MultiWii

Sebbi

That's why I uncomment DONT_RESET_HOME_AT_ARM on MultiWii for my airplane and the arming via the sticks (it's on a switch)

Sebbi

Care to share the stripped down version of the SoftSerial Library? I have an need for it right now. I hope you find the needed parts in this code extract. initTelemetry() has to be called in setup() and write_softserial() writes a single byte on the configured pin with the desired baudrate (which i...

Sebbi

Make it universal and not just specific for Frsky, Heck ya! And how would one do that? There is already LCD telemetry within MultiWii and FrSky telemetry is nothing like it ... Graupners Hott however, might be another story, but I don't have the hardware required to test this. I suspect you mean th...

Sebbi

It still is a black box, so we don't really know what the DMP does internally. And for 9-axis fusion (with magnetometer) you still need to do some stuff for youself. Also the highest frequency for sensor fusion data is 200 Hz which might be perceived as too slow by the MultiWii community (no matter ...

Sebbi

Home point is set when GPS has a 3D fix, system is armed and it wasn't set before. With the default settings it is set on every arming of the system which might be not desired on airplanes (uncomment DONT_RESET_HOME_AT_ARM in config.h to prevent that). If you want to reset home without disarming/arm...

Sebbi

Anyone interested in a more complete version with support for using a pin to directly connect to the FrSky receiver (inverted logic / soft serial)?

Sebbi

That's very small, wow!

I testcompiled a version with FrSky telemetry and it makes a difference of 2.3K. I am sure this can be optimised further. I have high hopes we can get both features to a state so it can be included in MultiWii

Sebbi

I tried the current dev version of MultiWii on my NanoWii board (Arduino Leonardo). 23728 bytes of 28672 bytes used when compiled with I2C_GPS ... I hope 5k will be enough for RTH (and FrSky telemetry).

Sebbi

I agree, lets get this working. It should get warmer and less wet in february

Sebbi

There is no NDA I am aware of and everybody can sign up and download/read it.

Sebbi

Amazingly Invensense just released a new version of their "Embedded Motion Driver" which has somewhat decent documentation included and seems to be independent of the used microcontroller architecture. It supports 6 DOF sensor fusion, some calibration methods and who'd new that when the DM...

Sebbi

They were on Git before, but now moved over to Github. The reasons and their restructuring (code reviews for everyone and no direct commit to master/trunk) seem valid ...

and I like the HAL stuff

Sebbi

So nothing like the graphs Doxygen would generate (examples attached)? Timings may be difficult because the dependence on compile options (config.h) ...

: loop()

: Setup()

Sebbi

Do you mean something like Doxygen would generate from the code? Or something that does explain what happens at each state, etc? Possibly realtime, like a MultiWii simulator you can peak into?

Sebbi

This worked for me to compile MultiWii and also results in smaller file sizes:
https://github.com/queezythegreat/arduino-cmake

Sebbi

I agree with your last point, QuadBow. The DMP feature is undocumented and and not fully understood and it might not save much time at all while the current algorithm (used by MultiWii) is already pretty fast and accurate in standard situations. Some flipping and incorrect angles occur in different ...

Sebbi

A change at the fourth digit behind the decimal point equals to around 14 meters on earths surface ... the fifth digit gives 1-meter accuracy. Geocaching coordinates are usually given with 5 to 6-digit accuracy (they use minutes instead of decimals). I think that will be fine for copter-displays as ...

Sebbi

Just a quick reply. GPS lon and lat are limited to 0-180 degree, so 3 digits perfore the decimal point is enough

Sebbi

How is turning off the PID controllers different from taking the props off? For the rx stuff, just configure your rx to not send those channels or leave them on the center setting (gain -100?) ...

Sebbi

I suppose that's the slow winter time ... hadn't had a chance to fly or look at code in the last 4 weeks.

And i hope FrSky telemetry support will be included in the next release

Sebbi

You can get the temperature from the gyro (see code linked in the first post of this thread). Can't do much in November, since I am not at home most of the time. Feel free to pick up the idea presented here and improve upon it

Sebbi

m Page 12 for the gyro, tl;dr: +-2% sensitivity scale factor variation over temperature and +-20 deg/second variation of the bias (zero level) value over -40 to +85 °C ... btw: cross axis sensitivity is also at +- 2% Page 13 for the accelerometer, tl;dr: sensitivity change (scale factor) at +-2 g se...

Sebbi

I hope my insurance company doesn't have such strange requirements. How would a copter fly without a gyro? If the insurance also covers your model destruction due to crashes caused by flying without a gyro, fine It's as strange as the requirement (in Germany) to have a second pilot who can always ta...

Sebbi

http://www.kickstarter.com/projects/qfo ... qtm-copter

Just wanted to post the link in case you haven't seen this already. They mention Arduino as possible payload for their quad and updateable firmware via USB

Lets hope they can make this product real until March 2013 (their stated delivery date for the pledges).

Sebbi

We are working on incorporating this DMP info into future product register maps, there may also be a standalone document created. We will notify you when the documentation is ready.

From Invensense developer support. That's better than anything I heard from them before

Sebbi

Wrong sub forum, I guess ...

Sebbi

Subversion doesn't allow a commit if there a newer changes in the repository. If you testcompile before each commit there can never be a state where compilation errors, right?

Sebbi

It's more or less the same one used by everyone (other Arduino based flight controller projects). I tested DMP integration which could be interesting if Invensense would release some real documentation for it. Other than this, I am currently trying to get HIL going so things can be tested indoors an...

Sebbi

HIL means hardware in the loop and with temperatures getting colder I thought it would be a nice idea to be able to fly our copters/planes inside a flight simulator. So I tried to connect MultiWii running on a mega2560 board to Flightgear and it didn't work out. The accelerations don't seem to be co...

Sebbi

That is true. BaroAlt gets set to 0 at startup and height ist calculated from the difference of ground pressure vs. current pressure (was a lot faster in tests). Ground pressure gets set ca. 15 seconds after startup and when the pilot does the gyro calibration stick combo (which also sets a new GPS ...

Sebbi

Is there a list somewhere of who was/is responsible for what part of the code so he/she can be contacted? Something like "git blame" (sorry to bring git up again)? +1 for the change. When arm is on an AUX channel the stick combos should not be active (kind of important for airplanes, i thi...

Sebbi

http://www.youtube.com/watch?v=ffEYqGGYXRk

This is ... ehm ... wow

Sebbi

When I had rolls of death it was always because of the gyro not working. As I later found out voltage drops was the cause for this and a capacitor fixed it. Symptoms were I2C errors in the GUI after a crash and said non working gyro :/

Sebbi

The developer section of invensense.com has the complete source code they use to access the DMP and the support promised me last week that they are working on written documentation. They would be awefully late for a product that is available for over a year now, but hey ... I wont complain if we don...

Sebbi

So this is an external calibration application, correct? You record acc/magnetometer for some time while moving it around (slowly?) and this input combined with some matrix "magic" gives offsets and scale factors? Together with a static calibration over a temperature range it could also ge...

Sebbi

Here is a working and improved (baro calibration at startup and with gyro calibration stick combo) version:
https://github.com/sebastianherp/multiw ... roved_baro

Diff:
https://github.com/sebastianherp/multiw ... roved_baro

The particular commit:
https://github.com/sebastianherp/multiw ... 5dbc78983e

If someone on the MultiWii dev team would implement it, that would be swell

Sebbi

Large negative values can only occur if groundpressure was measured "too early" and/or it has a value significantly lower than the current air pressure. Increasing INIT_DELAY in Imu.ino should help and getting a new groundpressure value when arming and/or with a stick command should help t...

Sebbi

Two things here: 1) without GPS activated baro is read out almost as fast as possible for some time now ... true, altitude gets only calculated at 40 Hz, that's something that can be improved 2) Is your code free to use AND this is exactly what some of use talk about, having patches or zip files wit...

Sebbi

I measured the timing of the code: ⋅ With serial GPS enabled (NMEA, with or without a GPS connected) the time between two baro_update calls is only seldomly below 10000 µs, so getEstimatedAltitude doesn't get called often enough. With Ublox, Sonar lower baudrate and/or BMP085 this issue co...

Sebbi

Is this always a crius board with ublox serial? In the baro case can you measure the time from one call of baro_update to the next? It could be worse for bmp085 because it switches between deadlines of 8 and 14 MS ... The solution with separate tasks should be the fix for this Kind of problem however.

Sebbi

Or ... with GPS active and when it is slow enough (you had a baudrate auf 57600 and ublox, I don't know about that) and maybe Sonar it would be easily possible that Baro_update gets only called every 10000 µs and then getEstimatedAltitude would never execute. This needs to be fixed by giving getEsti...

Sebbi

The only possibility Baro_update() would never return 0 is when other stuff is taking longer than 10 ms ... i don't know how this could be the case. Is your average cycleTime higher than normal, e.g. in the 10000 range?

Sebbi

I recently installed a gimbal on my copter and was a little confused about the difference between SERVO_MIX_TILT and SERVO_TILT. I was able to get what each of those defines does from the code, but maybe there should be some documentation in form of comments

Sebbi

+1 ... my Leonardo (NanoWii) needs some byte savings, too

Sebbi

You can try

Code: Select all

baroGroundPressure = 100;
if(currentTime > INIT_DELAY) { // 10 seconds delay

or debug currentTime and INIT_DELAY ...

I don't get it why baroPressureSum has some value, but baroGroundPressure stays 0.

Sebbi

Hi, I attached my Multiwii. BaroPressureSum looks like is not 0, plotted to debug1 divided by 100 and shows around 19000 so maybe a really big number indeed. BR Adrian Your config.h looks pretty default and 19000 is in the correct range when devided by 100 (equals 950 mbar pressure). I'll try to co...

Sebbi

Well, I "developed" that part of the code on a mega2560 and it works for me. As long as baroGroundPressure is 0 the altitude will always be 0. Can you also plot/debug baroPressureSum on your copter? That should be around 20 times the value of baroPressure. You already wrote baroPressure se...

Sebbi

I had a version which combines gyro and acc readout for the mpu6050 (nanowii) that saves a few bytes, but it is not yet included in MultiWii. @nhadrian can you post you config.h settings and mabye debug the following values: - baroGroundPressure (should be whatever the ground pressure is, after 10 s...

Sebbi

Immediately after software update to R1232, GUI showed on ALT graph -25000m or something like that and a wild baro graph with ups and downs, then i rebooted and worked nice for a while, i was impressed how smooth worked. In this period I observer that wen calibrating giro, the ALT graph had a sudde...

Sebbi

Should have an online repo somewhere so people can easier check it out Some of the features would be nice for MultiWii ... Added it to the Trello board (m) as a single card, but really should be different ones. Do you see any chance to make those features (one after the other) into patches for curre...

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