MultiWii

mahowik

I did some more testing with mahowik's code today, tweaking the PID values. Getting there, but my current config reacts very aggressively against changes (you can hear the motors revving up and down quickly). There is a noticeable effect, but I'm still struggling to find the optimal values (it stil...

mahowik

Hi guys, Thanks a lot to all for feedback! As for now i have a vacation in Mexico an I'm far from my toys Also i have internet only on reception with my android so it's not so useful to write a lot... sorry... I think if you are going to include this to next release, it make sense to add it as exper...

mahowik

Tazzy wrote:How about to put the code implemented in a ready to try zip file, then i think a lot of none coders also will try it out and give some feedback.

Thanks for help!
You can just replace IMU.ino or take full sketch here http://forum.rcdesign.ru/blogs/83206/blog15204.html

mahowik

one more video from forum

http://www.youtube.com/watch?v=Y8bNG-pEXao

BMA180 & MS5611

mahowik

Many thanks for quick response! Without any tuning, and quite windy weather, it holds within one meter... .... MPU6050 and BMP-085 baro (whichs drifts by one meter already on the table...) within one meter in windy weather - it's very good results for bmp085 (its precision about +/-1m) even AFTER tu...

mahowik

Guys! Any news? Also I see very strange behavior of some guys here (like topic starter). Two weeks ago they screamed: "altitude hold is the weakest function in MWC!!!" etc. But now when real solution is provided, they even have not interest with this... Veeeeeeeeeery strange... jealousy or...

mahowik

can you see the right velocity on debug2 during the vertical movements? e.g. start move up with ~1m/s and stop after 1s you should see positive spike about 80..120 on debug2 try to test this when motors OFF (and then when motors ON) without alt hold activated http://www.multiwii.com/forum/download/f...

mahowik

timecop wrote:Also I'm not having very clear accZ effect - its there, but not as much as in demo video.

have you tried to check in GUI as I described above?

mahowik

copterrichie wrote:I get better than +/- 50cm with nothing but Throttle control.

E.g. you can keep with more precise on altitude >30m during FPV in wind?
@copterrichie: again especially for you! stop SPAM!

mahowik

if you are talking about sketch from this post http://www.multiwii.com/forum/viewtopic.php?f=8&t=2371&start=40#p22485, yes there are more changes, but related to the new alt hold - all in IMU.ino... I have a look to your code changes, seems it's ok. So pls. check the following: - cycle time ...

mahowik

Hi guys! All necessary changes for new baro+acc alt hold only in one file IMU.ino You can just compare this with official IMU.ino from 2.1 version with any merge tool and apply necessary diff where you want: dev or your own... 1) for ms5611 - pls. use IMU_ms5611.ino 2) for bmp085 - at first also try...

mahowik

Also here is little bit refactored version for ms5611 #define UPDATE_INTERVAL 25000 // 40hz update rate (20hz LPF on acc) #define INIT_DELAY 4000000 // 4 sec initialization delay #define BARO_TAB_SIZE 21 #define ACC_Z_DEADBAND (acc_1G/50) void getEstimatedAltitude(){ static uint32_t deadLine = INIT_...

mahowik

Update: I tried again with Ales's code, now I succeed, with the 5;0,030;30 PIDs it works great, even in windy conditions with GPS hold!!! Many thanks for the tests! Which acc and baro you are using? my current PIDs 5.2 - 0.020 - 30 @timecop: I also tried to test bma020+bmp085 yesterday (in GUI only...

mahowik

Today I flew with alt hold and I can say it is satisfying stable. It could be better but right now, I got the sweet spot. 20 cm of error. Video soon. Do you want to test baro+acc solution? http://www.multiwii.com/forum/viewtopic.php?f=8&t=2371&p=22485#p22485 As I remember default 2.1 alt ho...

mahowik

probably bmp085 no so precise and has big noise for this solution/approach... i will check in a few day...

mahowik

mahowik I will try to do a test of your code tomorrow. With old algo I can get a very good althold while hover. But It would be a plus if I can do dynamic movements at same altitude. one more advantage with using acc+baro algorithm: when you go up/down with velocity of 1-2m/s and activate alt hold,...

mahowik

Guys! Pls. stop this SPAM!!! This topic about alt-hold improvement solutions!!!

mahowik

Here is your statement:"Yes, expo throttle can help to keep altitude BUT not for long term and in calm..." How do you define LONG TERM ? In other words, what does Long Term means to you? I mean when you tune expo throttle in mwii from GUI (or on your TX) it's very simple to find the throt...

mahowik

copterrichie wrote:Define long term?

not sure that i understood the question...

mahowik

copterrichie wrote:Just curious here being what controls Altitude on a Rotor copter is the throttle, have anyone made any adjustments to the MWC's Throttle Curve? Personally, I get good altitude holding without the usage of a baro.

Yes, expo throttle can help to keep altitude BUT not for long term and in calm...

mahowik

I moved this code to baseflight and tried it out. Turning on baro just makes quad instantly shoot up in the air. I see some attempts at keeping altitude, but its very erratic and 'strong', I guess due to P=5.0. Changes are here: m I'm pretty sure I carried everything over same way - and I tried thi...

mahowik

Hi guys! This weekend I became restless again that we are worse than others! I have already tried and spent too much time 6-8 month ago without real success, but today I have collected all my knowledge again and made second attempt. In two words! Now I can say "I got real results with baro+acc ...

mahowik

pm1 wrote:And her a vido showing PH+Alt hold: https://vimeo.com/48646152

It's not quite correct to test algoritms based on baro data near the ground. Because if altitude less than 60-100cm you get -1..2m in measuring because of the air cushion effect there...

mahowik

Hi guys, if someone interesting, here is accZ calculation invarianted from inclination. It's projection of ACC vector to global Z axis (estimated by gyro vector G), with 1G subtructed: (I got this during a lot of discussions with alexmos on althold...) Math: accZ = A * G / |G| - 1G int16_t invG = In...

mahowik

Hi, ... - double integrated ACC data and errors accumulations... exactly my experience too. I did then concentrate on baro only, I denoise the input in a different way. I now have a D term, which prevents fast vertical velocity. In hover I it is as good as the baro delivers (sometimes I see jumps o...

mahowik

Hi, I have spent tooooo much time with alt hold improvements 6-8 months ago... And can say exactly that main issue is: ACC values should be double intergrated before correction according baro values (e.g. by using Complementary Filter) AND after that integrations it's far from the real distance... T...

mahowik

MichalM_sk wrote:it should work fine.

New PRE7.5 version available on my codepage.

Great!

So it means that it has auto recognition of RSSI type? I.e. analogue or PWM?

mahowik

Hi Michal,

Does it possible to support RSSI (PWM) in your project?
Some receivers has RSSI in PWM. E.g. D8R-XP http://www.frsky-rc.com/ShowProducts.asp?id=126

thx-
Alex

mahowik

I'm not sure, if I understood the byte stuffing method correctly, if not, can anyone explain me how it works??? Yes, it's correct. It gives possibility: 1) to pass 0x5E as data (not as header) with replacing it to 0x5D 0x3E 2) to pass 0x5D as data (with replacing it to 0x5D 0x3D) because 0x5D disca...

mahowik

i hope in r769 it stores the datas in eeprom already... last changes:

http://code.google.com/p/er9x/source/br ... /frsky.cpp
FAS100 fixes,Voice on A1/A2
fixes,Inactivity alarm fix,TelemetrEZ
support, flash saving

but need to try to make sure though...

Actually open9x in most cases the same or it's fully another firmware (features, gui etc.)?

mahowik

@tobi86: you was right... frsky receiver not so clever as I supposed before

I have success with passing GPS speed every 125ms...

mahowik

mahowik - there's a bug in the baseflight implementation of frsky tele and yours - you need to do xor-stuffing when the output sequence has 0x5e in it - check the pDF and er9x implementation for example. Ive been meaning to fix this in my code, not often occuring condition but still needs to be tak...

mahowik

- e.g. it doesn't make sense to send GPS_speed and Course every 500ms because frsky receiver will send it every 1 sec. No, YOU can decide how often the Datas will be send. Only if you use the FrSky sensor hub, the Datas will be send as defined in the source code of this hub. If you copy GPS speed f...

mahowik

So I tested this and can say that is works fine (take no more than 2-3ms in jumps!), but have not checked this in real flight though... I made some changes according to V2.0 of "Frame Protocol of FrSky Telemetry Hub System" m - e.g. it doesn't make sense to send GPS_speed and Course every ...

mahowik

You guys write about using a simple inverter for the TTL to RS232 (why Frsky, why?!?!) conversion. Does that really work? I mean you'd normaly need negative voltage for a 1 ... don't you? I bought a level converter that is really big, so I am interested in shrinking its size (and use your code for ...

mahowik

In the original MultiWii code only Serial Port0 (the port used for programming and config with the FTDI) is driven via interrupts. I configured serial3 in FrSky_telemetry.ino like serial port0 of the original Multiwii version. I don't use SerialWrite(). I use instead write_FrSky8() and at the end o...

mahowik

It must take much more than 10ms if you don't use interrupts and transfer datas with 9600 baud! 1 Bit takes 104 us --> 1 Byte (8 bit + 1 start bit + 1 stop bit) = 1 ms --> One Value (1 * Header, 1 * Data ID, 2 * Data) 4 Byte = 4 ms --> only GPS Datas with 10 Data IDs (Position 6, speed 2, alt 2) = ...

mahowik

Wow! Great job! Thanks a lot! It seems we are in sync with our investigation! Actually last night i have soldered an inverter (tranzistor + 3 resistors) and used the code base of this thread (but not yours yet ). I have played with "ALL IN ONE PRO Flight Controller v1.0" based on mega2560 ...

mahowik

I agree. All my MWC models have a Pro Mini and I didn't want to give up the GUI's serial port. With that in mind, I'm finishing up my FrSky interface and it involves a slave processor that acts as a I2C bridge. That is to say, the FrSky FAS-100 current sensor and telemetry R/C Rx plug into the brid...

mahowik

Hi guys,

Which Arduino IDE version is preferable to use for compile 2.1? I'm still using Arduino 1.0, but probably Arduino 1.0.1 is more right for some special features of 2.1?

thx-
Alex

mahowik

viewtopic.php?f=8&t=1598&start=50#p19562

mahowik

it seems I have found a bug. For new CRIUS_AIO_PRO_V1 board obsolete MPU6050_EN_I2C_BYPASS define is used... It should be new one MPU6050_I2C_AUX_MASTER #if defined(CRIUS_AIO_PRO_V1) #define MPU6050 #define HMC5883 #define MS561101BA #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH]...

mahowik

Solutions for better visibility in direct sunlight (stronger background) http://i49.tinypic.com/s16blf.png 1. Remove resistor shown in Figure. 2. If it is still weak, change resistor for background with value about 20 ohm. What is the resistor numbers from scheme here m need to be changed/removed? ...

mahowik

I just flew with Alex Hex6+ I wish I had put it on a switch for comparison, but can say it works fine. And subjectively it felt better flying. Last time it it just didn't feel quite right..... I didn't have that feeling this time. Shikra, thanks for the quick response! It seems we have found right ...

mahowik

about mixes and throttle expo: viewtopic.php?f=8&t=1973&p=18348#p18348

mahowik

Hi, I understand the coeff are not correct in the original version, but something seems wrong here because the weight of ROLL factor for 4&5 motors shouldn't be the same as the others. Hi Alex, I have got a couple of good feedbacks for these new mixes on russian forum: m m Actually the logic is...

mahowik

Where it's possible to download PRE7? I see on download page only PRE6
https://code.google.com/p/mobidrone/downloads/list

mahowik

viewtopic.php?f=8&t=1973#p17697

http://code.google.com/p/ardupirates/wiki/motormixing

mahowik

Nice to hear Alex! I found 2 bugs: 1) incorrect mixes for HEX6 and HEX6X. We have found out that it has not proportional weight/power for roll and pitch, e.g. for HEX6X: #ifdef HEX6X motor[0] = PIDMIX(-1/2,+1/2,+1); //REAR_R motor[1] = PIDMIX(-1/2,-1/2,+1); //FRONT_R motor[2] = PIDMIX(+1/2,+1/2,-1);...

mahowik

Hi, it is not possible to connect two devices to one serial port. You need i2c gps board to solute it. Hi Michal, But actually if you don't need configure/init (with PMTK commands) GPS from arduino (or crius etc.) it's possible to use only TX from GPS and RX on arduino side accordingly. So we have ...

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