MultiWii

edsimmons3

I have added to the PID tuning documents on the MultiWii wiki, please see the new links under PID heading here: http://www.multiwii.com/wiki/index.php? ... figuration

Please let me know if there is anything I have missed/got wrong/you would like to see improved or added...

I hope this information helps.
Thanks,
Ed

edsimmons3

find: void configureReceiver() { /****************** Configure each rc pin for PCINT ***************************/ #if defined(STANDARD_RX) #if defined(MEGA) DDRK = 0; // defined PORTK as a digital port ([A8-A15] are consired as digital PINs and not analogical) #endif and edit it to your liking, mayb...

edsimmons3

I just found the reason for this in the code... since you have a MEGA based flight controller, this comes into play: #if defined(MEGA) DDRK = 0; // defined PORTK as a digital port ([A8-A15] are consired as digital PINs and not analogical) #endif So, A8-A15 are actually digital pins - it should work ...

edsimmons3

Would it help if we used live chat with translation?

Please try to join this free chat room with translation: http://itranslate4.eu/en/chat/join?sid= ... ate%20chat

Ed

edsimmons3

LOL - yeah looking at the code nearly everything that's not used is already enclosed in #if defined(OPTIONAL_FEATURE) unit8_t myThing; #endif so in theory it makes no difference to the compiled size... I think that since you're doing things like #define OPTIONAL_FEATURE #define THIS_PARAMETER 100 #i...

edsimmons3

The pins you need are PD0 and PD1 (43 and 44) of the mega IC itself, see https://www.arduino.cc/en/Hacking/PinMapping2560

Don't forget the I2C bus pull-up resistors...

Hope that helps.
Ed

edsimmons3

thanks... I presume you're referring to the free ram whilst everything is up and running too, eg TX on, GPS fix, modes cycled through, armed etc. I have around 30 bytes free memory when fully functioning, when it starts up it shows 70-80 bytes and drops gradually when other things kick in, eg GPS fi...

edsimmons3

That's also a good suggestion, I'll try and get something to that effect written up in the wiki. Cheers

edsimmons3

With my now stable config I get 82 data and 1738 bss. With my previously dodgy config (which I compiled just now to see....) I get 82 data and 1808 bss. This dodgy config spuriously "does stuff"... it is not to be trusted! The test I carried out on these two configs revealed that *no* ram ...

edsimmons3

Yes, I'd agree that the (default!) pitch/roll expo & rate is awful... it's much nicer with the rate lowered...

Should look into changing this default in the code really...

edsimmons3

The method described in the link above works, but you must be prepared for some scary moments. I don't honestly think it is possible to set up alt hold without some scary moments... Once D is pretty well dialled in it behaves well. My altitude reports very well, perhaps +-0.75m while left sat on the...

edsimmons3

Is that as reported by the GUI as bytes free while running or is that the arduino IDE's guess at free ram?

edsimmons3

Ok, fair point... I will make much more of a fuss about the failsafe setup and testing in the wiki then...

edsimmons3

Looks and sounds pretty much like my incident... although my quad looked as if it was going to fly at me, it yawed to face me and I crashed it for my/its own safety... One further suggestion... please add a good quality capacitor (eg 220uF or 330uF 16v electrolytic with low ESR) to the main 5v of yo...

edsimmons3

Lol, I tried that option but didn't find anywhere where the ram was reported!! I added code that EOSBandi had posted on the forum to check the ram usage, this reported into debug[0] in one of the tasks in the main loop. I was able to trigger a condition in bench tests where the flight modes got all ...

edsimmons3

You need to make the video public for me to see it

Thanks!

edsimmons3

Hi all, I'm working on improving the MultiWii wiki and I have made a start on a few pages. I would like to know a few things: Is it sensible that failsafe is commented out by default in config.h? Is it intentional that mag mode is de-activated at 25 degrees pitch/roll whilst max nav bank angle is se...

edsimmons3

Is Baro mode enabled? YOu can't arm the flight controller when it is in baro mode...

If it is *just* failsafe that prevents you from arming, I'm not sure what is going on.

edsimmons3

I think it would be sensible for failsafe to be enabled by default in config.h. It might prevent a whole range of incidents...

edsimmons3

The best explanation I have at present *for my* incident is that the 328p ran out of ram and something was corrupted in flight. By changing my config file to reduce the ram used by a few things (powermeter and battery voltage) I was able to get my controller to run well in bench tests using the GPS....

edsimmons3

Does your yaw control move through the full range of 1000-2000 but not beyond it? Do any of your other channels go outside the 1000-2000 range?

edsimmons3

My quad's GPS home was activated (EZgui told me) while flying and the copter turned to face me (classic RTH behaviour) without any input from me... I also felt like I had pretty much lost control and the only option was to have 'a safe crash' as you said. :-/ If the atmega is running out of ram to c...

edsimmons3

First, don't worry at all about GPS_BAUD 57600, this isn't used if you have the I2C GPS board. If your GPS is working with the I2C board, you don't need to do anything to that part. The main settings are: I2C GPS (only allows RTH and poshold, no waypoints, see below) USE_MSP_WP *disabled* due to mem...

edsimmons3

Try the config file here (m) and ground test your quad with the props off or just powered by USB. Arm it using the TX once it has a GPS lock with more than 6 satellites, simulate flying it, try all the different modes for a while... Check the behaviour of the GUI is not erratic, watch for resets of ...

edsimmons3

I haven't had the time to properly read the code that deals with the altitude hold and throttle stick.... I would like a proper explanation of what the throttle stick does in the baro mode as the wiki seems really sparse on details in this regard. All I've seen that I can remember clearly is an inst...

edsimmons3

Hi Ciki, This sounds like the same issue I was experiencing - the remaining ram is very precious and you need to pay close attention to not running out! The copter takes on a life of it's own if the ram runs out... I have had RTH activate randomly, not due to the fence distance but due to corruption...

edsimmons3

Find "OVERRIDE_V_BATPIN" in config.h and set it to A15...
I hope that helps...
Ed

edsimmons3

Ok, thanks I can see your stick values are not central on 1500, can you adjust your TX so that you stick values all read 1500? The stick values displayed in the RC The other option is to change MIDRC (in config.h) to match the values you get with your sticks in the center. You might also want to unc...

edsimmons3

Which flight mode(s) do you have enabled? Can you send a screenshot of the GUI?

Config.h looks ok...

Thanks,
Ed

edsimmons3

Mike, Guitarded, Papo, Have you chosen the correct board type and serial port in the arduino IDE tools menu? You will get that error if you have the wrong serial port connected, or if you have another device connected to the UART port on your multiwii board (if it is a 328p), for example, disconnect...

edsimmons3

I have now flown for about 30-40 minutes using my newly compiled firmware... First impressions were that it felt much smoother than before and nothing unexpected happened at all (:D, huge relief). I mostly ran down 4x 5500mAh 3s Lipo packs in testing and PID tweaking yesterday. I think I can conclud...

edsimmons3

Hi, Have you calibrated ESCs all at once? Is it possible one is calibrated differently? Have you balanced props and checked all motors spin freely? Do the motor output bars in the GUI show the problem too? Is one bar showing a lower value than the other three? Mag calibration needs to be repeated un...

edsimmons3

Hi Hamburger,

Thanks

Ed

edsimmons3

Hi all, I have been told that the I2C GPS board isn't recommended with multiwii 2.4 and been given no reason... I'm making sure it's possible! I have set up Multiwii 2.4 with the I2C GPS board and bluetooth (also works with my OSD with bluetooth removed) and found that initially I was very short of ...

edsimmons3

I love the osprey... How would you make it work? Two ESCs and motors or variable pitch props like the real thing? I remember seeing (waaay back) a guy built a nitro RC replica with a single engine and all the trimmings. I think the simply flew it as a plane with a control for the tilt and a bit of m...

edsimmons3

Thanks Leo, I'm using 2.4... Why is this not recommended? Is this purely memory that is the problem? I like the I2C GPS solution as the UART is free for bluetooth or OSD. I seem to have found I was very short on ram... by changing the default values of: #define PSENSOR_SMOOTH 1 // len of averaging v...

edsimmons3

Further to my notes above: I tested a new firmware today compiled without I2C gps support. I noted some odd changes to the way the system worked... First, Vbat was reported lower than before, so much so I landed after maybe 2 mins thinking the battery was going bad. Why would disabling the GPS cause...

edsimmons3

Ben,

It looks like you've got way too little P on pitch and roll... just a guess. Edit: Is that config for multiwii? I don't recognise the software...

Reduce I and increase P for pitch and roll a bit at a time and test fly between each change.

Hope that helps...
Ed

edsimmons3

Brilliant...

Thanks for your work... I will test and hopefully this can be merged with the main code as an option.

edsimmons3

You could try commenting out the line it complains about... (add // to the beginning of the line) but this may just lead to more errors. I seem to recall that error when I ran it first time with 2.1.1 version of processing. I manually downloaded the library and added to my processing sketchbook in t...

edsimmons3

Nice work - this looks like it's a very good idea... I'll give this a try once I've resolved my probably memory related issues...

Is your modified code stored on github or anything? Will it be possible at some point for this to be vetted and merged into the main project?

Thanks

Ed

edsimmons3

Hi all, I have a bizarre set of problems with multiwii and I'd like to properly document and get to the bottom of the problem. I have posted scraps of info in other threads and thought it would be sensible to bring together all the info I have so far here... The setup: Turnigy 9XR pro radio with DJT...

edsimmons3

Hi Leo, Thanks for the info - I am about to try to set this up again... I've doubled up on my foam over the baro hole to reduce any wind noise & I have completely removed the I2C GPS board for now. The previous crash may have had something to do with it, but altitude hold tuning is proving reall...

edsimmons3

I realise this is less to do with the code and more to do with the docs, but I thought I should leave no doubt... I *have* crashed because of the documentation suggesting to set altitude P and I to zero and gradually increase D. The docs on the wiki suggest it here m This should be changed and I'm w...

edsimmons3

Hi, Ideally you want the fastest output GPS you can get... With the 328p you'll be limited to the basic set of GPS functionality, ie position hold and return to home. The memory of the 328p being the limitation here. You can opt to use the I2C GPS board to connect the GPS, this is a good option if y...

edsimmons3

Hi all, The PID tuning docs have been pretty helpful for my new quad with MW2.4. However the altitude hold docs leave a lot to be desired. I have set up my baro with a 10mm or so length of plastic tube (cut from a pen) and hotglued onto the top of the baro IC. There is a piece of dense foam stuck in...

edsimmons3

Hi MultiWii folk,

Please can I have an account to edit the multiwii wiki? I'd like to add to the tuning docs. There are many places where I could improve the wording to help others...

Thanks,
Ed

edsimmons3

Hi all,

I tried three times to register for the Multiwii forum. The first two email addresses I used (two different addresses for my work) didn't ever receive a confirmation/activation email. Only my Gmail address worked properly in the end...

You might want to take a look...

Thanks.
Ed

edsimmons3

So with a bit more digging I think I might have found something that could trigger my kind of incident... In GPS.cpp there is the following: //Check fence setting and execute RTH if neccessary //TODO: autolanding if ((GPS_conf.fence > 0) && (GPS_conf.fence < GPS_distanceToHome) && (f...

edsimmons3

Hi all, First I'd like to say thanks for all the hard work everyone is putting in with MultiWii. I have had a similar experience a couple of times to this, not with the copter arming, but with sudden and unexplained loss of control. My setup is as follows: Turnigy 9XR pro with FRSKY DJT module Crius...

Search found 100 matches