MultiWii

nhadrian

The BaroPID is between +-80-100 during normal altitude working. Just test out what's happening when you reduce the throttle from hovering position by 250 during manual mode. It will fell down from the sky... The drift in alt reading is not important unless it drifts 3m between two baro sensor readin...

nhadrian

Tried failsafe RTH with autoland with the 1311 R13 yesterday with my BMP085 equipped tricopter, with mixed results.... after turning off the transmitter, the copter started heading back... it went to RTH altitude correctly. when it arrived at home, it started descending.... but after a few seconds,...

nhadrian

Adrian, in latest MWC R13_complete, in config.h, confuses me: I might be wrong, but i see two sets of configs regarding RTH: firstly: //#define FAILSAFE_RTH_MODE // if GPS present and ready, copter starts RTH when signal lost. When signal is back, control is back again. #define FAILSAFE_RTH_VARIO 1...

nhadrian

Hi all, ********UPDATE********** A have just noticed that an official r1311 is released. I checked and there were some small changes (ie. log values or governor or LCD changes) wich were not included in my r12 since I made my merge from _shared previously. So I merged my code with the official r1311...

nhadrian

Hi, I started this topic because the Altitude Hold Improvement topic started to be a little messed up. I would like to collect all infos, questions/answers/ideas regarding my "development". Which is more like a brainstorming, still needs some generic recompilation by a professional program...

nhadrian

Please consider that mid point for alt hold is 1500us for throttle, regardless where your copter hovers. If you like to hold altitude in a undefined position of your throttle, you should comment this line: #define ALT_HOLD_THROTTLE_MIDPOINT 1500 // in us - if uncommented, this value is used in ALT_...

nhadrian

in r1315 there are changes in the MS5611 code.
You should try the official r1313 from multiwii repo download site.

nhadrian

with latest revisions my altitude hold is messed.... when I switch on the BARO the quad just shoot in the air at full throttle like a rocket... if i revert back to my latest working (r1298, haven't tried others) then it's fine... happened to somebody else? CRIUS AIO PRO V1.1 Hi, could you please de...

nhadrian

Here is how it flies R13 with Crius AIOP m Last edit: I activated RTH function with altitude control during RTH. I found out that copter starts moving immediately twards home, even the RTH altitude is not achieved. Practically, before reaching RTH altitude, the copter makes about half of distance b...

nhadrian

Hi, here you are: 1) in multiwii.ino, modify this: ... if (rcOptions[BOXHEADFREE]) { if (!f.HEADFREE_MODE) { f.HEADFREE_MODE = 1; } } else { f.HEADFREE_MODE = 0; } if (rcOptions[BOXHEADADJ]) { headFreeModeHold = heading; // acquire new heading } #endif to this: ... if (rcOptions[BOXHEADFREE]) { if (...

nhadrian

Hi, The BaroPID is between +-80-100 during normal altitude working. Just test out what's happening when you reduce the throttle from hovering position by 250 during manual mode. It will fell down from the sky... The drift in alt reading is not important unless it drifts 3m between two baro sensor re...

nhadrian

Tried failsafe RTH with autoland with the 1311 R13 yesterday with my BMP085 equipped tricopter, with mixed results.... after turning off the transmitter, the copter started heading back... it went to RTH altitude correctly. when it arrived at home, it started descending.... but after a few seconds,...

nhadrian

Anyone notice the AP_MODE define is commented out of nhadrian's uploaded code? I What gives here? Hi, this is a deadspan for roll/pitch. If you apply mode roll/pitch during hold mode, it will release from hold mode and once stick is back to centre, it'll save the new position as home. It must be un...

nhadrian

Hi all, I'm looking for two 3dr telemetry air modules, I'd prefer 433 MHz, but 900 is also wellcome. I'd like to expand my bluetooth phone connection... I don't want to wait 4-5 weeks till it arrives from RCTimer or similar chinese sources. If you have any in spare, please send me PM or email via nh...

nhadrian

I will try this tonight or tomorrow. I took my quad out to fly after completely rebuilding my motors (new bearings, perfectly balanced bells) and I had a silly grub screw vibrate loose sending my quad crashing into the pavement. Turned my new frame into a mess of broken plastic. Just needs 2 arms a...

nhadrian

Thanks for detailed description. That's really interresting indeed. I never had anything like this. Today I tested my code on a small arduino nano board (328p) with a 10DOF panel attached temporarily. I uploaded many variations and tested to write/read EEPROM many times but I still couldn't reproduc...

nhadrian

Hi, all GPS functions must be disabled once GPS numbers gets lower than 5. This part didn't change in code. Also, the connection of the GPS functions to the BOXitems are rock solid, without the possibility of having GPS functions enabled when function is turned off. Maybe there is something else cau...

nhadrian

I downloaded and setup this build for my Board. I connected using the GUI & went to setup my flight modes and noticed there were already flight modes programmed. So I tried to clear them and it would not let me. I was able to add to the flight mode programming, but I could not remove what was o...

nhadrian

Yes, because the failsafe rth can be set up independently...

Ie. You can set higher altitude for failsafe rth than for normal. Or different vario...

Br
Adrian

nhadrian

Hi, ************UPDATE************** http://www.multiwii.com/forum/viewtopic.php?f=8&t=2371&p=29042#p29042 *************END***************** It depends on the developers. I sent all of these to Alexinparis, if he decides that any part of my job is stable/good/safety enough and also the resou...

nhadrian

Hi all, ********UPDATE********** A have just noticed that an official r1311 is released. I checked and there were some small changes (ie. log values or governor or LCD changes) wich were not included in my r12 since I made my merge from _shared previously. So I merged my code with the official r1311...

nhadrian

I'm ready with new release, only some final tests are pending.... And yes, the autolanding in failsafe_RTH and also a 2-step descending in failsafe_ALT is ready. And, other small improvements... Also I made several major changes in code structure to be more clear and universal. Please be patient for...

nhadrian

Oh, looks great. I'll test Doxygen!!!

nhadrian

jpeti29 wrote:Why should the copter descend so quick (50cm/s)? DJI Naza only descend about 20-25cm/s. I thing, it will be good for us too at first time.

FAILSAFE_VARIO is a user-definable parameter in config.h ...

... You can set what you want, the lower limit is 25 cm/s.

nhadrian

Is it possible to check the if the BaroPID is always very small, say -200 in 5 seconds? Hi. It is possible, but I found an interresting phenomenon, if BaroPIB reach small enough parameter (around -250), it resets, and gets 0 again. Till now I couldn't find the origin of this. BTW, -200 is small eno...

nhadrian

In order you have perfect level ground and accurate altitude reading, is OK. But once you get 1-2 m drift in baro reading (ie. for temperature change, etc.) during flight, or there is 1-2 m difference in level between takeoff and landing place that's enough to crash the copter... So hard to figure o...

nhadrian

Hi, - I'll make a definable timer for autoland if still no TX after reaching HOME latitude. - About autolanding, it is really hard to slow down before touchdown without a working sonar...how to determine the ground is close enough?! (waiting for ideas... !!!) - if you have a big copter or ie. Y6, it...

nhadrian

Hi, regarding your experiences: 1) when using RTH_FAILSAFE, it will NOT autoland, since I expect when copter arrives home, it will be in TX range again... (will autoland in its position only if GPS signal is weak or function not uncommented). Because if for example failsafe vario is 50 cm/s it is st...

nhadrian

Hi all, the trigger for RX failsafe in Multiwii is that one of the first four channel (throttle, roll, yaw, pitch) gets lower than 985us signal. So it doesn't matter if you use PPM or PWM signals, the only important is that your receiver should be programmed for failsafe function. I'm using Futaba F...

nhadrian

Hi, I have attached my latest code, I inserted this two-step failsafe vario. It is fully merged with r1303, and tried to make bnetter descriptions in config.h (sorry for my bad english... ) Please note that since my copter would probably damaged due to a 50 cm/s auto lading (mini Y6 copter...) I did...

nhadrian

Hi, I have attached my latest code, I inserted this two-step failsafe vario. It is fully merged with r1303, and tried to make bnetter descriptions in config.h (sorry for my bad english... ) Please note that since my copter would probably damaged due to a 50 cm/s auto lading (mini Y6 copter...) I did...

nhadrian

I was thinking on a bit to find a reliable solution. What do you think on this: - define a FAILSAFE_SAFETY_ALT number, ie. 3 m (300 cm) and a FAILSAFE_FAST_VARIO, ie. 150 cm/s - if the copter is higher than this altitude, it will descend with FAILSAFE_FAST_VARIO to reach this altitude, then continue...

nhadrian

hi adrian ps.: if anybody is interrested, I have found a nice program to MAC OS X , called DiffMerge. It's free and really simple to use app for merging codes on MAC OS... diffmerge also exists for windows and linux systems http://www.sourcegear.com/diffmerge/downloads.php Hi Mbrak, thanks for addi...

nhadrian

Hi, I used Arduino 1.0 and 1.03, maybe the change is in 1.0 - 1.01?
I'll try to provide more informations in the afternoon.

nhadrian

Hi Eric,

using Flags for barostate, failsafe is a good idea, I'll add them to my next release!!!

BR
Adrian

nhadrian

Can you please explain this line? if (BaroPID < -200) // reach the ground. And if the quad is descending with a high speed, will this value be reached in the air and it disarm? BTW, why it is -200 here? Can you please help me to calculate a safe BaroPID value to used here? I do not want the quad to...

nhadrian

Hi,

I started a dedicated topic to advanced failsafe solutions, I suggest let this topic stay for alt hold.
My reply is also there.

viewtopic.php?f=8&t=2893

BR
Adrian

nhadrian

Hi, I started a new topic to collect ideas/developments about advanced Failsafe routines. For beginning, I wrote a code incl. automatic RTH if Failsafe, code can be found in "Alt hold improvement" topic. Basically I extended the basic of MIS. Along with my modification, I set up a variable...

nhadrian

Hi, It is based on the r1282 indeed (I used the files of Multiwii_shared in r1282 state. And then included my changes.) The following r8 means it is the 8th change by me. BTW I have already merged with the latest r1303. I also included some LED_PATTERN to VBAT/FAILSAFE additions in it, and tried to ...

nhadrian

I noticed an unusual behavior of EZ-GUI when in AP mode and GPS PH #define AP_MODE 20 // Create a deadspan for GPS. When the copter is momentarily controlled by stick, the EZ-GUI behaves erratically by endless repeating GPS- ON GPS- OFF even if no stick input is given after an initial manual maneuv...

nhadrian

Hi, I have finished work on advanced Failsafe routine with RTH!!! Here is the result: m I attached the code. Please note that this is fully experimental!!!! TRY IT ON YOUR OWN RISK, IN A SECURE ENVIROMENT!!! Also the define for Dramida is included, when copter is higher than RTH it maintains that al...

nhadrian

Hi, no you are wrong. There is only one loop! The BaroPID regulates according to AltHold value, it alwasy would stay in there. The difference in hover and descending/rising is that the target of AltHold number is changing according to desired vario (this is not a PID loo, it is simple relation betwe...

nhadrian

Hi all, today I incidentally figured out a strange thing. I downloaded Arduino 1.03 (don't ask why, just came into my mind...). I opened my code and compiled. And I saw it is smaller by more than 240 bytes than in arduino 1.0!!! I tested again, opened the same file with both arduinos and compiled ag...

nhadrian

Generally, you should understand what PID control loop itself makes in case of baroPID regulation. 1) P value is a proportional value, generally spoken, the far the copter is from target alt the more correction in throttle applied. 2) I value is an integrator. That means if copter can't reach target...

nhadrian

Hi Dramida. I'm not a coder too... only a mechanical engineer. To understand better, these correction values are added to default PID values, so if you set 0 for all, it means that the code uses the same PIDs for rising than for hovering (default by EEPROM). Till now I don't have any guide lines, I ...

nhadrian

Maybe a compensation to voltage could be set. But instead of adding to the Throttle, maybe should added to the output values. Than the other 3 axix PID could be conpensated, giving constat behaviour through the whole flight... The question is that has it sense? (Because the system works quite well r...

nhadrian

The problem is that the hovering point moves up as voltage drops down (because of cold, emply battery, etc...).
So you will need to apply more and more value to the ESCs for hovering, so can't say there is a specified value for hovering.
BaroPID makes this compensation during regulation.

nhadrian

Hi, And, if you check out in multiwii.ino, they are used with different multiplyers and ways on rising / descending. So If I'd be correct, 6 parameters should be changed not 3... but I'm sure with the good multiplyer 3 is enough like now. The desired vario is added to vel_tmp before calculate "...

nhadrian

Hi all, What do you think of th idea, making a flowchart for the whole MWI code or at least for basic parts of code? That could be really useful for development. Also every modification could be marked in it. For example in microsoft visio? I know this is a huge job but makes the code flow more pers...

nhadrian

Hi, OK, I'll make some changes in RTH altitude code, making definable this feature. BTW, I'm ready with the advanced failsafe code (I hope... ) I'll do the first onfield tests in the afternoon. If everything works fine, it should start RTH once signal lost and give back control when signal is back. ...

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