MultiWii

crashlander

For consideration: #define RTH_BAILOUT true Is a really nice feature when used as "auto launch" since many planes/wings can be very annoying to launch by the pilot himself... ...but when enabled and used as RTH function to reach proper height it can be annoying/unhelpful since when I fly i...

crashlander

In the last couple of days I moved MWII electronic to my new wing (X5 from HK) and today I did first test. The results were "brilliant" PH was very good even in slight wind and also RTH worked flawlessly. At the beginning of this week I also did some RTH tests (with previous platform) from...

crashlander

Basically enabling RCSERIAL only means that MWII will accept MSP_SET_RAW_RC as valid command (otherwise it will ignore it), but you can still use all other MSP commands to set-up your board and thus you can use normal GUI. The only thing I observed was that GUI does not work (at least not stable) wi...

crashlander

I have not tested RCSERIAL lately but make sure you do not have FAILSAFE enabled!

Regards
Andrej

crashlander

alll wrote:I don't understand why serial PWM (PPM) has problems reading longer pulses?
manu

Serial SumPPM works by recognizing (time gap between) rising edges of channel signal and it needs some time after last pulse to recognize the beginning of new "train" of plusses.

Regards
Andrej

crashlander

It is not so scary and it is not so black and white as 2000 is "good", 2001 is "the end"! Those are recommended endpoints and you have some margin but if you go much more than 1000 your multy may not arm and some other functions may not work as specified and if you are using seri...

crashlander

By my observations it went straight (I made no stick input). But since the wind was too strong I have not waited long enough to reach target height (now set to 60m) and return to home but took over (disabling RTH) after seeing nice straight climb to probably 20m.

Regards
Andrej

crashlander

To bring that topic back to life....

Today I successfully tested "auto-launch" feature (enable RTH on the ground with "#define RTH_BAILOUT true").
Due to strong wind I did not test RTH from bigger distance.

Regards
Andrej

crashlander

Then mincommand must always be 1008. Yes but only for specially flashed brushless ESC's and for brushed (FET driven) it must stay 1000. That way it may be buried in def.h and we could only have something as #define BRUSHED and #define EXT_MOTOR_RANGE and those could activate proper #define MINTHROT...

crashlander

solved it is indeed the MINCOMMAND setting. For mega it must be left at default of 1000 (because mega code still contains +128 for output register value. Yes! That is the case. Probably it would be nice to "synchronize" the behavior between the two (because it bites me almost every time)....

crashlander

Those days it is probably better idea to look into brushless gimbal code/direction than using servos?!
Especially since HW is now really affordable! (http://www.goodluckbuy.com/cjmcu-ytv3-b ... v3-01.html + http://www.goodluckbuy.com/cjmcu-121-mp ... dule-.html)
Best Regards
Andrej

crashlander

More I suspect short power dropout because all 4 digital servos in the plane are powered from the same BEC as MWi and if all moved at the same time and needed lot of current... Roman Friendly suggestion is to invest into one external BEC that can provide 5V and 5A and power everything from there......

crashlander

. 2) After several RTH attempts from close distance (~50-200m) I tried RTH from bigger distance ~400m (at about 7:00) but despite I was clicking RTH switch up and down, plane kept flying away without taking care of it so at 7:13 I had to turn it back manually. I don't have explanation for that. I w...

crashlander

Is it really neccessary with your software to connect RX and TX of minimosd? Minimosd on apm only needs RX because it is not supposed to send stuff. So if i just want the osd to display mwii data (and not configure mwii with osd) the RX line should be sufficient as well? Kraut Rob OSD uses MSP for ...

crashlander

I fly multirotors and my brother flies scratch built foamies. We want to put a multiwii board with gps on one of his planes. How will the return to home function work on the plane with multiwii? Hello! Continue in this thread: http://www.multiwii.com/forum/viewtopic.php?f=7&t=2456 Regards Andrej

crashlander

For sure: on two state (LOW, HIGH) switch you have ARM at LOW, MID is useless because there is never such state Like I said I'm mixing (in TX) 2 on/off switches to get single channel max/mid/min states... ...does your plane disarm when reaches home? Yes it does and it does that with TH stick in any...

crashlander

In my case ARM does not mean motor run since I'm using #define MOTOR_STOP and thus I can ARM and motor will only start when TH is higher than zero! But in RTH mode MWII disarms (and stops motor) if #define FAILSAFE_RTH true when home is reached and than only turning off RTH rearms it. In this case I...

crashlander

@rbirdie001 (I set the 2 state switch to 0=ARM and 1=RTH only, I guess that this you ment and you just made mistake describing it...) No it was not a mistake AUX1 is ARM in mid and low position (both checkboxes) but only in low is RTH otherwise MWII would disarm and activate RTH About speed: normal ...

crashlander

I have only AUX1 (0=passthru and 1=STABILIZATION) and AUX2 (0=GYRO 1/2=ACC 1=RTH). What is recommended way of arming in that config? Maybe you can mix two two-position switches so that one moves from max to mid and the other moves to min!? On Spektrum DX7 it goes that way. And than you can have: 3 ...

crashlander

Hi crashlander, How it looks like? Is it syncing to harmonic and continues rotation in same direction? @ziss_dm Short video of the issue: ESC reset/stop after direction transition. - around 58s into film one ESC resets - 1:27, 1:48, 1:58 seems as funny startup noise - 1:38 another ESC resets ESC's ...

crashlander

Saturday's tests of RTH in video. RTH Altitude was set around 24m (my mistake of not reading the code properly and leaving D term of ALT Pid unmodified ) and #define FAILSAFE_RTH true Possible improvement for faster planes/wings would be to use higher devisor in if(GPS_AltErr >=0) GPS_angle[PITCH] =...

crashlander

Today air-tested (2 packs, between 20 and 30min of flying and returning home) new RTH code and it works without issues.
Very good job Patrik!

Regards Andrej

crashlander

PatrikE wrote:
crashlander wrote:DELETED....
Ooops

It was stupid question....

before I read your code.

crashlander

@PatrikE What do you think about idea to maintain ALT if is higher than predefined since if I fly much higher there must be a reason for that eg. uint8_t set; // Altitude controll int currAlt = GPS_home[ALT] - GPS_altitude; // Altitude over home if(!f.GPS_HOME_MODE){set=0;} if(currAlt > GPS_hold[ALT...

crashlander

DELETED....

crashlander

Yep... on MacOSX 10.7

Code: Select all

MultiWii Command Line 0.0.4  Copyright (C) 2013 Chris Osgood

EDIT: I can force speed with outside program and than it works

Code: Select all

stty -f /dev/tty.SLAB_USBtoUART speed 19200

crashlander

Nope... open("/dev/tty.SLAB_USBtoUART",true,19200) > rc() MultiWii:293: No response or invalid response and than tty -f /dev/tty.SLAB_USBtoUART speed 115200 baud; lflags: -icanon -isig -iexten -echo iflags: -icrnl -ixon -ixany -imaxbel -brkint oflags: -opost -onlcr -oxtabs cflags: cs8 -par...

crashlander

Hello! Any option to change default baud rate? I would like to run it over APC220 that can push 19200bps max. Regards Andrej BTW: You mentioned option for scripting! Is it possible to run it from CMD- line in non-interactive mode with parameters eg. $MultiWiiCL rc EDIT: I find out option to execute ...

crashlander

Actually this maby should be added in Acc-Modes even without GPS..!?... That is probably not good idea since it will change the way that users are perceiving planes (differently than copters). For all normal plane/wing it is normal that you apply elevator in banked turn and omit it when doing roll'...

crashlander

@PatrikE I can understand your mods.... but still if you first calculate neccesary EL compensation for turning like in GPS_angle[PITCH]+=(abs(angle[ROLL]) * ELEVATORCOMPENSATION /100); and that will work nicely if the plane is close to home and whatever hight then something is wrong when the plane i...

crashlander

I agree that the use of GPS as a source of speed is not ideal. But without Pitot tube there is no better option. GPS speed is better than the throttle set to a constant value, because if you set throttle too low the wind will fly back, and no chance of any control. So ideali I controller (from p i ...

crashlander

I have this ESC http://static.rcgroups.net/forums/attachments/1/0/5/5/0/5/a4614446-81-own%20BS30A%20pads%20not%20in%20row.jpg unfortunately I flashed with SimonK before I figured out the NTM motor will not work. Flashed with Wii BSNFET and it stutters will not run. Can anyone tell me how to find wh...

crashlander

@rbirdie001
In the mean time I edited my replay (couple of times) so if you skim thru it and maybe get some new ideas.

Regards Andrej

BTW: I'm also far from fluent in C/C++ programing but I'm doing my best

crashlander

Hi Andrej, When the plane is under 100m from home, the second line is not executed anymore but third line control only throttle so GPS_angle[PITCH] is not refreshing and there remains some old value which keeps elevator down and plane is falling... What do you think? Roman In MWII way of programmin...

crashlander

@rbirdie001 Watching my video again with your observations in mind... - it looks like your observations are right, but since I'm using DISARM when at home and glide I can say that I newer felt uncomfortable with flying near and my wing would probably always (emergency) land safely without my interve...

crashlander

Today's test went perfectly, but due to strong winds and limited area I have not tested before-mentioned correction (commented out) code path since I flew less than 100m away or less than 50m high. So inside 100m radius it works perfectly (apart from not really explainable TH bursts) even in stronge...

crashlander

@PatrikE could it be possible that this line (around line 1349 in MultiWii): if (GPS_distanceToHome >100){ GPS_angle[PITCH]=0 ;} // RTH Nav Stage No elevator input to correct altitude creates vertical turn when wing/plane is further than 100m from home? If the line above (line 1331) calculates prope...

crashlander

I would say that in my case GPS ALT accuracy is much better and faster than yours (you are flying near buildings) but otherwise I agree that GPS has some lag.
I do not know how much ALT. accuracy brings Ublox binary protocol parsing?!

Regards Andrej

crashlander

@rbirdie001: Since my video includes OSD (MinimOSD from http://www.multiwii.com/forum/viewtopic.php?f=8&t=2918) I'll only explain what you can read from it! All the informations you are asking for are in top-left corner of screen and since I'm only flying in 3 modes it is even easier - first mod...

crashlander

Some of my saturdays tests on video with OSD (my FW). First try aborted due to overspeed and flutter I enabled RTH 100m high and the wing went down to 46m with a lot of TH... -other tests went O.K. Camera drop-outs due to electrical interference (but OSD stays O.K.) m Regards Andrej EDIT: After watc...

crashlander

rbirdie001 wrote:
E
Poor you, you work on Sundays so late evening? What's your occupation?

SysAdmin?! It comes to mind.

Regards
Andrej

crashlander

Interesting it works when run with true option: $MultiWiiCL MultiWii Command Line 0.0.3 Copyright (C) 2013 Chris Osgood Type help() to get started > open("/dev/tty.usbserial-A700eEeB",true) > pid() ROLL P=3.3, I=0.030, D=023 PITCH P=3.3, I=0.030, D=023 YAW P=6.8, I=0.045, D=000 ALT P=6.4, ...

crashlander

Hello,
now I'm getting new error:

> open("/dev/tty.usbserial-A700eEeB")
MultiWii:501: Ident failed
> pid()
MultiWii:170: Serial port is not open
> open("/dev/tty.usbserial-A700eEeB")
MultiWii:501: Ident failed
>

But I'm running PatrikE AirplaneRTH code....

crashlander

For me it does not work! #uname -a Darwin hostname 11.4.2 Darwin Kernel Version 11.4.2: Thu Aug 23 16:25:48 PDT 2012; root:xnu-1699.32.7~1/RELEASE_X86_64 x86_64 #ls /dev/ | grep "tty\." tty.Bluetooth-Modem tty.Bluetooth-PDA-Sync tty.MWI_AJ2-DevB tty.MultyWii-DevB tty.usbserial-A700eEeB #./...

crashlander

I agree that TH control when near home is funny but I had no issues with wing pitching down near home or after motor disarming.

Regards Andrej

crashlander

ziss_dm wrote:Hi crashlander,
How it looks like? Is it syncing to harmonic and continues rotation in same direction?

It stops and resets (disarms) and it will rearm only after TH stick is put into center for second.
I'll try and make short video...

crashlander

Very cool tool (it looks that way)!
Any chance to get it on/for OSX (basically same as Linux regarding GCC, Perl, Python, Bash... /dev/tty.SOMETHING...)?

Best Regards
Andrej

crashlander

nicog wrote:7x4.5x3 no mod, so extreme crappy reaction on backside. I'm modding some props now. We will see what happens

x3 means 3 blades or something else?
Any specific brand/make/model?

Regards
Andrej

crashlander

Today I/we tested two FW one mine (same as yesterday) and another one. While mine still works O.K., the other one has sometimes issues with too aggressive "vertical" turns. Exact symptoms are: after RTH activation it starts to turn but it does not add enough elevator so it gains to much sp...

crashlander

Hello!
Nice flying, hope someday I'll be able to do something similar!
What kind of props/prop mods are you using for it?

Regards
Andrej

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