MultiWii

As it is new RC data is considered every 20ms. A spektrum sat in 22ms mode does have an additional latency of ... 20ms floating around (from 0 ms to 20ms) at 5 hz. Sounds terrible, but very hard to notice. Should we change it to a "data driven" design? Means RC data will be used when its h...

It is Mwii 2.2. PID's are not the problem, RTH works 100% when the copter is near, 50m or less, but crashes when the copter is far away. Crash means it tilts in one direction and goes down uncontrollably.

The gps has #define GPS_FILTERING enabled, MTK gps at 115200 baud, 10hz, nmea.

RTH works well when the copter is near home position, but the copter crashes sideways when i switch on RTH at a distance of 50m. Not just the RTH not working, but stabilization does also shut down.

Happened twice yesterday. Its a 2560 board and mtk gps 115kbaud 10hz over serial line. Any help?

In order to ARM with yaw stick you may have to increase the yaw throw in your transmitter and trim the throttle fully down. Unluckily most transmitters are not capable of ARM with stock setting.

Or else change the mincheck / maxcheck definitions in the code.

I think the gyro values are computed with dt. scale = (currentT - previousT) * GYRO_SCALE; deltaGyroAngle[axis] = gyroADC[axis] * scale; But the complementary filter is not (or i did not see it). #define GYR_CMPFM_FACTOR 250 #define INV_GYR_CMPF_FACTOR (1.0f / (GYR_CMPF_FACTOR + 1.0f)) #define INV_G...

TY

your a clever guy.

I still dont understand why for ltg should be 16.4 but good results are with 17.12 mpu should be 14.375 but good results are with 14.54 Any ideas? I did check the time, but ist correct, the time in-between samples is measured each cycle. @scrat: if this factor is wrong the copter will not stay level...

Thanks for the info. I understand there is no negative indication to run the pid stuff at a fixed rate. Rather than waisting the time i did the same as the rctime thing, "if (currentTime > rcTime )" so in the time in-between the other stuff can run. I did also change "rcTime = current...

I did some tests with a crius_se (ITG3200) and an AIO V1 (MPU6050). The test consists of start level, do a looping over pitch, level again and quick check the pitch value in conf utility. Should be zero. I confirm the value of 2380 working excellent for the ITG3200. But for the MPU6050 i found a val...

Since i lost my pid values many times i now do a "save" of the values in the multiwii.conf . You have to add the .mwi extension to the file name (doesent do it automatically) and it doesent save the mode switches, but it does save the numbers. When eeprom gets corrupted i do a "load&q...

The hardware division sensors.ino is exaclty how i propose it for output.ino. Code duplication is avoided using gyro_common and acc_common routines. This division will become very useful when boards like the arduino due start showing up.

While there is a 20ms interval to do computeRC(), i did not find any interval for computeIMU() and PID calculations. Do they simply run at full speed without any active timing? How many times per second a PID runs does affect the behaviour. The step response of a PID running every 3ms is quite diffe...

Is this correct ?

#if defined(MPU6050)
#define GYRO_SCALE ((1998 * PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) //(MPU6050)
#else
#define GYRO_SCALE ((2279 * PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f)) //(ITG3200)
#endif

The 328 processor has only one serial port. This is used for gui configuration. No spare serial for gps or the like. Can we use the gps and gui on the same port? This could be fully auto, a parser deciding if it is a gui request or a nmea sentence, or else use a jumper on a spare input pin to tell M...

instead of the actual mess i propose: would make life soo much easier... No. It would just create another mess of duplicated code that was common to all mcu types. Since the hardware is different there are already 3 parts of the code. It would not be necessary to split code which is the same for al...

I do use a nanowii as FBL in a helicopter, and i did use it in a in a plane before. One thing i dont like is the soft-generation of the 50hz signals for the servos when there is hardware available to do the job. A 16 bit timer is perfectly able to produce a good 60hz servo signal so why not use it? ...

Cool

I did test-fly the thing with hardware pwm and it flies. Cant really tell the difference to soft-pwm because i did not save the PID values and they got deleted One issue is level mode. The heli has to be roll-tilted to compensate for tailrotor thrust in stationary flight. My solution was to calibrat...

Rctimer sells the mpxv700 speed sensor for 14$ including shipping. Got myself 2. Nice to see someone work on airplane code. One suggestion. The servo code is soft-pwm and not hardware generated. This is jittery since worst case every interrupt may delay the signal. The quadros all use hardware gener...

Oh, then its soft pwm as well I did manage to change the code to hardware pwm for the nanowii AVR_ATmega32U4 PROMICRO device. This by using other prescalers on the timers to go from 490hz to 60hz. I had to change the channel sequence to make it nicer, swash servos are 0,1,2 (pin 9,10,5) the throttle...

In the helixpidmitx its calculated as int 16, so +- 32000. Values are +- 500. 500 * 8 / 10 is in the range, but 500 * 86 / 100 computes to 43000 so range overflow. 500 * 17 / 20 goes to 8500, no problem here. On a second thought the values are for symmetrical left-right servos, and do not interact w...

I have tried helicopter as well. It's a 450 HK made from leftover pieces, with a 19$ nanowii from HK and a 11$ orange sat. My PID values are very low, even lower than electron6 ones. I have 5hz 6050 filtering engaged, otherwise random servo shaking. Heli flies very smooth in bypass or level mode, sh...

is (and doesent work)
#define L3G4200D_ADDRESS 0x69
should be
#define L3G4200D_ADDRESS 0x68

and the scaling is wrong too.
is
GYRO_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/20 , ETC
should be
GYRO_ORIENTATION( ((rawADC[1]<<8) | rawADC[0])/30 , ETC

can someone change that in googlecode?

For a flexible configuration i propose to make a SBUS_SERIAL_PORT definition, like the SPEK_SERIAL_PORT already is.
To do this myself i lack knowledge of SVN, and there must be someone to agree / accep changes? How is this handled?

I have 4 dji escs and a dji frame, and it flies crappy with the crius SE board. Thanks for your post, i did not realize the dji esc have trouble with 490 hz. I have lowered the esc rate to 245 hz now, on DSO it looks good, test tomorrow. Your board has a 1280 cpu? Or a 2560? Unluckily those are diff...

Love you Gimbal in serial.ino search for: #if defined(SPEKTRUM) && (UART_NUMBER > 1) #define SPEK_COND && (SPEK_SERIAL_PORT != CURRENTPORT) #endif and simply ADD the sbus part blow so it looks like: #if defined(SPEKTRUM) && (UART_NUMBER > 1) #define SPEK_COND && (SPEK...

Yes, SBUS doesent work any more
Same hardware works with 2.1

I guess the new things in serial.ino are messing sbus up.

Works here.

http://youtu.be/QtoseLPpTM4

However there is quite a delay.

Use the 3dradio config utility (3DRRadio.exe). Switch off mavlink and op-resend (on BOTH devices). Leave baud at 115200 but decrease "air speed" to 56000. Mine works nicely. Be aware the devices can connect only when both have the same settings, and 3dradio config is crappy.

Sorry i did not see 32bit ... Well nanowii did promise 2 * 3 16bit and some 10bit pwm's and a free uart. What pisses me is i only get 4. I have tried the stm32 variant, the whole eclipse eabi stuff, i have also compiled TC's baseflight. But in the end the toolchain was too complicated to be fun. I d...

I did think the nanowii does finally resolve my hunger for 16bit pwm. I need 16bit to generate servo signals, a 1.5ms pulse followed by 19ms silence. 8 or 10 bit pwm wont do it. But today i discover the nanowii has timer1 A,B,C connections, but timer3 has only the A connection? Makes a total of only...

SBUS is working nicely, i use the 12$ orangerx 620 receiver. Except failsafe aint working right. During FAILSAVE_DELAY it will switch OFF the motors because RC values are still copied regardless of failsafe bit. Work around in rx.ino, procedure void readSBus() .............. if(sbusIndex==25){ sbusI...

Is your copter very sluggish on yaw? I did have this. You have the back left/right esc connectors reversed, and maybe props/rotation direction. Dont exactly remember, but it was a setup mistake. Copter height was incontrollable because something did wind up. It did not flip over, just made wild heig...