MultiWii

Basically, the auto level is a superposition of the user input stick + a proportion of the computed angle. It acts as a virtual stick input. The autolevel term defines the angle proportion. I'm working on another approach taking into account another term: the lateral acceleration which is independen...

Hi,

I try to avoid float variables when I can as the float are much more slower to compute than integers.
It's the key to keep the cycle time low, and to keep the code size small.
It's not always possible due to overflow risk or precision.

And yes, I'm french too, living in Paris

Hi, I's very dependent to the hardware choice. It can be something between - in the best case around 1.8ms (WMP only conf or ITG3200 with a I2C speed at 400kHz) - in the worse case up to 6ms (WMP+NK in interleaving mode with the obligation to wait at least 3ms between each read) - around 3.3ms with ...

If the wobble is large in amplitude, the autolevel strength is maybe a little bit too high.
If the wobble is fast, the P term is maybe too high.

Hi,

It's maybe due to the precise order of command.

To be sure to enter in the config mode:
it's better to first put the elevator up/forward, maintain it, and then full yaw right.

Hi, If you have a LLC, I think you should enable the pullups. Otherwise it won't work. About the compatibility, the shield PIN compatibility is ok, but: - the sensor orientation is probably different - the I2C address of the ITG3200 is different => you will probably have to adapt some signs in the c...

Hi,

The resolution is not very good with the ACC of the 5DOF, but the loop time will be better.
=> WMP + 5DOF is probably better
roll = x ; pitch = y ; yaw = Z

I think it's time to release the version 1.6 list of differences with the 1.5 - MIDRC in a #define configuration : allow to choose another stick center position for specific TX - Free Flight IMU integrated , designed by Jussi (see specific rcgroups topic). Front orientation = Y arrow - Gyro ITG3200...

something like this: motor[0] = rcCommand[THROTTLE] + axisPID[PITCH]/2 - YAW_DIRECTION * axisPID[YAW]; //REAR_R motor[1] = rcCommand[THROTTLE] - axisPID[ROLL] - axisPID[PITCH]; //FRONT_R motor[2] = rcCommand[THROTTLE] + axisPID[PITCH]/2 + YAW_DIRECTION * axisPID[YAW]; //REAR_L motor[3] = rcCommand[T...

For the moment, the baro implementation is very simple and might not work very well (huge altitude variation). It acts as a virtual celling at the altitude where it is activated. => once activated, you can go full throttle and the multi would be able to go only few meters higher but no more. I think...

I think an octo with 2 quads (one + and one X) would also give a good result for a full redundant system.

Hi, I think it should work like this.
But you'll maybe have to apply a weight coefficient on the 2 rear motors. (I would say /2)

Maybe a suggestion:
You could use 2 multiwii boards + 1 PPM SUM receiver.
- 1 board for Y6 with 4 or 5 channels
- the other one for cam with the remaining channels

Or switching to a seeeduino MEGA...

It would be nice, but there is an exception for HEX6 or Y6.
No servo can be driven with these setups, because all the timers are taken to drive the 6 motors.

For other 3 or 4 setups, yes there is no more servo limitations.
It should be possible to activate tilt ROLL+PITCH +cam trigger

Yes,
It's possible to drive a servo from any free PINs, analogical or digital.
a cam trigger option is coming

Alex, you may want to paste a short message and a link in the bottom of your RCG replies to remind people to head here. The WMC thread on RCG is still pretty busy, which means this forum hasn't taken off yet. Probably because many of the heavy users missed your post? spag You're right, I indicated ...

Hey Alex, I think many people will end up mixing 2 two position switch, so there are 4 ranges.... What I'm getting at, why not set up for 4 values, then you could set the 3rd and or 4th off scale say range (0,0)(0,0)(1000,1500)(1501,2000) for 2 position, etc... or just a check box to disable a rang...

If this chip is based on the ITG3200, it should be very good.
I think the WMP electronics should offer a transparent mapping of signals, whatever the sensors ITG or IDG.

Is it with WMP + other I2C ACC ?
If it's the case, there is a known bug in the WMP/NK recognition function.
Point65 found it somewhere in the huge rcg post.

I dropped count to 3 as the GY401 outputs 270hz, seemed like the right value. I also removed the smoothing per Alex's suggestion as well. I would say it's almost as good as the gy clone at this point. I made a hat cam today and here's a little video I played around making: http://vimeo.com/19152816...

I plan to implement something like this with ranges for mode channel (AUX1). [1000-1300] [1300-1700] [1700-2000] For each range, customizable via checkboxes in the GUI: ACC/ no ACC baro / no baro compass lock / no compass lock Maybe another AUX2 RC chan if available with only 2 ranges to refine the ...

Yes, it's a risk.
I don't think it's negative for nintendo, but I would find immediately another name if needed, even if 3 letters merged inside a word is probably a very subjective similitude.

They won't be in stock for a long time
http://www.hobbyking.com/hobbyking/stor ... tegory=313

Nothing is definitive for the moment. I think it could be a good idea to keep the Aeroquad disposition for motor and RX management, because it would be easier to have a ready to plug shield and vice versa once the FFIMU will be ready My first suggestion on the dev version 1.prebis6 was: PPM_SUM 19 (...

@Centurian I'm not sure it is a servo update rate problem. You can try to de activate the smoothing function on yaw Just remove: gyroData[YAW] = (gyroYawSmooth*2+gyroData[YAW]+1)/3; gyroYawSmooth = gyroData[YAW]; It should improve the response, but with many glitches. I'm sure it's possible to suppo...

I started to migrate the multiwii article on radio-commande.com on this site: m with separated sections, and a FAQ section with important links. I will set a permanent redirection is few days to keep updated the existing links over the net. The current forum will be merged properly as a section of t...

I think the yaw command response could be improved. for tri: There is currently a small smoothing function on yaw gyro to avoid too small movements on the servo. I suppose it does not help the HH precision, it's a compromise. for quad: there is still a yaw jump sensation I managed to reduce is the l...

I think most 2.4gHz receivers are type 1, 2 or 3.

But for other 35/40/41/72 mHz receivers, there is a "type 4": signal is an anarchical low and high state stream. It's at least the case with old R700 receivers from Graupner.

I started this forum because different information was too much merged inside a single post. It's difficult to develop each days 5 pages inside the same post and to follow a bug code discussion merged with a picture & video stream or an ESC problem. I think each topic deserves its own flow. As s...