MultiWii

Sebbi

No there aren't ... change the baudrate, make sure you can reset the Arduino. Then upload the sketch in the Arduino IDE and reset when the IDE is waiting for the bootloader -> voila.

Sebbi

Yes, I read my link ... it is a very hacky solution, but works if you want to do it automatically. The problem is the automatic reset that is not available over a bluetooth serial module, but you could as well press some button resetting your Arduino ... which works!

Sebbi

Well ... then explain why it has been working for years?

http://www.youtube.com/watch?v=i-69D0iDVxE

Just change the baudrate to whatever your board is using for the bootloader and figure out how to reset the board ... or build something like this: http://letsmakerobots.com/node/30915

Sebbi

It depends on the configuration MultiWii has several switchable fly-modes. "Passthrough" lets you fly without any influence from the µC, "Gyro" will stabilize against unwanted rotation and "Angle" or "Horizon" is capable of leveling the airplane. It's the last...

Sebbi

Bluetooth has no problem with higher baudrates. It's just not too easy to set the connected bluetooth module to exactly the needed baudrate so the bootloader works, but I see no reason why it shouldn't work when your Arduino board has a manual reset button somewhere (the Arduino IDE even waits for t...

Sebbi

The current airplane implementation is capable of correcting wind related movements with just a gyro and if you have an accelerometer it can level itself (depends on what you calibrated as being level, of course). It wont fly circles until it is on the ground yet as GPS navigation and RTH for airpla...

Sebbi

1402 pitch 1501 roll Those transmitted values could be the cause. I think you are using a Turnigy 9X with the included receiver? I had similar problem with it when using no deadband and untrimmed sticks. 1500 should be the center value, but sometimes the 9X doesn't go back to the center when you let...

Sebbi

Purchased from Ebay for around 37 € including shipping. Lets see what this camera can do ... someone should then port MultiWii to run on a RasPi

Sebbi

As long as you manage to get data out you could try to use an iPhone, e.g. build a BT 4.0 (this is open and requires no authentication chip from Apple) to BT Classic (or Zigbee or LRS or whatever) bridge or do the same for Wifi (wifi serial bridges exist and could be used).

Sebbi

Either my script failed or this commit breaks compilation ... hmmm http://sebbi.de/multiwii/

Sebbi

Indeed, awesome!

Now we can have simple PI FPV solutions

Sebbi

I'd say why not have both modes switchable via config.h? MultiWii could support that, can't it?

Sebbi

Isn't this basically just a Naze32 board that sticks on the GPIO connector of the RasPi? You could do that right now. I mean ... $175 for something you can already buy for around $50? ... strange project.

Sebbi

It has been some time, but I finally got the Rift development kit. Watching FPV videos on this thing is fantastic ... it's not 3D, but it is a completely different thing compared to regular FPV goggles We'll see what people will come up with, but holy this feels unreal ... even with all the pixels c...

Sebbi

Agreed ... needs official support. I bought one to try it out

Sebbi

Just a suggestion, as logging is quite similar to telemetry transmissions could we have a unified system to either transmit data via downlink or log it to an SD-card / dataflash? Could be integrated with the current serial communication as some telemetry (the GUI is certainly one form of it) also r...

Sebbi

Why would it be accessible to anyone but me? And why would you need a server to submit jobs to? I still don't understand. This is just some stats page generated as static html on a NAS uploaded to my webspace. The script that is doing it could be made open source, if this is what you are asking for.

Sebbi

Just a suggestion, as logging is quite similar to telemetry transmissions could we have a unified system to either transmit data via downlink or log it to an SD-card / dataflash? Could be integrated with the current serial communication as some telemetry (the GUI is certainly one form of it) also re...

Sebbi

Having a cloud server would be a valuable tool, it could run this stuff 24/7. Before the cloud there were regular servers and they were and are perfectly capable of running stuff 24/7 (and are much cheaper at doing so) as is the case with this script. I don't understand what you mean? How many copt...

Sebbi

First thing I will comment out is dTime = currentT - previousT; if (dTime < UPDATE_INTERVAL) return 0; previousT = currentT; This makes the altitude estimation run at a certain frequency ... because there is alrready similar code in the MS5611 code: uint8_t Baro_update() { // first UT conversion is...

Sebbi

Hi Sebbi, Mayby the 2.31 comes from log(): in C this the natural log to Basis euler . In excel (i dont know) it could be the Logarithmus to Basis 10. Arg ... you are right. Excel does base 10 logarithm and I didn't catch it So forget my previous posting about the numbers being wrong, it was just my...

Sebbi

again, please extend the coptertests, so everyone can run the compile tests from within their own dev environment. How many coptertests are practical? There are currently: ⋅ 20 models ⋅ 60 IMU boards ⋅ 5 gyroscopes (btw MPU3050 is missing in config.h) ⋅ 10 ac...

Sebbi

You are on to something ... i compared the original pow formula to the log one and it looks like we are calculating the wrong altitude? Your code: BaroAlt = (float)(baroGroundPressure -baroPressureSum) *(float)(baroTemperature+27315) * 29.271267f / (float)(baroPressureSum); // in cemtimeter Old Mult...

Sebbi

Hi, I also have replaced the LOG(X/Y) Function by approximation ((X-Y)/Y) is possible when (X/Y) is in the range of 1. Hmm ... a quick try in Excel differs. Looks like LOG(X/Y) can be approximated by (X-Y)/(Y*2.31) This works up to a few hundred meters (at around 300 m it will show ca. 310 m).

Sebbi

Just your changed defines or undefines from the config. The script is adding those lines to the end of config.h before each compile

Sebbi

Those tests - airplane_freeimu43, airplane_nanowii_i2cgps, quadp_nanowii, quadx_freeimu43, tri_crius_se - are just mixes of model type and sensorboards, nothing like the coptertests which setup a lot of stuff (at least #3).

Sebbi

The log version is faster then the pow version. But it could be interesting to base all altitude hold directly on the pressure (call it pressure hold). That should shave a few microseconds off of each cycle, but since the pressure isn't super stable (how much "lag" is introduces by your av...

Sebbi

Thanks, i might add some color and graphs and compile every revision since 989 (Version 2.1) or 1362 (Version 2.2). This was fun to implement, but needs a lot more test scenarios ... so suggestions? The coptertests are good, but they don't test every flag available (I have a feeling this is more or ...

Sebbi

Here you go ... I set up a script that compiles MultiWii with different settings every hour and keeps track of revision sizes on different microcontrollers (compile size may be different from what Arduino IDE says, since it's using gcc-avr directly)

http://sebbi.de/multiwii/

Any suggestions for additional configurations?

Sebbi

That formular is correct. You can't take the z-axis measurement directly since the copter could be tilted. The code is simply calculating the amount of acceleration pointing downwards. @obor: a change of 0,01 mbar corresponds to a change in altitude of around 4 cm (room temperature, near sea level)....

Sebbi

Does it really make a difference if you do the lengthy calculation after the temperature readout instead of the pressure readout? I agree with the int32 vs. int64 observation ... A good baro is a baro with a lot of lag so it averages over a long time and then the pressure is pretty stable. But since...

Sebbi

Just an idea: with a proper Makefile the code can be build by make or cmake, right? Why not have a build-server script (or local) in the SVN that can be executed to check if certain tests work and maybe the compile sizes of different configurations. I'm willing to implement it if this would help the...

Sebbi

move some MultiWii files into arduino library folder? Think of how many more users would fail doing that when trying to build and upload their sketch? We already have that library issue with the Processing environment to build the GUI - that has proven to be a barrier for many 'user only' type of p...

Sebbi

For the IDE it makes no difference if files are named .cpp or .ino. But they get compiled differently: INO files will be concatenated while CPP/H will be compiled to objects and linked together at a later point. Some core functionality could also be implemented using libraries in the library folder ...

Sebbi

Not a comment on the change, but an observation on using a forum as issue tracker: The obvious disconnect between source code and the issue doesn't help the cause. This could easily have been a pull request, every developer could have discussed the proposed change right next to the actual code and d...

Sebbi

You could try and deactivate the barometer? Or something else ... but the ProMicro ist pretty limited regarding to available space. There was a thread somewhere in this forum about that and modifications to Arduino so the whole USB stuff doesn't get compiled.

Sebbi

Can this support FrSky telemetry?

Sebbi

Just connect your bluetooth dongle to the serial port. The GUI is connected to both ports per default.

Sebbi

And by the way in germany this is not allowed It is allowed as long as you keep flying line of sight and can take over at ANY point (MultiWii should do both by default). I imagine it is similar in other EU countries. Of course it is not like there is an RC police which constantly monitors such thin...

Sebbi

could this happen too when Z-Acc is zero by a "ballistic trajectory " (free fall or after a fast climb up) could the instant step irritate the PIDs and give a severe overreaction 1) this is only a problem if you fly in angle/horizon mode where the copter can't be tilted by more than X deg...

Sebbi

That is called gimbal lock and is to be expected. Angles are calculated from a gravity vector and we'll have to live with this problem ... if you plan on doing 3D flying the angle stuff isn't relevant since you'll use gyro only anyways

Sebbi

I'd guess it is because of those lines in IMU.ino: dTime = currentT - previousT; if (dTime < UPDATE_INTERVAL) return 0; previousT = currentT; micros() returns a 32 bit integer which overflows after 4294 seconds or roughly 71 minutes. Maybe it just stops after that period? It shouldn't ... but on the...

Sebbi

I do not belittle the project, but it's not what I am looking for. It's just some repositories with makefiles so one can compile source code for either platforms on a linux system. I know how to compile code The thread is about rewriting the MultiWii code in a way so it can compile for multiple plat...

Sebbi

That's just a makefile collection ...

But I found an interesting project: https://github.com/mlu/arduino-stm32 It is unfortunately over 3 years old, but the idea was to compile normal Arduino code so it runs on STM32. MultiWii doesn't only use Arduino code however ...

Sebbi

I got the Flyduino MW32 (pretty much the same as a Naze32) yesterday. Neat hardware and I'm looking forward to get MultiWii running on there, well at least the sensor reading and GUI part.

Sebbi

Well, I don't plan on flying the RasPi, but yeah ... it should be possible to run MultiWii (with sensors / servos / motors) directly on there if you can tolerate the rather long boot phase

Sebbi

Is baseflight able to run on Arduino hardware? Anyway, I just ordered a Flyduino MW32 to test something, if it doesn't work I hope baseflight works with airplanes (that's where I want to use it)? I'd be happy when MultiWii is able to run on / compile for AVRs, STM32 and X86 (maybe ARM, like the RasP...

Sebbi

Well, this wasn't about the beauty of the code. Just about separating out all hardware related stuff into one place so it can be easier ported ... originally Arduino code should have provided that, but as we all know, MultiWii isn't using much of the arduino API, right?

Sebbi

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

We have?

Sebbi

Ok, rewrote the thing so it uses a struct with function pointers. Better approach?

https://github.com/sebastianherp/multiw ... iWii_HAL.h
https://github.com/sebastianherp/multiw ... _HAL_AVR.h
https://github.com/sebastianherp/multiw ... AL_AVR.cpp (btw, when using the .c extension, the Arduino IDE doesn't compile the code in this file)

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