MultiWii

RCvertt

This is the way forward, and will lead to higher quality code (hopefully) and better separation of functions/drivers/etc. The original .ino mess of 100s of global variables, etc was not helping proper development at all. Ok thanks. The longer variable and function names look much more cluttered to ...

RCvertt

Problem solved.

User error on my part...
viewtopic.php?f=8&t=3212&p=38378#p38378

RCvertt

Problem solved.

User error on my part...
viewtopic.php?f=8&t=3212&p=38378#p38378

RCvertt

Thanks Alex. Got it working following your advice. Turns out the problem was that I wasn't calibrating the gyro. The graph moved so little and so fast when calibrating the gyro that I didn't notice it, like I could for the accel. Now that I know what to look for, all is well. Thanks again. ---------...

RCvertt

Is this the way MultiWii is headed or is this just a custom offshoot for those that want it?

Curious because as an artist and not a programmer I may not be able to do much with (.cpp) files like I can with (.ino) files.

RCvertt

P What you observed is described in length at top of config.h in note 1 Can you please explain to me how this works. I assume you are referring to the note... /* Notes: * 1. parameters marked with (*) in the comment are stored in eeprom and can be tweaked via serial monitor or LCD. * Changing those...

RCvertt

Looks like my z axis is responding in the correct direction. Now if only I could get the roll and pitch sensors to respond correctly. As for the images you linked to. Those are the same ones I used to set up the sensors with 1.7 code that works fine. Still can't get roll and pitch to work correctly ...

RCvertt

Looks like my z axis is responding in the correct direction. Now if only I could get the roll and pitch sensors to respond correctly.

RCvertt

Looks like my z axis is responding in the correct direction. Now if only I could get the roll and pitch sensors to respond correctly.

RCvertt

Anyone know what these fields do and how to adjust them?

RCvertt

Anyone out there using an Arduino Mega with the Nintendo WMP/Nunchuck gyro and accel sensors, that would be kind enough to zip up and post your code so I can see what defines or other changes you may have made? There appears to be something wrong with (2.2) that is preventing a Mega with Nintendo se...

RCvertt

Thanks. Just what I needed to know.

For others...
The copter stays level:
•MAG_Z is positive ; ACC_Z is positive

RCvertt

The Numchuk do not have a Z axis, at lease not the ones I have owned. As for the Gyro, that is in the Wiki. On second thought, there appears to be some kind of Z accel axis. There's a Z accel axis in the GUI and you can see its blue line in the GUI graph move as you move the copter up and down. The...

RCvertt

The Numchuk do not have a Z axis, at lease not the ones I have owned. As for the Gyro, that is in the Wiki. On second thought, they seams to have some kind of Z axis. There's a Z accel azis in the GUI and you can see it's blue line in the GUI graph move as you move the copter up and down. There is ...

RCvertt

Got the GUI pitch and roll indicators to respond in the correct direction by changing the sign in (sensor.ino) below... gyroADC[ROLL] = ( ((rawADC[5]>>2)<<8) | rawADC[2] ); //range: +/- 8192 gyroADC[PITCH] = ( ((rawADC[4]>>2)<<8) | rawADC[1] ); gyroADC[YAW] = - ( ((rawADC[3]>>2)<<8) | rawADC[0] ); B...

RCvertt

I have tried all possible combinations of changing the sign for roll and pitch and I see no change in the GUI. // #define FORCE_ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z;} // #define FORCE_GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroAD...

RCvertt

I have tried all possible combinations of changing the sign for roll and pitch and I see no change in the GUI. // #define FORCE_ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z;} // #define FORCE_GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroAD...

RCvertt

I am familiar with (1.7) Is there documentation on what the fields in the 2.2 GUI do? The GUI shown on the MultiWii website looks outdated from (1.7). "ALT" is only for Baro altitude hold? "Pos" is only for GPS? "PosR" is only for GPS? "NavR" is only for GPS? ...

RCvertt

What is the default orientation for the Mega using Nintendo WMP gyros? I tried changing the signs for (#define FORCE_GYRO_ORIENTATION) and (#define FORCE_ACC_ORIENTATION) but I get the same response from the Roll and Pitch indicator in the GUI. When I tilt the aircraft the roll and pitch move in the...

RCvertt

Ok thanks. Where is the wiki? I don't see a link to it from the multiwii.com FAQ page.

If you mean this wiki, there is very little info at the below link...
http://www.multiwii.com/wiki/index.php?title=Main_Page

RCvertt

I have a Nintendo gyro and accel on my Mega board. How do we know if the Z gyro and Z accel are facing the correct direction in the code? It's obvious when the Roll and Pitch axis for the gyros and accels are not correct since you can see the angle indicator in the GUI drift back to level when holdi...

RCvertt

Got two servos and two motors working again by adding a servo to the tricopter. From def.h #elif defined(TRI) #define NUMBER_MOTOR 3 #define PRI_SERVO_FROM 1 #define PRI_SERVO_TO 2 From output.ino #ifdef TRI // motor[0] = PIDMIX( 0,+4/3, 0); //REAR Mega 3 motor[1] = PIDMIX(-1,-2/3, 0); //RIGHT Mega...

RCvertt

Tried this, and a bunch of other combinations, to try and add a servo to a tricopter and still no luck getting the extra servo to work. Seams to be incredibly difficult to make a seemingly simple change. From def.h #elif defined(TRI) #define NUMBER_MOTOR 3 #define PRI_SERVO_FROM 6 // use servo 6 #de...

RCvertt

Thanks. Been using combinations of that all day with no luck. At least we seam to be in the same neighborhood with the code parts we are looking at so I'll keep trying. The last one I tried was this below and still doesn't work. The right servo responds but the left one doesn't. From (def.h)... #eli...

RCvertt

Extremely sure. It was working at the beginning of my (1.7) testing, then it stopped working after one of the flights. I then had to change that motors pin to 7 to finish my (1.7) testing. I have tried several times with 1.7 and 2.2 to get pin 3 working with fresh code and it won't work. Can't be mu...

RCvertt

I'm using an arduino Mega that has a faulty 3 pin so I need to get a motor working on another pin. Is there a way to use the quadX with two servos? I don't want to mess with any special camtrig or camtilt code. I just need two regular servos like the bicopter has. Or is there a way to add more motor...

RCvertt

Sounds great. Thank you.

RCvertt

That MPU-6050 board looks great copterrichie. Amazing what they can pack to the chip not to mention the cost.

Should I use external pull ups with this one? If so, how do I do that. Been using internal pull ups so far which I understand isn't the best method.

Thanks again for the info.

RCvertt

I'm using Arduino Mega 2560 with Nintendo WMP/Nunchuck sensors and internal pull ups. Also using MultiWii 2.2 1)Do I need both (#define WMP ) and (#define NUNCHUCK) uncommented for a Nintendo WMP+Nunchuck sensor combo to work? 2)If I don't want to enforce a sensor orientation do I have to uncomment ...

RCvertt

JBear wrote:There is an open source IMU algorithm using quartenions available that has been used for Multirotors...

Very nice. So did anyone every get around to implementing this for multiwii 2.1 or 2.2? This stuff is way over my head to implement or I would gladly have done it.

RCvertt

Thanks for posting a fix. I had the same problem using that TX with (1.7) code and was able to easily fix it. I'm having a lot of trouble understanding (2.1) and above code though. Not to get too off topic, but what does (f.armed) mean? The (armed) or (disarmed) in 1.7 code is easy enough for me to ...

RCvertt

Hi, When I say compatibility with Arduino IDE must be maintained, it is especially because it's one of the easiest way to customize config and inject code in an Arduino from a zip sketch. So the principle Arduino IDE+zip+customize config.h+upload via USB will not change. I strongly thing it's one t...

RCvertt

Thanks. Your right. All the advances and the movement away from standard arduino sintax make the code a little more difficult for this non-coder to read but I'll keep trying

RCvertt

Looks like the mag math is done with integers instead of floats when I printed out "dif" to the serial window.

I'm not great with math so maybe someone can help me convert the mag angle calculation to floats?
Or does the mag have better resolution if I use (2.2) code ?

RCvertt

Hi, My mag works but moves the servo very stepped. Doesn't seam to have enough resolution with the way I scaled it up. I just tried the old DIY drones HMC5843 magnetometer with MultiWii (1.7) on an Arduino Nano. It appears to be working great as far as holding the heading but the movement resolution...

RCvertt

You can check the code from kapteinkuk for YAW. Can you translate his evil Assembly code into something that looks a little more like MultiWii so I can read it? I recall a post from the KK developer where he said he looked at MultiWii code after he was impressed with how much more stable it was tha...

RCvertt

My personal view of what is mandatory for 2.3 : - refactor the YAW PID to have a KK yaw style feeling. -Keeping a compatibility with Arduino IDE is mandatory. I agree with this. I would add that keeping as much compatibility with existing arduino boards would be helpful also. Namely the ProMini and...

RCvertt

scrat wrote:Time frame for calibrating MAG is 30sec.

Great. Thanks.

Scrat also told me we only have to calibrate it once like an accelerometer. You don't have to do it before ever flight.

RCvertt

I would also like to know the answer to this. My understanding is the same as you. Click the "calibrate" button then rotate the aircraft around each of its axis a couple times. But I'm not sure how many times to rotate the aircraft and if it has to then sit on the ground motionless for a w...

RCvertt

Servo stretching past 90 degrees. 180 would be nice but a minimum of 130 degrees.

RCvertt

A low KV like 900 will be good for static thrust to lift your copter but it won't make you go very fast once you start to fly forward on the wing. It'll be like a car stuck in second gear. Plenty of power for vertical takoff like going up a hill but not much on speed like going down a flat, straight...

RCvertt

Ups, only 530 grams ! I'm planing with around 1200 grams. Currently checking the motorsetup. Luks like to use 2 T-Motor MT2216 900kv with 30A ESC and two 3S2200. I hope to have enough thrust in hover mode with a additioal servo to rotate the pod's. Coding on latest MW version is in progress. Your w...

RCvertt

Will your props have cyclic helicopter controls? Currently no, but later yes. The first version is to train the pilot A bigger second V22 is planed with it. Cool. A fixed pitch foamy version should make a good trainer and does repair much easier than a collective one I want to go collective eventua...

RCvertt

...it depends upon the lengths of the Servo and Control horns if that is what is being used. If a direct drive system is used, that is a difference story. I use direct drive. I've tried with control horns and it's possible but they add slop, weight, binding problems when moved past 90 degrees and p...

RCvertt

Will your props have cyclic helicopter controls?

If not, how will you control pitch when hovering? You will need at least 130 degrees of servo movement if you are using fixed pitch props. Hence the need for servo stretching.

RCvertt

m The flaps are connected to the pods. Much lighter than using separate servos like you want to do. If you have never built a VTOL before then you will quickly find out that every gram saved gives you a longer flight time. VTOL flight time is already short enough due to how heavy the aircraft ends u...

RCvertt

Thanks.
If you like this plane then maybe a PM to ronco asking for 180 servo travel will help

My specs are...
Motors- 1300 kv (blue wonders)
ESC- HK SS 10amp
Battery- 1800 40c 3 cell or 1200 15c 3 cell.

Code- MultiWii (1.7)
PID- Roll-P =3.0, Pitch-P=5.0, Yaw-P=7.0
Level-P=3.0

RCvertt

I did one using an arduino ProMini and modified MultiWii (1.7) code that allows the servos to tilt 180 degrees for transitions. I would like to test it with (2.1) code or above as soon as the ability to stretch the servo signal to 180 degrees gets implemented. Sounds like Ronco doesn't have time to ...

RCvertt

Any progress on getting some servo stretching in 2.1?

I'm about finished with my 1.7 testing...
http://www.youtube.com/watch?v=DuSyEYg_WJA

RCvertt

I'm pretty happy with the 1.7 servo stretched code as seen in the vid but would like to test with 2.1 code since I heard the "stable" mode is better in 2.1
http://www.youtube.com/watch?v=4ayU82kM ... r_embedded

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