MultiWii

alexmos

It seems like ADNS for me too. If it is from adns-family - it should have digital output, so could be connected directly to arduino as I did it. Try to look at datasheets in Avago site to find precise sensor name by pictures.

alexmos

Sonat uses the same Alt-PIDS as baro but it can be increased in config: SONAR_BARO_PID_GAIN Default is 1 (means increase by 2) Try P=5..10, I=0.010, D=20..30 will your sonar and opticalflow code also work with Mega ? No, I have not tested with mega. Potentialy it can but need some tuning. And I don'...

alexmos

LuFa,

probably you are using Arduino 1.0 IDE? I have added mod for it, now code compiles in 0022 and in 1.0. Changes on SVN.

alexmos

Hi, Tifani! You can upload images to any image or file hosting. It is only way to attach image. You mind working right - when frame tilt, picture is moving. There is some math in the code to take it into account. I have added digitalWriteFast.h to code directory so it should compile wuthout extra in...

alexmos

I have uploaded latest version to SVN (r21). Now I am using DigitalWriteFast library for faster SPI communication. I had some tests today: - It works without sonar, with baro only - It works on high altitudes, but weaker - It well comprensate wind (even strong), but need some time and space to stabi...

alexmos

Hi, has anybode already successfully tried it with an adns 3080? Could be a nice idea to use it with atmega 2560-arduino (flyduino), because the ISP is normally not used, so you need only 1 extra pin, if I understood it right - whatever "NCS" means... Hi! You are right - on Mega ISP is fr...

alexmos

My lense has 8mm from its center to focused plane. I didn't test any other lense, but think 6..10 mm will work, too.

alexmos

Tifani wrote:Hi !
Idea for lenses+enclosure - some webcams go for $5
Tom

Anybody know which lense (focal length) used in webcams?

alexmos

sandmen wrote:this sonar code is working on mega, maybe integrate into your repo

Where is sonar code?

alexmos

What test program do you mean? I have used mousecam util (uploaded few posts above) to see image from sensor. Point lense to bright and contrast object at distance 2-3 m and ajust lense to take sharp picture. It should be all in focus for distance 30cm - infinity. The way you choose is not precise.

alexmos

It's more stable, less jerking. And some errors foud and corrected

alexmos

Good news, LuFa

Today I have tested my code for position hold and it works fine! So I have finished working on it and now starting merge with 2.0.

alexmos

My question is, about your repository. - You have integrated into your repo, sonar and flwo control , based 1.9. Is that correct? - Is your repo working with mega (flyduino) ? or What board/mcu do you use? - Where is your repo ? - Do you plan to merge it with 2.0 -yes, based on 1.9 -sonar will not ...

alexmos

You can connect almoust ANY mice sensor to arduino All you need - to add some code into OpticalFlow.pde to read delta_x and delta_y according to the datasheet, and properly convert them to mm. All other mathematics and PID control things are the same for every sensor I have selected ADNS-5050 only b...

alexmos

Y = PITCH - Forward direction of other sensors, X = ROLL

NRESET should be HIGH. I have connected it to +5V (don't know is it safe, but works)

alexmos

https://www.google.ru/search?hl=ru&q=adns+2030+pdf - the first link is what you need

But it is much more complicated to connect this sensor to arduino (3.3V, many electronics required)

alexmos

I have downloaded mousecam from m They says: "You can download the Arduino script and the PC program below. The program is in java and requires the RXTX library to be installed. You need to get the "RXTX 2.1 for use withOUT Sun's CommAPI (namespace gnu.io)" version. No, as of 2008 jav...

alexmos

LuFa wrote:thanks

can you tell me how to run the Java Gui ?

It is quite simply - download and install Java (JRE from Sun.com). And run "mousecam/bin/run.bat" (java.exe must be in the path environment).

alexmos

copterrichie wrote:I have a question, are there some mouses/mice that also have this chip? If true, will the lens work for this project?

No, I don't know where this sensor was used. I bought it in electronic shop. Mouse lense will not work, it has less focal distance than needed.

alexmos

Hi , Some ADNS5050 are on the way to me But i have some questions : - which Lens is the best one ? - How to adjust the Lens ? is there any kind of video quality output in the code ? - Can you upload the 2.0 with your optical flow ? because i use the MPU6050 - which PID Values are good for the first...

alexmos

Alexmos which sonar do you use? Is there any good cheap supplier for ADNS-5050? I have bought it on ebay under label "HC-SR04". But it is slightly differs from specifications I have found in net. I suppose any analog sonar with Echo and Trig pins will work with my code (I have added many ...

alexmos

Dear Alexmos, the same question as from LuFa. What do you think, is it possible to use the ADNS3080 (with optical lens from DIYDRONES Store) with a 328P in a hexa, if PPM receiver is used? The other question is that I'm using an XBee module for telemetry, so RT/TX is used. Does it cause a problem f...

alexmos

nice work ! is it possible to juse your code with Hexa with PPM Receiver by activate A0/A1 to get the SPI Pins free ? have order some ADNS5050 You can connect sensor to any 3 DIGITAL pins, because I am using software SPI without interrupts, etc. As I know, A0-A5 may be used as DIGITAL pins. So answ...

alexmos

because of the way a multi-rotor copters has to tilt the airframe, placing the optical lens on a gimbal may increase the altitude. That's right, it will help a little to improve altitue range. But it requires option in config to disable tilt compensation in calculations and very precise gimbal need...

alexmos

Altitude holding by sonar sensor. It has 0.3 cm precision by spec, so with strong PID it gives very good results on low altitudes.

I have implemented ideas I sayed above, all code on SVN. But have not tested and I am afraid can't test it on this week

alexmos

And also I want to try a potentialy useful idea: when I-term will hold informatin about wind (i.e. the angles of inclination to compensate wind), we can use it in flight, not only in position hold mode.

alexmos

I have made only one outdoor test, there was no wind. But I think it should compensate even strong wind, due to I-term of PID regulator. In rotation, sensor will not give any data or will give wrong data - so rotation is hard to compensate for it. But I have not tested it. In windy condition, after ...

alexmos

Also notice, that ADNS-3080 requires additional PIN (total 4 pins) compared to ADNS-5050 (total 3 pins) for SPI-communication, so firstly check have you free pins to connect sensor? (I am using Serial Sum PPM so has 3 extra pins in my ATMEGA 328P)

alexmos

Yes, there is full assembled sensor for sale, for example m. ADNS-3080 is better than I have used, and lense is better - so it should works fine. But it requires a little code modification to handle it (reading data part in OpticalFlow.pde).. If anyone will buy it - I will help to implement. There i...

alexmos

This is awesome and I strongly believe this is the system used in the Flymentor. By Chance, have you tested the range or altitude ? Thank you. In my code, starting from 2 meters, if altitude increases - stabilization effect decreases proportionaly (because no trust for sensor data). But I have noti...

alexmos

Just for fun, i have implemented position hold. It uses ADNS-5050 as low-cost 5v sensor with simple connection. Lense is from chinese laser pointer (about 9mm focal length). This mode is always on, but start working only when sticks are in their neutral position - so full manual control is retained....

alexmos

thornton wrote:I tried it today in acro and in stable mode (2.0 pre 3). Wonderfull!.
It makes life easier for beginners! Should be for everybody, not only coders!
Thanks a lot.

I am beginner, too

I had made this mod after some unsuccesfull attempts to get altitude under control with my simple Tx.

alexmos

Hi @alexmos. Would you share your code for throttle stick altitude control when Baro is enabled? I will merge it (if possible) with V2pre4 and post my experience. Cheers H. Yes, but there are few errors in my code. I will finish them soon and share revision r16 after some testing. After that, I wil...

alexmos

First, thanks a lot for this wonderful program multiwii to everybody developing it! Throttle_expo helped me very much as a beginner and i wood like to use it again. I have just a short question: Is it still save to use throttle_expo with the latest versions of 2.0? Thanks in advance I have not test...

alexmos

Hi howadhb! You question is outside of this topic, because throttle expo does not control altitude, it just helps to get more precise throttle stick in the range of flight. You question is more related to AltHold mode. In this mode, in my vision, throttle must switch to altitude control, as you wrot...

alexmos

I am impressed about functionality of SRF08! Now I think it's price resonable. When you finished implementation to code I will buy one to try About my code: I have found a big problem in my sonar-baro fusion: if sonar gives wrong altitude (due to noise in power), my copter have tend to go very quick...

alexmos

Hi! Below few words about my experience working with sonar.I have an analog HC-SR04 but think it is suitable for all sonars. 1. A small pause (minimum 50 millisec) between two succesfull measurement strongly required. If no - echo from one will interference another. Check specifications, is this pau...

alexmos

Sorry, but Hexa needs more interrupts than quad, and sonar uses one of it (on 328p chip there are no free interrupts in this case). Try to disable sonar. If sonar will be added in oficial release, may be it will be compatible with hexa.

alexmos

Can you tell me how to aktivate the Sonar Sonar is activated when system starts. In GUI, "debug1" variable should show sonar or baro data (if ALT_DEBUG defined in config.h). Sonar switched off only in PASSTHRU mode. I have found now, that current GUI (or any previous, downloaded from Mult...

alexmos

Then there is definitely something wrong in my setup. I could not get the BARO to light up in the GUI, STABLE and ACC would fine though. But the copter would want to take off into the sky once I flicked my AUX1 switched, even if I didnt have any mode boxes on. Wierd. I will look into it and report ...

alexmos

And try to disable THROTTLE_EXPO - this mod is not related to alt hold! This is only trottle curve correction.

alexmos

Hi alexmos, No luck here. Copter just flies away (into the sky). I adjusted the THROTTLE_HOVER/SHIFT to 1275 which was my throttle just before the copter would take off. Maybe it's just my PIDs are way off. I left P as default 4.7. TRUSTED_ACCZ is enabled. I am using the BMP085 like your setup. Als...

alexmos

After this calibration, I get 1G=255 for every angle for every axis, and my AltHold working much better now! I'm working now on Alt. hold, so have a question. What altitude hold method are you using? Old 1.9, new from dev or own ? I use my own, but it is very simular to ziss_dm method that was in o...

alexmos

Hi guys! Here is my alt hold implementation: m It is very simular to ziss_dm method introduced in 1.9, but it was developed independetly and has some nice features. The main target was to get STRONG AltHold in fast flight. I tested it with baro BMP085, acc BMA180, sonar HC-SR04. You can freely use a...

alexmos

Error when compiling. Sorry, of course you need to add global variable accScale: in MultiWii.pde: replace static int16_t accZero[3] = {0,0,0}; with static int16_t accZero[3] = {0,0,0}; static uint16_t accScale[3] = {0,0,0}; // sensivity correction (1000 for acc_1G) To write accScale to EEPROM, in E...

alexmos

May this also kill the level drift over time that occurs on my quad? As it feels as some variables (pitch and roll) do constantly drift off over time. Could this be related to the vector misbehaviour? (ITG600 [orig. WMP+], BMA180, BMP055, HMC5883l ) Wich version of multiwii do you use for this mod,...

alexmos

Hi! I have spent a lot of time debugging my own AltHold implementation using baro, sonar and acc and found, that badly calibrated ACC tend to wrong AltHold in fast flight. Currently we have pretty simple ACC calibration in MultiWii - it good caibrate Z-axis, but zero on X,Y axis strongly depend on o...

alexmos

I agreed with Alex - it is not a good idea to get D-part from noisy baro. Accelerometer is the best source for D-term. To get real effect of Alt Hold in real flight, you will need much stronger PID settings.

alexmos

Hi! Good job, I am waiting to see it in next release! Please take a look on my ideas to improve: in some setups magnetometer is too close to power wires (battery, ESC). When they fully loaded with current (30 Amps for general setup) it makes a noticable inflation on the magnetometer. So, I think it ...

alexmos

My attempt was completely failed. Conclusion: 1. We can get linear acceleration from Gyro+Accelerometer. But it is very noisy, because errors from two sensors doubles (unlike complimentary filter used for attitude estimation, where two sensors compensate each other). And it is not stable around zero...

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