MultiWii

brm

This would be a very interesting implementation: m I have seen tons of differential pressure sensors on ebay for less then 10 bucks the the above comes with everything needed. I did my best to sift through this thread but did not see anything with regards to using airspeed sensors to adjust the rat...

brm

kataventos wrote:I do not find any info about an "Expert System" of this nature on they´re documentation.

I only see "Self Leveling"

Can you please point your knowledge on that matter with a link?

http://forums.openpilot.org/topic/12363-autotuning/

brm

thanks!
btw, the talk is about sw controlers.

brm

it is not a question of not liking it but security.
multiple controlers are a pain.

brm

oscilations causes a problem. angle mode upside down with the new esc's is ok. that is even possible for me a no go to me is having multiple actors to manipulate the throttle. this will confuse altitude hold for example - both control function might/will work against each other. sooner or later you ...

brm

dito, plus ...

brm

nada - tc, you are WRONG!
seb's code on a stupid 8 bitter makes sense.

brm

i am in doubt if this ends up positively... the angle boost function is one of your latest rip ofs. not the best at all - causes a lot of sideeffects. what does the function do when flying upside down? with the latest development in the esc area not unusual ... before thinking of doing waypoints you...

brm

hallo, it makes sense to do this. on smaller copters it would make sense to go higher - for example 6 hz. as you already have done a few parts you are invited to present a protoype im prepping my sw for fixed wing. and as you can guess - for fixed wing the same principles do apply. de groeten - rob ...

brm

From what I understand you twist the pot until the copter feels rigbt? Do you see a chance to replace this "feeling right " with a function? de hamburger .... you can define an oscilation level ... max whatever degrees you like. now you need to define a slice of time where you measure the...

brm

just read and write ...
hmm,
that shoot and forget methodoligy is strange.
open and close and a virtiul destructor is a 'must' ...
imagine you call read and the device is closed ...

brm

i think so - looks good to me.
now we have boards with spi.

brm

Did arducopter get much bigger when they switched to a hal in 2.9 I thought? look at the code - a mess does not getting better with a hal ... the code sucks with regards to the timing. the most important thing is the compiler. the compiler for atmel sucks - unbelievable old. c++ is a pain. why not ...

brm

Hi there, sorry I am all new to this, but I have a principal question. It is about some lines of code in this file: m This is a part of the code: error -= gyroData[axis]; PTerm = rcCommand[axis]; errorGyroI[axis] = constrain(errorGyroI[axis]+error,-16000,+16000); //WindUp //16 bits is ok here if (a...

brm

@brm: I did the complete description last weekend here: m it is in german. It is written really uncomplicated so google translator shoud do it for now. ( m ) Besides Mag calibration is extended to 60 sec now. Currently i am working on a brand new PH controller. So i don't want to waste time on a tr...

brm

@mr.sneezy: I attached a screenshot with my settings used in the videos here: m When using gps i would recommend to combine: ACC, MAG and probably BARO. Dail in a decent P for the mag as well (4 is of no use anyway, try 10 or more). hi, can you write up your changes? i am going to hook up a gps soo...

brm

http://youtu.be/RYHVJ6jq5rg until a few days ago quite a few where thinking that a low settings of the dlp filter was 'the' solution to remove noise from the accelerometer. in the end i had a version flyable for my small quad and not for my larger quad and vice versa. going the opposite way seems t...

brm

ha - i just flew my imu with an ms device ... sucks.
i need to adjust the whole altitude hold - not only parts ... :-/

the test flight was with my larger quad - with low kv motors and a rel. soft frame.
the video is just bad ...

brm

@TC: Your drv_ms5611.c seems somehow faulty. It is producing slow but increasing measurements. Even a BMP in the same room doesn't do that. I am still looking to fix this. Do you have an idea? what means increasing? 2mm or 2m? edit: i looked at it again. behaves nice +- 5 cm. your setup seems to be...

brm

work continous ... for the integrator i need the filtered accels in the ned frame.
any acc_z correction should also be applied with the value from the ned frame.
http://youtu.be/j590bEWvsX4
the baro is not covered.

brm

noise matters. the mpu60x0 is not really shining - the mpu3000 is somewhat better. those mpu6050 who have a better noise level do re-appear as mpu3300 with the accelerometer disabled. just wait until there is chip revsion x+1 ... in the mean time someone may have a readable documentation. dmp is ok ...

brm

thanks Jantar,
saves me quite some time.
will test if my filtering is applicable to the 8bit world.

EDIT:
i added the simple filter (not the one with less lag).
the looptime is 3300 3400us and 3 kb of flash is used.
with no baro and mag code enabled as the the board is missing those chips.

brm

hi,
my Jakub board is in use as paperweight.
I'd like to change that - has someone of the community updated the firmware using mw 2.1?
not much work but I have not much time and i am off for the next few days.
thanks for your help in advance!

brm

ahh, as usual the readings cause a problem: where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7), and 1kHz when the DLPF is enabled (see Register 26). is this clear? the term dlpf disabled as well? what looks great on the paper is sometimes not really usefull in the real ...

brm

RTFM - verify the current config and then scan for the exception - maybe you will understand.

brm

the dynamics of a copter is quite complex. to verify the test i would re-configure the digital filter inside the accelerometer. pls. adjust the filter settings to match a 10hz filter. then we will see. to obtain flight data you need some sort of memory: an spi or qspi flash chip. with highspeed tele...

brm

>I have no idea why this happens. I have to think...
simple - lower the cutoff frequency for the digital filter and test again.

brm

>Actually, in fast-forward part it's swinging to sides. Does not visible on other modes (straight "throttle-up", level flying). I will try to lower P values on roll even more, didn't noticed >such effect in baseflight. fast forward means having no smooth data stream - now you seeing the si...

brm

the overshoot you noticed causes the noise to be amplified. Very strange conclusion, I would say . The overshoot and ringing of Butterworth, Chebyshev and Elliptic filters is a response to a very special function – step or Heaviside function. All high frequencies from the step function are removed....

brm

http://youtu.be/o-ulU1dO_L8
the gyro filter settings for fj450 frame in the video are not yet correct.
with no changes on the pid settings.
a new version has been committed to svn.

brm

my first intention is to remove noise.
the overshoot you noticed causes the noise to be amplified.

the filter acts strange on agressive changes.

brm

hi, today i discussed the tschebysheff filter with our control law guy. the first surprise: why an even number for the order. the question is: m with even tap numbers you are dealing with overshoots - one reason to start with uneven tap numbers. the 2nd thought is: the filter is extremely aggressiv....

brm

hi, hmm - the device is not optimal - it inserts noise by accidient as i would say. therefore the approach having no lpf filtering installes and doing everything myself. the dynamics of the copter and when i am going back to use madgewick, then i would not have a too heavy filter which filters out t...

brm

put the mpu in fifo mode and read all the samples. then you at get all samples at 8khz. you can do the same for adxl - if you have one. doing so i see that the mpu60x0 is not better as the duo adxl and mpu3000. i have been using 4000 to 5000 as loop time. the 42 hz is a matter of a configuration def...

brm

do not put filter stuff in imu.c - move it to another more meaningfull file

the mess gets more messed up.

brm

i started with gyro only and switched over to acc mode.

brm

to be tested but the cutoff frequency should not be below 200 hz. the dynamic range from what we fly is invetween 150 and 250 hz - as a guess. john ihlein created a motor vibration filter based on tschebyscheff filters --> baseflightplus i did run into some crashes - as usual difficult to say the wh...

brm

yes ... processing ... 58 percent.
google is slow today.

brm

http://youtu.be/tv73kWezRwc
the result adding the pt1 element.
ready for foto shooting

at least a good base for my fpv trials.

brm

http://youtu.be/tv73kWezRwc
my quad flies not that bad - even with bended motorshafts and the gopro is just taped to the frame.
no vibration absorber inbetween.
should also be a good base for my fpv trials...

yes, the next thing is a safe return to home function.

brm

what did you change?
tc has not much time at the moment.
this is the reason he is quite silent.
are you doing gps related things?
when yes how to get it?

brm

hi ABL,
can you provide me with the dimensions of your quad?
thanks in advance.

brm

to dark to get a video - a gopro is a nogo when the light is bad.

i am happy on my smaller quad - i upped the cuttoff frequency of the pt1 element to 200hz.
and my small quad flies like a champion.

brm

hi ABL, thanks for testing - and you have a very nice environment. here it is way too hot - but for today at least very sunny. in essence there are now 2 additional filters. just to see what is appropriate and what is wrong. a certain delay is ok and filters out the bad stuff. i was a little but puz...

brm

today i tested my fpv stuff - just the video link and camera.
and i stick with the pt1 element in front of the simple kalman filter.
both quads do fly nice - real smooth to carry a camera.
and better as in the prev. video.

brm

http://youtu.be/-2o43c6was0 This is the alpha beta filter in action. The frame is too soft and produces enough vibrations when accelerating faster. To me the testing made clear there is a need for a defined lag. having the derivative change as correction leads to hypernervous copter thus there is a...

brm

hi all, not to mess up wit the default settings i have been creating things like: #ifdef ROBERT // futaba cfg.midrc = 1520; cfg.mincheck = 1120; cfg.maxcheck = 1900; featureSet(FEATURE_PPM); #endif before i have been using: pwm_params.usePPM = true; // feature(FEATURE_PPM); in essence wrong wording ...

brm

http://adrianboeing.blogspot.ch/2010/05/kalman-filters.html
there is another interesting filter which looks worth to test.

the derivative term grows wy to fast - way to nervous reactions as a result.
this is true for the upper compiled firmware.

will do more testing tomorrow.

brm

the new full flegded kalman filter is in place. now it also covers the derivative change i have flown the current build in my garage. it does it well behaved. you can watch the cycle time not sooo much cpu cycles used added: the reactions on my larger on stick movements are to nervous. i made the be...

brm

typedef struct { float m_x[2]; float m_p[4]; float m_q[4]; float m_r; } kalman1D_t; is in place - works - not yet flown. give picopter a chance - i have flown it a few times. my firstorder simplified kf and the pico filter behind. to me it needs more work. running some sort of filter at 1.2 khz need...

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