MultiWii

mahowik

Hi guys, Sorry for delays... My plans was little bit changed... To be honest I did enough for the mwii project and comunity and it's time to do something for myself... So now I'm trying to copy naza behaviour related to AH functions and altitude ascend/descend and going to distribute (individually)...

mahowik

kipkool wrote:As Multiwii is GPL, binary distribution without source is not an option, does this means you will develop a new flightcontroller code from scratch ?

nothing decided exactly yet... but in any case thanks for the info...

mahowik

what you are not surprised?! You know me very well?

mahowik

Hi guys, Sorry for delays... My plans was little bit changed... To be honest I did enough for the mwii project and comunity and it's time to do something for myself... So now I'm trying to copy naza behaviour related to AH functions and altitude ascend/descend and going to distribute (individually) ...

mahowik

dramida wrote:Right now i have issues with arming the copter ...i wrote earlier about this.

I have not reproduced this issue with my AIO...

mahowik

I think something works not as expected in this protection routine, i can assure i wasn't in baro mode and all i had to do was to try a few times and then armed... ok... thanks... I will re-check at home... BTW what do you think on this http://www.multiwii.com/forum/viewtopic.php?f=8&t=2371&...

mahowik

It works fine that release. One point to mention, i observed in this last version that arming the copter with yaw right in not always working. Sometimes when i try to arm the copter, i hear a very short beep and green led from Crius AIOP blinks also shortly. Nothing happens after. After several ate...

mahowik

I tested in-flight altitude hold and in does a far better job than previous R1170. For me was good enough the altitude hold behavior during fast flight. I can see it compensate the throttle when leaning also. Improvement: setting hower throttle to the point where Alt Hold is activated is strange , ...

mahowik

I wonder if your solution will do a decent job on keeping the altitude during movement (real flying). In my 2.1_B[x] releases I tried to play with with solutions (my own and from alexmos)for throttle angle correction: (+) it works for fast forward flight (-) it make a big jumps (3-5m) when you chan...

mahowik

And here is the video in witch the variation of altitude is controlled by throttle stick position Many thanks for nice demo! Only one note here. Althold point/zone - it's where it's activated, but not center position. So I will add VARIO code to MultiWii_shared branch and will reduce pids to 15-10 ...

mahowik

I just tested the latest archive release with vario. It works very good with default pids. The video will post this night. A must se video with gps hold and vario baro mode and autolanding. Wow! Thanks a lot! Nice to hear that it works from first implementation attempt! And yes, with vario controll...

mahowik

svn revision: m prepared archive: m Today I tested the r1248 with my 330frame X4 the BARO working fine. Many thanks! I think you was first I hope you are talking about testing "prepared archive" or "svn revision" from links above? i.e. not just r1248, because it hasn't latest ch...

mahowik

1. I noticed a bad flickering, is there a known reason why the OSD is flickering randomly and is invisible sometimes for a few moments, which connection can be the reason. like this m ? http://www.multiwii.com/forum/viewtopic.php?f=8&t=1498&start=160#p24580 2. I believe the artificial horiz...

mahowik

now alt hold is very good in AP mode (ALTHOLD_FAST_THROTTLE_CHANGE commented out) but it's very slow to control height with throttle stick outside deadband. In that solution vertical speed can be regulated by ALT D pid param. I suppose you used D>50. Try to use 30..40 In my config with ALT D=30 max...

mahowik

I'm going to add this code to my branch soon... Done: 1) Vario PID controller implementation. /* In this mode, throttle stick position gives a desired vario. Regulation is divided into two parts, when throttle stick is inside ALT_HOLD_THROTTLE_NEUTRAL_ZONE, * the current althold regulation is used....

mahowik

Hi guys, First of all thanks a lot for your ideas and tests. Sorry for delay... unfortunaly I have a lot of work now... Nice to hear that solutions for alt changing works and you found lots of points to improve! But as I told before that solutions more or less acceptable... So I would like to say th...

mahowik

MichalM_sk wrote:Hi, on the first page is link to the schematic but there are some small hardware modifications at this time.

Is this last scheme?
http://www.toptel.sk/multicopter/downlo ... 0_schm.pdf
If no, could share the last one?

mahowik

Don't download or even look at my version m. Could you upload your ZIPs here, because I had some trouble to register on German resource changing the throttle relative to the throttlestick middle will not do a good job If you are talking about first solution (2.a) from link below I found it useful f...

mahowik

diyboy wrote:Is this new routines already implement to MultiWii_dev_r1232?
Can i test it with MultiWii_dev_r1232?

I have merged these solutions with last MultiWii_shared sources... you can take it here http://code.google.com/p/multiwii/sourc ... %2FMahowik

thx-
Alex

mahowik

doughboy wrote:perhaps you got a bad sonar.

It seems all my five sonars are broken...

Last time: just check raw data from sonar but during the inclination make sure that sonar (but not copter) at the same altitude

p.s. pls. look to the directional diagram (beam pattern) http://jaktek.com/wp-content/uploads/20 ... C-SR04.pdf
It helps to understand why...

mahowik

doughboy wrote:or you care to explain why it does not make sense?

As I wrote before... You can see that sonar has a conus-emitter which generates divergent beam... this why it independent for some angle range...
and just check raw data form sonar and you will see

mahowik

tried on concrete floor, with hcsr 04 and srf08, raw reading wasn't at all the same.... may be at 10cm of the floor with ground multipath reflection, but at 1m and more, raw values aren't the same at all. And with tilting correction, readings became stable and precise even with tilt more than 30°/4...

mahowik

I prefer to work with dev files R1177 would be fine, i like to test pls. use the following define in config.h to switch between "alt change" solutions: // Natural alt change for rapid pilots. It's temporary switch OFF the althold when throttle stick is out of deadband defined with ALT_HOL...

mahowik

copterrichie wrote:Why not try two sonars (forward and aft) and compare the two readings? Yes, it is more weight.

you can try, but cheap sonars (like hc-sr04, dyp-me007) need to be handled with interrupt... so if you have resources on your board for this, why not

mahowik

tried on concrete floor, with hcsr 04 and srf08, raw reading wasn't at all the same.... may be at 10cm of the floor with ground multipath reflection, but at 1m and more, raw values aren't the same at all. And with tilting correction, readings became stable and precise even with tilt more than 30°/4...

mahowik

how much did you set your dedaband for althold in config.h file? #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 20 - default value It depends on expo throttle which is set in GUI... As for me comfortable expo throttle = 35 and ALT_HOLD_THROTTLE_NEUTRAL_ZONE = 40... It helps to find hover point after altitu...

mahowik

Or give us a link to your repository/branch instead ... copy & paste is error prone yep I'm still going to create repo for my own (already 4-6 month) Would it be possible to calibrate acc_1g with the barometer during normal flight? Alexmos implemented this way to find bias (during normal flight...

mahowik

dramida wrote:I would very like to test the new routines, Alex please tell us where should we copy-paste and what to delete

What version you would like to test? Dev or 2.1?
I can prepare ZIP file

mahowik

arducopter use tilt correction so i think it worth a try As I remember it was commented there... In any case I'm pretty sure and I checked this with at least hc-sr04, dyp-me007 Just do simple test... Start to tilt slowly and till 15-25 degree raw altitude value will be the same... after 15-25 it st...

mahowik

Hi guys, Just to summarize couple of mandatory things which should go with new althold: 1) I made set of tests and can confirm that even mpu6050 requires correct acc_1g offset before motors ON. It helps to keep accZ (and calculated velocity) near zero even with big temperature drift... Tested with d...

mahowik

The only erratics values was above 4/5m where tilting correction gave more wobbly readings. #ifdef SONAR_TILT_CORRECTION float temp = cos(float(angle[1])/10) * cos(float(angle[0])/10); temp = max(temp+0.05, 0.707); temp = constrain(temp,0.707,1.0); temp = (float)sonarAlt * temp; if(temp<sonarAlt) s...

mahowik

Mac9, please stop your fairytales... Not all people here have so good english... As for me I even couldn't translate your posts... It's much better to spent time and read the thread (at least last 10 pages) to resolve your issues related to new althold, than do SPAM here...

mahowik

Hi Sebbi !
It's really quite cool what you are doing! Don't stop on this! Thanks a lot!
You know, if you doing this OPEN, a lot of eyes see you...

Really, I'm very appreciate on your effort! Many thanks!
Alex

mahowik

Your change to my code have one dangerous situation. If you arm the copter before "count" reached zero, the count variable is zeroed, and "measured1G" variable is not divided by 8. Then you substract crazy value from accZ. It's very toughly... Also one more issue if do this only...

mahowik

That's an interesting bug. I added it to the unofficial Trello board (m). I am not familiar with the GPS code, but after a brief look my theory is: The whole position hold algorithm is based on velocity derived from GPS locations and a target velocity derived from the relative position error. It th...

mahowik

Controlled rate of climb/dive by throttle Could you describe in details how you see this? More throttle (from point where althold was activated) => more climb vertical speed? As for me it works in my b2, b3... has some lag but good for smooth altitude tuning, i.e. not for rapid acro fliers Auto-lan...

mahowik

shikra wrote:Alex that is very cool. looking forward to the vid.

Which sensor do you use?

Tried with HC-SR04 on the fly and DYP-ME007 in GUI... Still need to clean up some points and will post the code soon...

mahowik

Just suppose that is my 2.1_b3 release viewtopic.php?f=8&t=2371&start=240#p24677 but it hadn't sonar code yet

sonar code is here viewtopic.php?f=7&p=25067#p25067

mahowik

JFSebastian wrote:Guys, this thread is getting very confusing.

What version do I use if I want alt hold that works?

Sebastian

if you want just try pls. use last dev http://code.google.com/p/multiwii/downl ... akechanges

mahowik

Hi guys, I have spent a lot of time this weekend to play with sonar solutions... About implementation from penpen77. I have found our at least 2 main issues with this approach: a) it's requires to average only correct raw sonar data readings but not 9999 b) there was not workable mix from sonar to b...

mahowik

1) could very well be, have to confirm is EstAlt was lagging behind ... but the copter was hovering for a few seconds before I activated alt hold. Will try to log that behaviour tomorrow to confirm. I think, but not sure that altitude drop after switch althold on can be caused by 1G constants diffe...

mahowik

ok, you have velocity in earth frame. What is next? next it's possible to improve gps velocity and increase precision of position hold (PH) http://www.multiwii.com/forum/viewtopic.php?f=8&t=2503&start=10#p23631 so about solution for PH... i see the following: 1) get global x, y axis... actu...

mahowik

Hi Alex, 1) could very well be, have to confirm is EstAlt was lagging behind ... but the copter was hovering for a few seconds before I activated alt hold. Will try to log that behaviour tomorrow to confirm. 2) and yeah, i noticed in another flight that the code counteracts whatever I do with the t...

mahowik

I'm going to post it with b3 soon... Hi guys, Here is b3... Also RTH video with ALT_TO_RTH (If Alt-hold activated during the RTH or RTH during Alt-hold, it will keep specified altitude... =10m in config) and ALT_TO_RTH_FINISH (altitude after RTH, i.e. when copter reached to home position... =3m in ...

mahowik

mahowik, I tested your baro code (the part that is in dev _shared) today and made some observations (using default alt PIDs of 5.0 0.020 30): 1) as soon as I activate alt hold the copter drops 1-2 meters 2) it did hold the altitude somewhat by not going below that initial drop, but gained altitude ...

mahowik

Hi guys, On these weekend I have fixed some bugs in b2 and made RTH video with ALT_TO_RTH (If Alt-hold activated during the RTH or RTH during Alt-hold, it will keep specified altitude) and ALT_TO_RTH_FINISH (altitude after RTH, i.e. when copter reached to home position). 2- Altitude control (up and ...

mahowik

if you want to try alt hold you can use any version specified above...
If you can't to get it working, see this viewtopic.php?f=8&t=2371&p=23923#p23819

mahowik

MichalM_sk wrote:Hi, there are some noise (sinchronisation) problems with your hw configuration.

I have reproduced this issue (one to one) on my hardware too...

Also I have found out that is not possible to turn off bat2 by config... //#define BAT2

thx-
Alex

mahowik

yes, for r1143 you should apply this fix viewtopic.php?f=8&t=2371&start=210#p24276

mahowik

My 5 cents here Right mathematics w/o approximations and simplifying it's good but actually I suppose you will get only cycle time increasing, because: - gyro drift much more than inaccuracy by approximations (as I remember from playing with itg3200) in current implementation of rotation matrix - gy...

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