Search found 287 matches
- 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...
- 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.
- 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...
- 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...
- Fri Sep 06, 2013 8:12 pm
- Forum: Software development
- Topic: GPS NAV
- Replies: 964
- Views: 401200
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
- 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?
- 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?
- 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...
- 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...
- 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...
- 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...
- 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...
- 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.
- 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...
- 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...
- 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
- 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.
- Sat Aug 24, 2013 6:14 pm
- Forum: Software development
- Topic: SBUS center at 1488
- Replies: 10
- Views: 7914
Re: SBUS center at 1488
futaba is different.
calibrate your Radio before u use it.
calibrate your Radio before u use it.
- 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 .
- Thu Aug 08, 2013 8:32 pm
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- Thu Aug 08, 2013 6:13 pm
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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.
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.
- 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 ...
- 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.
- Thu Jul 25, 2013 3:08 pm
- Forum: Boards
- Topic: Naze32 hardware discussion thread
- Replies: 3249
- Views: 1378076
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 ...
- Tue Jul 23, 2013 11:36 am
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
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.
- Sat Jul 20, 2013 9:56 am
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
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...
- Fri Jul 19, 2013 9:27 pm
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
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
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
- Fri Jul 19, 2013 4:19 pm
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
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...
- Fri Jul 19, 2013 7:21 am
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
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...
- Thu Jul 18, 2013 9:58 pm
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
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...
- Mon Jul 15, 2013 8:40 am
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
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
i hope to do more testing now and during the next week.
have not done anything lately ...
best rob
- Sun Jul 14, 2013 9:32 pm
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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.
armed means the pid calculations are active. the i term will wind up.
the Picture Shows an expected behaviour - nothing unusual.
- Sun Jul 14, 2013 8:32 pm
- Forum: Software
- Topic: Harakiri aka multiwii port to stm32
- Replies: 1502
- Views: 556671
Re: Harakiri aka multiwii port to stm32
when will you show mavlink support?
the osd is in front of me.
the osd is in front of me.
- Sun Jul 14, 2013 8:28 pm
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- Sun Jun 30, 2013 7:10 pm
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- Wed Jun 26, 2013 8:41 pm
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- Sun Jun 23, 2013 9:00 am
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- Sat Jun 22, 2013 8:31 am
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- Sat Jun 22, 2013 8:21 am
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- Fri Jun 21, 2013 12:18 pm
- Forum: Software development
- Topic: MultiWii EZ-GUI
- Replies: 1434
- Views: 615707
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...
- Mon Jun 17, 2013 10:49 pm
- Forum: Software development
- Topic: V2.2 - ACRO PID implementation is wrong, right?
- Replies: 282
- Views: 182589
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...
- 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.
- 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.
yes - but not with 8 bit.
you need an fpu.
- Sat May 18, 2013 2:12 pm
- Forum: Software development
- Topic: GPS integration
- Replies: 1724
- Views: 880277
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.
a copter or fixed wing is 'somewhat' faster than you and your sneakers.
thus defining 'SEA' would also be better suited.
- Wed May 01, 2013 6:36 pm
- Forum: Software development
- Topic: What makes Naza 'better' than Multiwii
- Replies: 83
- Views: 31103
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.
it is dependent on the propper view of the data.
a simple atmel atmel just can't do that.
- Mon Apr 29, 2013 6:48 am
- Forum: Software development
- Topic: Gyro_scale is wrong for MPU6050?
- Replies: 36
- Views: 19314
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...
- Fri Apr 26, 2013 12:06 pm
- Forum: Ideas
- Topic: Airplane mode RTH
- Replies: 824
- Views: 324154
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.
10km what ... height ... depth ... per hour ...
this is exact the feeling i have when i look at mw software components.
- Fri Apr 26, 2013 10:33 am
- Forum: Ideas
- Topic: Airplane mode RTH
- Replies: 824
- Views: 324154
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...
- Thu Apr 25, 2013 8:08 am
- Forum: Ideas
- Topic: Airplane mode RTH
- Replies: 824
- Views: 324154
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.
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.
- Tue Apr 23, 2013 9:51 am
- Forum: Software development
- Topic: UART Radio project
- Replies: 112
- Views: 50662
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...