MultiWii

nhadrian

Hi,

does anybody have a shematic to Crius AIO Pro V1.0 or V1.1 board?
If so, could you send me to nhadrian@gmail.com?

Thanks in advance!

BR
Adrian

nhadrian

I have also interresting problems. When only vbat is used and connected to A0, it have rock solid voltage reading (through resistor divired of course). BUT! If I connect current sensor to A1 and (/or) an RSSI, the voltage reading also gets jittered, AND the value is less by 8-10%!!! (for example at ...

nhadrian

Maybe someone know what units are uses in vario? Hi, cm/s is the unit for vario. I think a ymall indicator would be even more useful like print out the number. Ie. a circle when vario is 0 (between +-5 cm/s for deadband), and draw an arrow over or under the circle if rising/descending. Could be eve...

nhadrian

scanman wrote:thanks this code is fantastic .
please can you move
#define FAILSAFE_DETECT_TRESHOLD

into config.h in your codebase instead of in RX because i change this for my frysky every time

Hi, I moved into config.h, good catch!
I'll include in my next release.

BR
Adrian

nhadrian

Hi, I attached my r21 code based on official r1371 Multiwii release. Changes: - optflow function prepared - struct for failsafe variables - stored WP number can be defined to any value - I2C HOME/HOLD upload via MSP (not flight tested!) - minor BUGfix in MSP caused WP16 not always set - minor cleani...

nhadrian

Great ! Maybe this can be added to shared? (If it works) I assume that you can't use WP16 to set position hold position? So maybe will be better to use WP15 instead of WP1 to avoid problems in the future? Hi, I'll add to my code soon. BTW, using WP16 is still not logical for me!!! It limitates the ...

nhadrian

Ok, I added setting home/hold from serial support for I2C gps. m Thanks. I'll look after soon. BTW, I have success with ADNS 3080 motion sensor and with demo application!!! With the python-based image grabber I can see the grabbed pictures now!!! So I think now I would be able to add the 3080 handl...

nhadrian

[ I don#t think of recording whole Flight, only last position, overwriting next time again. I think with FPV Orientation is not so easy and there is easily something between RX+TX like Hill / House. Failsave with direkt Line return would end in an Crash, because there is something in between (Hill ...

nhadrian

Ignore my post. I did not see the modifications in GPS.ino. sorry for this. Hi, no problem! BUT! There is a new option in BART's EZ-GUI android app. It lets you send new WP for HOME/HOLD+altitude, via MSP. It works great in the air with serial GPS, but is not implemented to I2C_GPS. If you are inte...

nhadrian

Hi, it looks like FTDI has support for USB ftdi devices!!! m Bart, what do you think about using FTDI UART/TTL for general MWI connection? (could be used for either 3DR modules, direct cable connection, XBEE or any other UART/TTL compatible methods...) And I think many of us already have an USB FTDI...

nhadrian

Hi,

I'm also interrested in!!!
I have an Advent Vega with custom 4.0.4 ROM, and USB-A with host mode possibilities (I can play videos directly from USB pendrive, to HDMI output...

).
So this definitelly could be used with 3DR!

Maybe a tablet layout also would be great for 10' tablets...

BR
Adrian

nhadrian

first of all: congratiulations, this mod is great, many good ideas, and they are working, very good work. Safety for the Copter in mind, I have two Ideas: ... Hi, first of all I'm glad to hear you are happy with my code. About last copterposition, there is far small memory for continous recording t...

nhadrian

Sorry, I am a little bit confused. I have a I2C NAV with CRIUS GPS v2. It seems to work PH and RTH modes. But.... - Would this "mod" work with my card or only with ATmega2560 proccessor? - Are you going to release a new versión merged with MW v2.2? - Is this a mod to be included in future...

nhadrian

Hi,

I tried many variations of PSENSORFREQ up to 40 (25Hz) but still the same. If sensor is connected, it jams the vbat reading too. Any suggestions / idea?

BR Adrian

nhadrian

the link to the wiki page is in the config.h section - you copy&pasted it yourself in your post. Why do you choose pin A1 for psensor pin? If you find the description difficult, please enhance it - documentation is a continuous wiki effort. Hi, I have Crius AIO Pro board. Till now I only had vb...

nhadrian

Adrian... about sonar... how about the SR-04? it's much cheaper and working Hi, I don't have any sonar but I'll receive one Maxbotix soon. So I'll try that one first... It has analog and PWM output so really easy to use... BTW, SR04 is cheap indeed but STILL there is not any support in official Mul...

nhadrian

Hi All, I attached my r20 revision: - intorducing Autoland checkbox item/function: http://www.rcpilot.hu/users/441/18661/b_201303091649144715.jpg - right now autoland uses only BARO, it means THE GROUND SENSING IS JUST CALCULATED!!! - Autoland works only with GPS / valid GPS data - Autoland activate...

nhadrian

Hi it tried the failsafe on the bench with the props off, it works fine without the NHA defines - motors spin for 30 seconds then disarm, however with the NHA defines, the motors only spin for 3 seconds then disarm, is this correct behaviour? my settings are attached. Hi, If you don't have valid GP...

nhadrian

really rocks...great job!!!

nhadrian

Hi Michal,

Just another wish, could you add the option of reading vbat, pmeter and RSSI from MWI instead of sensors via MSP?
Then all of them could be handled via MWI generally...

BR
Adrian

nhadrian

This is my PIDs. They from Mahowik firmware. I thing for FPV its good PIDs. Hi, PIDs hardly depend on the configuration, for example I have P7.0 I60 D70 for my copter, but this is a really small Y6 with 500g AUW.... What I was saying is that if the alt PIDs are tuned well for hovering, it is good f...

nhadrian

Leon11t wrote:I just got out of the field! Tested your firmware. Alt Hold works just fine. I did not feel the difference compared to the other versions. EZIO staff, could not to test.

Hi,

thanks for your feedback!!! That means PID values don't need corrections indeed...

BR
Adrian

nhadrian

Hi Michal, nice to hear you're back! We're really looking for your new release... May I ask you to split your code into many tabs (ie. serial comm, char definitions, config, etc) to make your code a bit clearer for us? Maybe somebody would have ideas for development... And also, a vario indicator wo...

nhadrian

Hi All, I attached my latest revision, r19 : - correction values are removed, I made several test, a well-tuned alt PID can handle vario mode too (dramida, you had right) - save around 400k space - some optimizations - vell_tmp is shifted directly via target vario (Alex, it is a must, in Arducopter,...

nhadrian

Hi all, I attached my r18, based on r1353 official release! Changes: - introducing struct for storing WP 1-16 datas (0 is HOME, 1 is HOLD 2-15 is reserved for further WP usage...) - altitude upload for HOLD and HOME works now great with EZ-GUI (don't forget to enable hidden functions with pressing y...

nhadrian

The problem is that there is far far not linear relation between ESC input (RPM for a simonk firmware) and traction on motor axle. It is even worse because when descending, props gets negative flow, and this will cause lot of turbulences. (for a tricopter, the situation is not the same. Anyway, if y...

nhadrian

Hi, Yes and no... :S The reason why I differentiated rising from descending is that copter behaves not the same for rising/descending. Just a short example you can even try with your copter. Let's say copter hovers at 1500 us throttle signal (can be measured via GUI). First apply +50 (for example us...

nhadrian

Hi,

on my Samsung Galaxy Mini II EZ-GUI force closes when I hit a point on the map. (official Android).
on my Motorola Defy+ it works (with 4.0.1 custom ROM)

Maybe is related to the lower screen resolution of the Galaxy Mini???

BR
Adrian

nhadrian

I just updated the EZ-GUI by Ezio. There is an altitude injection in the map too! Since I'm using a pre-defined altitude for HOME, that will be easy to implement the home altitude change feature. But, I want to implement a feature for HOLD mode too, that means that during vario mode, if a WP is inse...

nhadrian

about setting the AltHold value with waypoint: - the current alt hold code in official multiwii CAN'T handle this!!! If new altHold value is set, copter will shoot in the air or fall down because current code DOESN''T have any rising/descending control!!!!! - that means that sending the new AltHold ...

nhadrian

That's interresting with your tri. I'll check config!!! The interresting is that there is nothing frame-specific in my code... :S About beep issue, it would need deeper modification in the code for proper beep working. I can't see the benefit of spending many hours on this function. Because if the c...

nhadrian

Hi, Another idea is to use a struct for GPS_WP (current WP datas) instead of stand alone definition. static struct { int32_t Lat; // Lat for WP int32_t Lon; // Lon for WP int32_t Alt; // alt at WP (cm) int16_t Heading; // heading at WP (deg) int16_t Vario; // vario for alt changing (cm/s) int8_t Tim...

nhadrian

I'd suggest to add wp_precision to define a circle around the wp. The timer for this particular wp starts when the uav is in the circle And maybe add horizontal speed this is alreaady defined in Multiwii and that's how for example RTH code works now... Horizontal speed is also defined, but still no...

nhadrian

Hi all, I made this topic to collect all infos related to WP navigation development to one group. Regarding to discussions in EZ-GUI topic, I have a suggestion on universal WP data handling, I suggest to use a struct for storing WP datas static struct { int32_t Lat; // Lat for WP int32_t Lon; // Lon...

nhadrian

Yes, I see. So there must be something with the official release.

Could you please test if the same exists with the official r1348 release? If yo, than I can't help...

nhadrian

Uploaded R17 On my table, i found a few bugs: Camera pitch has a bug, when tilting forward the copter, after a point dependent of Aux3 ch, the pitch servo does a full-reverse. Beeps in baro mode are heard only when passing from climb -hold - dive or dive-hold- climb. If you try dive-hold-dive or cl...

nhadrian

jy0933: in IMU.ino you'll find the settings. Dramida: I cleaned the config.h in the previously uploaded R17. BTW I suggest to use diffmerge for moving your settings to a new config.h. This program is really simple, on the left is your previous file on the right is your new file. All differences are ...

nhadrian

Hi Alex, thanks for your comment. I have to repeat myself from our mailing. My basic idea was to calculate an accurate vario, which doesn't depends on the cycle time at all. So in my code I made an accurate calculation, where the total throttle stick range is divided for a defined vario range. Withi...

nhadrian

I know him since he lives 20km far from me...
Unfortunatelly he is really busy at work nowadays, can't spend time on mwi development.

:(:(

nhadrian

Hi Bart, I have working alt_hold_vario code and also a universal alt_to_target code, wich enables rising/descending to a defined altitude with defined vario. It can be used for WP navigation, my goal was to make as universal as it can be. Alexinparis said it is hard to see the benefits/disadvantages...

nhadrian

Hi all, Here is the corrected r17, based on the official r1347 release!!! The BUG was in I2C_GPS part. BTW, my oppinion is that forget to use 328p and i2c GPS, it is not enough for naw functions. There are great boards for less than 50 USD on market.... Also, WP16 injection does not work with I2C GP...

nhadrian

Are you using my camstab code or the original one?

nhadrian

For me the new changes in IMU code gives better performance, till now I had some back-drift but now it disappeared.

nhadrian

Hi all, I made an experimental merge with the official r1344 release (more configurable values in GUI). ****** THIS IS NOT FLIGHT TESTED, JUST FOR THOSE WHO WOULD LIKE TO DEVELOP SOMETHING FROM MY CODE******* In GUI it looks like all additional values works but not flight tested. Theoretically it sh...

nhadrian

Ok today i did try compile this code to my quad but as soon i activate the gps in code i get a fail..... .... Can anyone give me some tips ?? // Tazzy Hi all, I attached my latest release: - meerged with official r1343 - PLEASE NOTE THAT PROBABLY SOME PID ADJUSTMENTS WILL BE REQUIRED because the op...

nhadrian

Hi all, I attached my latest release. News: - now it resets altitude on every arm, not only once after power on - vario mode resolution increased (AltHold is now in mm instead of cm) - the "gap" is removed when stick is out of the center deadband (Dramida's catch). It is based on the offic...

nhadrian

Hi, please send me your config.h to nhadrian@gmail.com I'll check it.
Also, please give some info what release do you try?

nhadrian

On short distances, navigation goes smoothly but when i tried 500m or so, the gps hold went mad and started leaning in extreme angles. I think it is because you use a Position Hold "waypoint". I maybe wrong (have't studied multiwii source code for very long) but Position Hold algorithm is...

nhadrian

I'm almost sure there is an overlow.
Somebody should check the nav code!

Dramida, could you make some kind of log about gps raw datas and copter raw datas? Maybe something could be figured out.
BTW, what data transfer do you use for 500 m? Plain BT is not capable of that range...

BR
Adrian

nhadrian

Hi Dramida, I can't understand your question completely. I like the current receiver failsafe code. The trigger is that any of first four channel drops under 980 us). Most receivers have the same option (ie. Futaba FASST, FrSky, Graupner, etc. receivers all have a programmable failsafe option, that ...

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