory, and the "Check out as a project using the New Project Wizard", but this is grayed out because you left a the svn ".project" file in the repository. (maybe you did it by...

alll

THANKS "Cas"! which eclipse SVN plugin (clients) do you use (i saw there are many)? (i use Tortoise for windows) I don't see there could be a side effect due to the reorganization!I checked the generated binaries and are both equal in size, the logic didn't change! Come on, try to convince...

alll

Hi,
Checked out CPP, applied the patch and all 6 coptertests do pass the compilation in both Eclipse and Arduino IDE's.
Sad that Alex is on vacation i think, somebody else can apply it in the main trunck?
thanks,
manu

alll

0.3 / 0.03 what units. I already said these PID values do not mean much if the implementation details are not know or wel documented. IMO all mwii PID values should be shown in the GUI's like 0..100%. Really, on the field i am NOT interested in the real values/units of measure, just "more"...

alll

...I think mwii should somehow implement that altered Pid controller as an option to choose from. On the other hand who really cares? The soft is opensource. It's just a matter of days, till someone comes up with a more polished version of that. Maybe mahowik? Cheers Rob Or make it more "plugg...

alll

...nobody of the developers seem to care - the fun part here is complete.... So, good luck to everyone! Come on, the "non-developers/comiters" do also want to have fun You could at least ask a separate branch as casquad got for the code reorganisation! , "commiters", can you mak...

alll

Mmmm, So, if i understand it, or Alex is going to abondon the *.ino and move to *.c / *.h style asap, i hope so, that was on his whish list , or "we" keep a separate branch that we try to keep up to date with the "trunk" branche? IMO there are no arguments anymore to stay with th...

alll

Hi! @casquad : Optimized on what, size? I get the same size for both! Yes i used "CONFIG_CLEAN" as the original untouched config (except for COPTERTEST define), otherwise i make copies of it and name them to be used for specific copters/boards. So here i use config.h to "route" t...

alll

The sources, i didn't reviewed the func() without "void" made by "casquad" as you suggested, the ones i added, i did.
manu

alll

Like this, i suppose you need the sources too?

alll

and 5 & 6 (with the help of the indexer manu PS: sebbi? how to go further with this reorganization? COPTERTEST=5 Device: atmega328p Program: 25528 bytes (77.9% Full) (.text + .data + .bootloader) Data: 1709 bytes (83.4% Full) (.data + .bss + .noinit) *Arduino-1.0.2: 25528 bytes (out of 28672 byt...

alll

Yes i just added extern volatile unsigned long timer0_overflow_count; in MultiWii.h Just finished COPTERTEST=4 But COPTERTEST=3 Arduino-1.0.2 IDE gives a warning that hex is too big, in Eclipse it tells it is 97.0% Full ! So, how do we further proceed? manu COPTERTEST=1 Device: atmega328p Program: 1...

alll

I am busy trying to compile COPTERTEST=4 and got stucked on this one, any suggestion ?: 'timer0_overflow_count' was not declared in this scope Serial.cpp /MultiWii line 827 C/C++ Problem defined in wiring.c of the Arduino library as volatile unsigned long timer0_overflow_count = 0; Serial.cpp : #inc...

alll

Who did you gave the access, i or you can ask him?

alll

alex.khoroshko wrote:
pid alex.k11.png

This is realy, realy helpful to understand and afterwards tune the PID's!
Many thanks for that!

Is this the current multiwii2.2 or an adapted version, which SVN release?

Manu

alll

So, should i continue with "COPTERTEST=4"? I don't want to put an efford (with the help of the indexer

, if it will not be used aferwards, or somebody else is doing the same.
I think it is not that much work.

Waiting for feedback and coordination.

Thanks,
manu

alll

Ok i see, thanks, manu

alll

I can't commit because i don't have an account / permission. (I have a google account) Just post patches, people can commit them. It's not hard. Mmmm, i don't want to upload modified source files without the help of SVN, or did i misunderstood the "post patches". COPTERTEST 1 - 3 currentl...

alll

I can't commit because i don't have an account / permission. (I have a google account)

alll

Ok, I will try to detect empty declarations and add the void parameter. I use both ways indistinctly, but I agree with you that adding the void is safer. @All developers: please take this into account when commiting new code to this branch. I have eclipse working, but can't help there i cant' commi...

alll

Hi casquad, What is the easiest way in Eclipse to « point/link » to the svn directory and have the core Arduino available? Basically how do you create a new project in Eclipse , add source folder + arduino core libraries. Do you use the Arduino plugin or just the avr plugin? I would prefer to have a...

alll

not in bulk like that! The goal was to put the exposed ones per topic in the .h files, and the forward declarations at the top of the .cpp. @casquad i don't see how we could contribute/help in this process to migrate all to .h and .cpp. If you think or tell me how, let me know. Thanks man, finally i...

alll

So, when will the ino files be abandoned?
I suppose you will "freeze" the current ino-development, "copy" the branch, reorganize to .h and .cpp, test all possible coptertest (1..5), if they pass, we continue with the new file structure. Am i right?
manu

alll

Hi,

Just to keep the same AVR-Arduino Eclipse-tool-chain initial approach and reuse big parts of the multiwii code, but now target a much more powerful 32-bit ARM Cortex-M3 microprocessor, could we not use these “Arduino-like” boards (The Maple Mini) and use external sensors for example?
http://leaflabs.com/

manu

alll

Yes, all avr compiler + avrdude are included in the Arduino IDE. All that is needed (follow install instructions i mentioned abobe) : *Install Java JRE, *Install latests version of Arduino, *Install Eclipse C+C++, *Install Arduino Plugin, And you should have your toolchain working. I am happy this i...

alll

Please verify output code sizes are same as within arduino ide or smaller. The same ECLIPSE: 20:55:01 **** Incremental Build of configuration Release for project MultiWii **** make all Invoking: Print Size avr-size --format=avr --mcu=atmega328p MultiWii.elf AVR Memory Usage ---------------- Device:...

alll

To keep track of all these boards and features /*************************************************************************************************/ /**** config.h : CONFIG files selector ****/ /*************************************************************************************************/ #ifndef ...

alll

Try to stay positive, nobody is perfect, except ...

alll

tested it out, its working, had to add some forward declares in sensors.
I have the whole Eclipse Arduino AVR toolchain working (upload via avrdude included!)

And it compiles still from within Arduino IDE

No exuses anymore to go further with it

alll

1000x thanks for this!!!!! And really happy to have a "professional" on board to guide us for the coding "best practices". Everybody, i am sure will benefit from it. So we are a big step further ("we" : the ones that could only use the "crappy Arduino IDE"...)...

alll

no, because you don't have an "absolute" reference.

alll

Since the subject is GPS i want to share this behavior: I have a really stable quad, in acro mode i shake it violently and respond immediately to rx commands without "any" overshoot! No wobbling at all! Thanks SimonK Now, i tuned the 2 GPS PID's and in calm weather (light breeze) the corre...

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