MultiWii

LuFa

Hi Alexmos ,

now i have add OPTICAL_FLOW_P_GAIN and OPTICAL_FLOW_I_GAIN .

my parameter for the moment are : P 5.0 and I 0.010 , what is the right method to write this directly in the code ?
because OPTICAL_FLOW_I_GAIN 0.100 doesnt work

how to write it correct ?

LuFa

Hi Eosbandi

is it also possible to get the GPS Position Hold distance with

Code: Select all

I2C_GPS_WP_DISTANCE

?

thanks

LuFa

ooooooooooooohhhhhhhhhhh

MultiwiiPlanner sounds good

LuFa

ok thanks , will test it tomorrow second question - i can set waypoints with GPS_I2C_command(I2C_GPS_COMMAND_SET_WP,13); ..... right ? (in this example waypoint number 13) - And with GPS_I2C_command(I2C_GPS_COMMAND_START_NAV,0); i can start the waypoint navigation . but , if i start the waypoint nav...

LuFa

Hi ,

in the newest multiwii dev , the i2c gps doesnt work

With r33 von EosBandi all works without any proplems , but the same hardware and setup with the newest Dev code doesnt work

can anywhere check this ?

LuFa

Hi , i try to Controll the Mwii via the new Protocol . i can read datas from multiwii without any proplems but i cant send anythink to Mwii . Can anyone tell me how i have to calculate the Checksum for send datas to Mwii ? i use a second arduino to do this , a example code will be also very nice Tha...

LuFa

wich "New" Alt-Hold code did you mean ?
is there a different of Alt-Hold code from 2.0 and the Newest Dev ?

LuFa

no

at the moment its only for displaying the distance .
thatswhy i ask for a worket code of a fusion

LuFa

Hi ,

I have see that the newest dev have a code for reading the SRF08 Ultrasonic Sensor .
But what is about the fusion ? have anywhere a worked code for Ultrasonic Sensor and Baro fusion ?
If not , i think its time to think about it

regards

LuFa

Hi Alexmos Now i have bring to work the OpticalFlow code with the newest Dev code But i have one Proplem with the Newest Dev and also your code : If I Activate AltHold the Mwii Hold the Alt Perfekct for the first 20sek. , after that the Mwii does begin to move down and do nearly landing ^^ I have th...

LuFa

Hi ,

GPS work Great !

But Coming home is to fast for me ^^ can anyone tell my how i can chanche the "brake" from Coming Home ?
Because , for me the Mwii does brake to hard at the Target Point . wich values can i start to chanche ?

Thanks

LuFa

Hi EosBandi ,

is the Moving average filter only in use with Serial Gps ?
because i havent found the setup for i2c gps .

Thanks

LuFa

Hi EosBandi ,

Can you make a list wich thinks i have to add where in the normal Multiwii Code for the r33 GPS Version ?

Thanks

LuFa

yes , i allready fly with the OpticalFlow version from Alexmos and its work very good ! at the moment i work at a fusion of alexmos opticalflow code and the newest multiwii dev code . @alexmos , i have some questions : - I have make all chanches in Multiwii.ino for OpticalFLow - have add OpticalFlow...

LuFa

Hi ,

look at the googlecode site from Alexmos , there you can find the newest version witch is working

im try to port it to the newest dev , but i have proplems to find a option to set the PID values direct into the code like :

#define OPTICFLOW P-Gain 10.0
#define OPTICFLOW I-Gain 5.0
.....

LuFa

Hi Oli ,

wich sensor datas from Multiwii did you allready show at the Telemetry Display ?
how mutch does the cycle climb with your Graupner Hott code ?

thnanks !

LuFa

Hi ,

does anyone know if the ACS758 should work with the newest Multiwii code ?
i think it should work with #degfine POWERMETER_HARD
can someone confirm that ?

Thanks

LuFa

Hi , i have some Questions : I have a Mediatek MTK3329 GPS Modul (same like Diydrones one) and have Update it with the Instructiom from Diydrones , now its broken now i have buy a second one , the question is : is this the same Firmware like from Diydrones ? can i use this Firmware with my Mediatek ...

LuFa

this will be very cool !
thanks !

LuFa

but in the Video wich i have post from mikrokopter , you can hear : Start Engine , calibrate Gyro ....
i think thats not the standart voice output from the Transmitter

LuFa

pleas more informations about your hardware setup , GPS Modul .....

LuFa

Any Plans about Voice Output ?
somethink like that : http://vimeo.com/41351841

LuFa

ah ok , you have also the Serial GPS code move to the i2c gps project page

because the latest version wich i have use is r10 . Have r10 the same proplem ?

if i understand it right , r22 is for i2c and Serial GPS ?

LuFa

works it with Graupner MC-32 and V4 Software version ?

does i understand it right that i should connect RX and TX together at the Telemetry port via a Logic leve converter =?
Or is any other thinks need between RX and TX ? like a Diode ?

Thanks !

LuFa

EOSBandi wrote:
LuFa wrote:only at the i2c gps code ?? or also at Serial GPS Code ?

Multiwii base code..

ok

because i have only see a update from the i2c code

LuFa

only at the i2c gps code ?? or also at Serial GPS Code ?

LuFa

does anywhere now if i should make a update to v1.6 of the MTK3329 ?

http://code.google.com/p/ardupilot/wiki/MediaTek

LuFa

5m at Wind is brilliant !
cant wait to see a video from your PH and RTH

edit : wich GPS Modul did you use ?

LuFa

your video is great

i think the code work 1000% better than the old GPS PH Code

Cant wait to test it with my new board (my old board with the Flip proplem is now Totaly Crash)

witch GPS did you use and with how many hz ?

LuFa

LuFa

Hi Alexmos , can you tell me how i can set the PID Values for OpticalFlow directly into the Code ? Because i like to use the Vel Parameter for my alt hold with BMP085 . And , what did you think about a MaxAngle Parameter ? I think its great to eliminate a Flip when the Mwii take wrong sensor data . ...

LuFa

great

is GPS_distanceToHold and GPS_distanceToHome also in use ?

LuFa

@howardhb : same proplem

i use graupner MX16 Hott with GR-16

Edit : Have found the proplem

the Receiver is defect .

Question to EOSBandi : it the Home and Hold position allready store in :

GPS_latitude_hold
GPS_longitude_hold

and

GPS_latitude_home
GPS_longitude_home

?

thanks

LuFa

does onywhere no , why Serial Sum doesnt work at Arduino Mega and Mwii 2.0 with EOSBandi GPS ?
The Channles move right in the GUI but with big spiks

PPM is connect to PIN 19 (Serial1)

LuFa

@howardhb : have your GPS a backup battery ?

LuFa

AAAAAAAAaaaaaaHHHHHhhhhhh

that is my proplem of the bad GPS Postition Hold

i have set the new setup with Mini-GPS Tool but the GPS doesnt remember the setup after a new start .

LuFa

ok , thanks !

is it need to that that every newstart from the Mwii or does the Mediatek safe this setup ?

LuFa

yes

but i have use copy paste for download your code

because i have no SVN Client to download it , and i dont know how it work ^^

LuFa

1. declanation is set to 2.55f
2. does i try tomorrow

3. yes i think so , but the Compass work , maybe a proplem of X Config ? I can not realy say if the Copter try to fly back , because i stop the copter after 30-40m .

LuFa

now i have make some test flights with 10hz and 115200bd . But the Position Hold is not realy better than bevor First 10sek. the Copter Hover at the Hold Position , after some sek. the copter move to one site and the copter goes faster and faster and come not realy back to the Hold position . Looks ...

LuFa

10 flight later I have big proplem with overshoot . But i know its a proplem of the default setting from the Mediatek GPS , because its only 1hz at 9600bd . Now i have search for a config tool and have found one The name is " Mini GPS Tool" (here is the Download link : m) . Know i have set...

LuFa

can you tell me your PID Values ?
today i have found the Flipproplem

it wars a bad cabel connection .

@ EosBandi , witch GPS Modul did you use ?

LuFa

Hi EOSBandi , Today i have test your GPS code but i think there is a proplem into yout code . After Switch On GPS Position Hold all is ok , but after ~ 20 - 30 sek. the Copter make a Flip I have make around 10 Flights , and 9 of tham End with a Flip after turn On Gps . The Onetime where the copter m...

LuFa

Hi Alexmos ,

works your optical Flow also with Arduino Mega ?

LuFa

Code: Select all

alt   =   constrain((int16_t)EstAlt, 30, 300)   *   min(avgSqual.res,50) * 2;   // 16   bit   ok:   300   *   50 * 2 = 30000;

this one ? is this stored in cm ?

LuFa

Hi Alexmos

Today i have change your alt hold code to this from Mwii2.0 .
Now i have two Outputs : BaroAlt and BaroAltCal , BaroAltCal is the Altitude over Ground .
Can you tell me where i have to put BaroAltCal into your OpticalFlow code for right Movement Calculation ?

Thanks

LuFa

EOSBandi you are a Big Hero for me !

when did you plan to put this code into your i2cGPS code ?
Cant wait to test it ;D

Thanks so mutch !

LuFa

yes , the newest code is based on Mw 2.0 .

You can buy the adns5050 for example here : http://www.digikey.de/product-search/de ... dns%205050

@Alexmos

Wich Altitute Variable is use for calculate the Opticalflow Angle ?
because , i try to start to move your alt code to the newest dev code .
can you tell me which parts i should change ?

Thanks !

LuFa

Hey , no proplem , tomorrow i will make some Pictures of my OpticalFlow Sensor i use a 8mm lens from a old CCD Camera and it works very great ! Can you tell me how i can implement the SRF08 correct ? I use the Sonar Code from the newest Dev version . Does your OpticalFlow only work with GPS Position...

LuFa

I have add the SRF08 code into yours maybe this is the proplem of the altitute hold ? i have change the sonar code to this : #ifdef SONAR_SRF08 inline void sonarUpdate() { SonarAlt = SRF08_Alt; } #endif but i think this is not the proplem . tomorrow i will test your Sonar/Baro PIDS what is your SONA...

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