MultiWii

Well ... I also +1 this request. Reasons? * It is nice to have local repositories which can stay in sync with the source, but let me change code with the ability to track my changes (nobody gets it in the first run and when you made a mistake you want to have a possibility to see older revisions of ...

Well it could be nice to use an inexpensive board such as the RasPi for OSD or navigation or as a webcam server in the air. One could use a normal 8bit µC to keep the copter in the air and for manual control and have inexpensive linux pc for more advanced stuff (e.g. use multiple webcams with comput...

I can confirm that ...

Ubuntu has no support for the RasPi, but I'm waiting with you for the MultiWii Debian package

Marbalon,

is there magic involved? Level mode seems to work pretty well, too

Or .... do something radical and support Raspberry Pi or even better (because it is a lot faster and not that much more expensive): m A $129 Cortex A9 quadcore board at 1.4 GHz with multiple USB hubs to connect gadgets to, sd card slot for the os (android/ubuntu), hdmi out and a fast gpu to use your...

Your switch statement switch(patternChar[icnt]) { will cause a crash with icnt > 3 ... there could be situations when this is the case ... if (icnt >=3 && (buzzerLastToggleTime<millis()-patternInt[3]) ){ icnt=0; toggleBeep =0; } icnt will onyl be reset if the second condition is true, but .....

// Attitude of the estimated vector angle[ROLL] = _atan2(EstG.V.X , sqrt(EstG.V.Y*EstG.V.Y + EstG.V.Z*EstG.V.Z)) ; angle[PITCH] = _atan2(EstG.V.Y , sqrt(EstG.V.X*EstG.V.X + EstG.V.Z*EstG.V.Z)) ; You're probably right. some schemes in this site might help: m However, this adds something like 100 mic...

If you look at the IMU code above, there are two scenarios coded into it. One with gyros only, and one with gyros and level mode. Taking into account level mode increased the time of one cycle to something like 5 times that of gyros only. Due to resource contraints, it might not be possible to do a...

The gyros aren't the problem (they seem pretty stable), but the accelerometer. Even the slightest bias offset leads to huge differences when integrating that data twice (to get the position) ... and with all the vibration and filtering done it doesn't get more reliable while flying.

// note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false if (( rcOptions[BOXACC] || (failsafeCnt > 5*FAILSAVE_DELAY) ) && ACC ) { // bumpless transfer to Level mode if (!f.ACC_MODE) { errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0; f.ACC_MODE = 1; } } else { // failsaf...

following your line of thought; please apply that same logic to the magneto 3 axes readings instead of the current implementation which is somehow limited to small angles? It is indeed and the heading is in the wrong direction when flying upside down (not that this would be possible for multicopter...

Exactly ... but MEMS sensors aren't drift free enough to make this work, as navigation with them would need the accelerometer data to be integrated twice and that introduces a lot of error. But it might be just accurate enough to get the velocity and use a Kalman or complimentary filter to correct t...

I am currently testing a MARG implementation, is somebody out there still interested to get this working? Sourcecode (for current 2.1 MultiWii): m It works in the GUI, but the copter doesn't seem to stay level for very long and doesn't come back to level as fast as before. It could be a PID thing as...

config.h says: /* Set the Low Pass Filter factor for ACC Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time Comment this if you do not want filter at all.*/ //#define ACC_LPF_FACTOR 100 IMU.ino says: //****** advanced users settings ******************* /* ...

Hello there, in the last few days I had a pretty good look at the code and while testing some algorithms noticed a problem with the angles. The code reads (imu.ino): angle[ROLL] = _atan2(EstG.V.X , EstG.V.Z) ; angle[PITCH] = _atan2(EstG.V.Y , EstG.V.Z) ; Which is wrong, because it not only has a pro...

Thank your for your answer, but that is not what i meant. I have the MPU6050 and it's sensors are in one, single IC ... or in other words, they are perfectly aligned. But MultiWii seems to need other orientations to correctly calculate the attitude and heading (maybe because of the original Wiimote ...

I got today a very interesting new Crius Board: m (ATMega 2560 ·MPU6050 ·HMC5883L ·MS5611-01BA01 ·FT232RQ USB-UART chip and Micro USB receptacle) It wold be a fine if anyone could add the IMU Code from the manual into the new release 2.1 m i think it s a good idea because this board will become a n...

can you disarm while flying? i was under impression throttle had to be at minimum to disarm/arm, which should prevent anyone from disarming while flying since your never at min throttle unless landed/landing. right? 3D acrobatics and/or non-copters (MultiWii supports airplanes) may see periods of n...

Altitude from baro is freezing after some time in this version. I don't know if this happened before, but when I leave the gui open for long enough the alt value will freeze. It's not a gui problem (I connected to the copter with a self written application and MultiWii is definetly returning a stat...

Hey, from trying out some algorithms on the raw sensor data I noticed some inconsistencies, mainly regarding the MPU6050 and sensor orientation. In def.h it reads: #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[RO...

From the code: #if MAG // Attitude of the cross product vector GxM heading = _atan2( EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X , EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z ); heading += MAG_DECLINIATION * 10; //add declination heading = heading /10; if ( heading > 180) heading = heading - 360; else i...

Altitude from baro is freezing after some time in this version. I don't know if this happened before, but when I leave the gui open for long enough the alt value will freeze. It's not a gui problem (I connected to the copter with a self written application and MultiWii is definetly returning a stati...

I also noticed this problem and explained it in the r964 thead. When it is completly windstill the auto level mode seems to work for some time as expected. But it will eventually tilt in some direction (trim not perfect, small wind ... i don't know) and accelerate in that direction if the pilot does...

Bias drift of gyros is a pretty common thing. It happens over longer periods of time which is why MultiWii is calibrating the gyro bias ( null level when not rotating) on power up. Drift can be random, but is most of the time a function of temperature. Sensors like the MPU6050 are mostly factory cal...

Ok, after some research I found the MultiWii version from alexmos (m) which has very promissing changes in it. It seems to calculate a vertical velocity from the accelerometer (and uses sonar). I wrote a quick & dirty simulator to test different algorithms to get the vertical speed in a noisy en...

Hey, currently MultiWii uses sensor data to calculate its orientation resulting in roll and pitch angles. If a magnetometer is present you also get a yaw angle (= heading). Additional sensor data can be height/altitude (from sonar, barometer and/or GPS, but only barometer data seems to be used in cu...

Hey, i am pretty new to multicopter flying, but I want to help develop MultiWii in a more solid flightcontrol software. So far I have tried out 2.0 the 20120606 dev version and now this release candidate on my quadrocopter. I am flying with a pro mini and FreeIMU 4.3 with the default PIDs. My commen...