Search found 287 matches

by brm
Tue Sep 10, 2013 8:13 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

i went through a few tests. as usual - some where good others ... ups ... simply bad. ecnlosed you find a hex file for testing. i suggest to reset the config and applying the changed defaults. i found the alternative pid calculations best. P 1.5 I .045 D 20 where the Settings for alt. hold i used in...
by brm
Sun Sep 08, 2013 5:38 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

crazyal wrote:for your new code ?
with current baseflight everything is allready documented in mw.h


you may check the sign of the baro velocity.
to me you should reverse the sign.
by brm
Sun Sep 08, 2013 11:33 am
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

I got it working at least to my needs... no bumps when engaging during descending or ascending flight... smooth transition to level flight no more jackrabbit. Baro is in a seal blacked out delrin case. P 2.5 I .045 D 20 Have a nice day... i would Support These Settings as Defaults. btw, what Motors...
by brm
Sun Sep 08, 2013 9:11 am
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

good questions basically there are 2 complementary filters which mix baro velocity with integrated acc velocity and double integrated acc altitude with baro altitude. The tuning parameters are baro_cf_alt and baro_cf_vel those factors go from 0 to 1.0f. Setting those factors to 0.9 means 90% acc re...
by brm
Fri Sep 06, 2013 8:12 pm
Forum: Software development
Topic: GPS NAV
Replies: 964
Views: 400980

Re: GPS NAV

ezio wrote:Can't wait to see this finished so I can implement it in my app.
Good work.

will be interesting - for sure
by brm
Fri Sep 06, 2013 8:08 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

crazyal wrote:for your new code ?
with current baseflight everything is allready documented in mw.h

yes, i see it.
but

// apply CF to use ACC for height estimation

what range?
how to tune?
what should i look for when Tuning....
what is CF?
by brm
Thu Sep 05, 2013 4:58 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

you create a wiki describing all new variables accessable by cli?
by brm
Wed Sep 04, 2013 8:02 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

you Need to be correct on the time axe with regards to the Integrator. the sensor Fusion does also work with the pre-defined looptime. accZ_smooth = accZ_smooth * lpf.accZ + accel_ned.V.Z * (1 - lpf.accZ); if (cfg.acc_unarmedcal == 1) { if (!f.ARMED) { accZoffset -= accZoffset / 64; accZoffset += ac...
by brm
Wed Sep 04, 2013 6:14 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

I just said it's better practice imho, not that it makes a noticeable differnce in the result. Just think about a normal adc, there dt is 1/samplefreq and not the time between your calculations. In my opinion the whole sensor readout should be redone to have a constant sampling rate and not some di...
by brm
Mon Sep 02, 2013 8:39 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

sure, in the end the time should basically be the same. I just think it's a better practice to take the time when the value is actually updated and not with some random small delay in between. After the Acc is read multiwii goes trough the whole code in the main loop until it reaches getestimated A...
by brm
Mon Sep 02, 2013 8:30 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

sure, in the end the time should basically be the same. I just think it's a better practice to take the time when the value is actually updated and not with some random small delay in between. After the Acc is read multiwii goes trough the whole code in the main loop until it reaches getestimated A...
by brm
Mon Sep 02, 2013 6:44 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

Meh.... didn't see much of difference to be honest.... maybe a slightly better alt lock..... at least it didn't sledgehammer.... Your post is about as helpful as saying nothing How about you tell me what your setup is? any vibration issues ? did you cover your baro with some foam ? Please note that...
by brm
Mon Sep 02, 2013 6:34 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

Torque66 wrote:Meh.... didn't see much of difference to be honest.... maybe a slightly better alt lock..... at least it didn't sledgehammer....

hovering in generel means no fast flying, isn't it?
the pt1 element dampens the acc changes when vibrations are present.
a sledgehammer would be a programming bug.
by brm
Sun Sep 01, 2013 3:36 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

flight tested, the bumps are smaller than 1 meter. what i would expect - and still without Tuning. #define F_CUT_ACCZ 20.0f static const float fc_acc = 0.5f / (M_PI * F_CUT_ACCZ); int getEstimatedAltitude(void) { static float dAccZ = 0.0f; you see what i added as variables for alt. hold. now: // pt1...
by brm
Sun Sep 01, 2013 2:35 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

yes, there are more interesting findings. i am downsampling acc measurements down to 20 hz. These samples are amazing stable. can be the base for a new/optimized calculation. anyway - smoothing the acc values is ok. but you might use a pt1 element before using the accZ value in the ned Frame. the c...
by brm
Sun Sep 01, 2013 2:08 pm
Forum: Boards
Topic: Baseflight improved althold
Replies: 40
Views: 13897

Re: Baseflight improved althold

crazyal wrote:right, you have to set acc_hardware=2 for MPU-6050


i gave it a try.
no Tuning at all and i have bumps of 2 meters.
maybe you can present your pid Settings and the motors used.

i went through some tests - Need to apply the results to the code.
might be also interesting ;)
by brm
Wed Aug 28, 2013 7:49 pm
Forum: Software development
Topic: Arduino v1.5.2 Beta
Replies: 4
Views: 1865

Re: Arduino v1.5.2 Beta

tovrin wrote:hes so bitter

i like it.
by brm
Sat Aug 24, 2013 6:14 pm
Forum: Software development
Topic: SBUS center at 1488
Replies: 10
Views: 7910

Re: SBUS center at 1488

futaba is different.
calibrate your Radio before u use it.
by brm
Fri Aug 16, 2013 8:16 pm
Forum: Boards
Topic: McHck, a cheap possibility?
Replies: 1
Views: 1294

Re: McHck, a cheap possibility?

i am already trhinking of using a freescale Vybrid .
by brm
Thu Aug 08, 2013 8:32 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

what a helpful statement. Works well - at least care to mention what coptertyps which modes what pids you referring to? Repeating your bashing of mwii s/w and h/w is rather boring. Do you have anything useful to offer here or just dumping some emotional garbage? Please stick to your preferred futur...
by brm
Thu Aug 08, 2013 6:13 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

the alternative pid Controller works well.
the drawback is the required re-tuning.

this thread is half dead.
the u/int16_t view of doing things causes mw to die slowly.

2nd order harmonic oscilation/vibration can cause serious problems.
by brm
Thu Aug 08, 2013 12:36 pm
Forum: Boards
Topic: MatchboxArm - development board for ARM Cortex-M3
Replies: 23
Views: 10530

Re: MatchboxArm - development board for ARM Cortex-M3

englishmen, >The board from abusemark page it's not easy to get, they are in Japan or someting. We are in England, in europe. you are living in an isolated Environment. maybe the uk postal System has a Problem. i am in the Center of europe and have no Problem getting boards. the only Problem is the ...
by brm
Sun Aug 04, 2013 8:38 pm
Forum: Boards
Topic: MatchboxArm - development board for ARM Cortex-M3
Replies: 23
Views: 10530

Re: MatchboxArm - development board for ARM Cortex-M3

felixrising wrote:Still, bootloader functionality and IDE seems a bit easier to use.. whether it's worth 3 x Timecop's Abusemark STM32 Development board, might be a bit hopeful.

the showstopper is the flash size.
no need to discuss anything more.
by brm
Thu Jul 25, 2013 3:08 pm
Forum: Boards
Topic: Naze32 hardware discussion thread
Replies: 3249
Views: 1376062

Re: Naze32 hardware discussion thread

I am having a hell of a time with one of my quads. I am using the naze32 acro (white) and the damn thing keeps self leveling slowly. It won't hold angle in rate (yes it is in rate). I'm using f30a flashed esc, tiger motors 1100kv on chatch's asd 400q quad. It's flying like a pile of crap. For some ...
by brm
Tue Jul 23, 2013 11:36 am
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

timecop wrote:
brm wrote:we Need more Flash ....


No you need quality code and better compiler.

for Adobe Flash you are right.
by brm
Sat Jul 20, 2013 9:56 am
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

i am forced to Switch to the rev. 4 board. gonna drop all older Drivers due to: d:/armm4/bin/../lib/gcc/arm-none-eabi/4.7.3/../../../../arm-none-eabi/bin/ld.exe: obj/baseflight.elf section `.text' will not fit in region `FLASH' d:/armm4/bin/../lib/gcc/arm-none-eabi/4.7.3/../../../../arm-none-eabi/bi...
by brm
Fri Jul 19, 2013 9:27 pm
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

hi,
i will give it a test tomorrow.
in the mean time i hope you have a zip file with the sources.
run through another test series ...

cheers rob
by brm
Fri Jul 19, 2013 4:19 pm
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

@Brm: I will try that with dt and basetime just on I and D. dt on "p" is a real no-brainer that is completely right! @subaru@sneezy: Using the normal target - toolset (mwii gui 2.1, serial monitor (like putty etc), and stm flashloader - like written in TC BF Manual - and make sure it is s...
by brm
Fri Jul 19, 2013 7:21 am
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

@Truglodite: Just put your FC higher with a alu plate under it and twist powercables, that will normally do the trick! @subaru4wd: You can still enter the flashmode, like depicted in the attached readme ("RRR" or enter cli with "###" and type "flash"). Shorting pins al...
by brm
Thu Jul 18, 2013 9:58 pm
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

@mr.sneezy: Yes i turn the copter by hand and look at the gui. A 90 deg trun should be equal to the compassmovement. N/S and W/E should be exactly 180 deg (+-2 deg, sensor accuracy) If your calibration is wrong you will see it directly. Also check for deviation when tilting. I heard of people killi...
by brm
Mon Jul 15, 2013 8:40 am
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

thanks!
i hope to do more testing now and during the next week.
have not done anything lately ...
best rob
by brm
Sun Jul 14, 2013 9:32 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

the alg. works great.

armed means the pid calculations are active. the i term will wind up.
the Picture Shows an expected behaviour - nothing unusual.
by brm
Sun Jul 14, 2013 8:32 pm
Forum: Software
Topic: Harakiri aka multiwii port to stm32
Replies: 1502
Views: 556602

Re: Harakiri aka multiwii port to stm32

when will you show mavlink support?
the osd is in front of me.
by brm
Sun Jul 14, 2013 8:28 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

I was trying to get the r1514 to work with the new algorithm, i just changed this line in the config: #define PID_CONTROLLER 2 I get very high values on two motors, looks like some issue with yaw? Did i miss anything? Board is a Crius SE v2. http://i.imgur.com/N3kqNJr.png the copter is armed - what...
by brm
Sun Jun 30, 2013 7:10 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

I'm currently modeling one idea on PID selftuning in-flight. Looks promising for me. If I get the positive simulation results, I would describe it in details. Unfortunately, I have no time for real-life firmware tests now, and wouldn't have for about 2 days more. no probem make a drawing and post s...
by brm
Wed Jun 26, 2013 8:41 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

Well, actually i am not really interested in that 8Bit stuff. I am interested in his GPS / INS fusion part. And that seems undisclosed. There are some "opensource" projects online that are suddenly obscured when you get to the interesting part. Or they try to hide it by digging it deep in...
by brm
Sun Jun 23, 2013 9:00 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

@alex.khoroshko: First of all a big thank you for actually rethinking and improving core parts of the flightcontrol !!! While fiddeling around with your new controller i was wondering if the frequency cut of the D term used in the arducopter2.7.X/multi GPS code could also help your main pid control...
by brm
Sat Jun 22, 2013 8:31 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

Let’s focus first in the ACRO mode for understanding. The scheme is mainly correct. in essence nothing wrong ... in theory. the d-term needs to more controlled - use a pt1 element to dampen the changes comming from the d-term. the result is more predictable. a 08-15 pid controller must have a pt1 e...
by brm
Sat Jun 22, 2013 8:21 am
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

No, and I guess there wouldn't - some changes were introduced by someone, but the implementation is still in the mazy form. I have a version, which fits my needs better than original, nobody of the developers seem to care - the fun part here is complete. So now I decided to quit and go build my own...
by brm
Fri Jun 21, 2013 12:18 pm
Forum: Software development
Topic: MultiWii EZ-GUI
Replies: 1434
Views: 610687

Re: MultiWii EZ-GUI

Not much is going on here so I just want to show you what will be new in next update. https://dl.dropboxusercontent.com/u/80566205/not%20remove/device-2013-06-21-030305.png hi bart, this is going to be needed soon! will test your way point editor. the but is ... i am using tc's flightcontroller. ma...
by brm
Mon Jun 17, 2013 10:49 pm
Forum: Software development
Topic: V2.2 - ACRO PID implementation is wrong, right?
Replies: 282
Views: 182365

Re: V2.2 - ACRO PID implementation is wrong, right?

Thanks for such a good response! Here's a sketch of the implementation. I've also attached the PDF version (it's hard to read from image). I would try to increase the readablitity (increase font size or something). pid alex.k11.png but in that case you have to hold the value of the integrator cause...
by brm
Sat Jun 15, 2013 4:15 pm
Forum: Ideas
Topic: Position hold using Accelerometer and Gyro
Replies: 9
Views: 3747

Re: Position hold using Accelerometer and Gyro

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

questionable.
their is no need for absolute referencing.
all is relative.

doing sw only accelerometer integration is like creating a flyaway copter.
the drift needs to be corrected with another source.
by brm
Fri Jun 14, 2013 7:57 pm
Forum: Ideas
Topic: Position hold using Accelerometer and Gyro
Replies: 9
Views: 3747

Re: Position hold using Accelerometer and Gyro

???
yes - but not with 8 bit.
you need an fpu.
by brm
Sat May 18, 2013 2:12 pm
Forum: Software development
Topic: GPS integration
Replies: 1724
Views: 880076

Re: GPS integration

normally you would use the u-blox config sw to do so.

a copter or fixed wing is 'somewhat' faster than you and your sneakers.
thus defining 'SEA' would also be better suited.
by brm
Wed May 01, 2013 6:36 pm
Forum: Software development
Topic: What makes Naza 'better' than Multiwii
Replies: 83
Views: 31101

Re: What makes Naza 'better' than Multiwii

i did use default pid settings and it worked for me.
it is dependent on the propper view of the data.

a simple atmel atmel just can't do that.
by brm
Mon Apr 29, 2013 6:48 am
Forum: Software development
Topic: Gyro_scale is wrong for MPU6050?
Replies: 36
Views: 19311

Re: Gyro_scale is wrong for MPU6050?

I'm trying to wrk out the gyro_scale for the L3G4200D and couldn't work out the value already defined for the MPU6050. It turns out that the comment maybe wrong. It is correct for the ITG3200 but should be different for the MPU6050 because according to the data sheets, the ITG3200 has 14.375 LSB/de...
by brm
Fri Apr 26, 2013 12:06 pm
Forum: Ideas
Topic: Airplane mode RTH
Replies: 824
Views: 323827

Re: Airplane mode RTH

the electronics is much faster as your eyes.
10km what ... height ... depth ... per hour ...
this is exact the feeling i have when i look at mw software components.
by brm
Fri Apr 26, 2013 10:33 am
Forum: Ideas
Topic: Airplane mode RTH
Replies: 824
Views: 323827

Re: Airplane mode RTH

you need to define the 'stallspeed' and then this speed should be in place rel. to the wind. when the rel. speed to the wind is below the stallspeed then you need to dive. For this to work we need to know wind speed and direction... ...and this IMO is impossible/hard without air speed sensor. Maybe...
by brm
Thu Apr 25, 2013 8:08 am
Forum: Ideas
Topic: Airplane mode RTH
Replies: 824
Views: 323827

Re: Airplane mode RTH

you need to define the 'stallspeed' and then this speed should be in place rel. to the wind.
when the rel. speed to the wind is below the stallspeed then you need to dive.

regardless of the motor speed the plane should fly.
if not then adjust the cog.
by brm
Tue Apr 23, 2013 9:51 am
Forum: Software development
Topic: UART Radio project
Replies: 112
Views: 50657

Re: UART Radio project

Alex, how about using the Spektrum serial interface verse the MSP protocol to set the RX values? It would have been a nonsense to support a close protocol with no ability to be UART mixed with other info. nonsense is not defining a clean protocol. - frame layer - message layer what i see is nonsens...