MultiWii

nhadrian

Hi,

I attached the r7.
Now, in config.h the middle stick position can be set by value. If commented, the initial throttle position is used.

BNR
Adrian

nhadrian

Hi, thanks for the tests! Trying to answer some questions: 1) about middle point. I was in hesitating a lot in between that 1500 or the activation throttle should be the middle of vario (0 cm/s). Now, the activation throttle is the midpoint. But, it could be defined in config.h to give the choice to...

nhadrian

I have finished the failsafe code. Basically when Failsafe, copter starts descending with defined failsafe vario. Once hits the ground, the Baro PID starts to reduce RPM to force descending. Because it can't, after reaching low BaroPID enough (or reach the defined disarm failsafe time), failsafe dis...

nhadrian

OK, r5 is here.

I still have to work some on Failsafe, but will be great! My goal is to rise with defined vario and stop motors once on the ground. I'm close to this...

BR
Adrian

nhadrian

Hi all, Regarding to this comment of BuckSwasher on the following video: "Very nice ADRIAN, that IS A impressive video. BUT could you please refrain from releasing your buggy code to our community, as we don't like playing POKER with our expensive toys." I removed all my codes. m BR Adria...

nhadrian

For GPS, here is a good description of the PI-PID parameters: m reading this, and understanding the parameters it will be clear, I hope, what to do... For BARO, I don't have any practice, I have flew out many - many batteries, trying different setups and check the behaviour. So now it works. BR Adrian

nhadrian

Hi, I also added a fixed vario descending feature to Failsafe mode. I have never tested the failsafe routine itself before, I hope I'll have time to do that tomorrow. Any input are wellcome! PLEASE BE CAREFUL when testing failsafe!!! BTW, It should work because is based on the previous code part... ...

nhadrian

I forgot to tell that since 150-200 cm/s is quite fast for descending, first of all you should have perfect PIDs on all axes , and perhaps should have some TPA adjustments too. For me, the value is 0,35 in GUI (helps prevent oscillation during desending). Basically it can be said that before test my...

nhadrian

Hi guys, FINALLY I reworked my code completelly , works as it was described previously, the more/less throttle is applied, the more/less vario will used for rising/descending . Now it works as it should, comments are added into config.h and in the code itself too, and tried to clean the code for fur...

nhadrian

Hi,

please DO NOT UPLOAD my code untill I release the new one.
Unfortunatelly I found a BUG inside code...

:(:(

BR
Adrian

nhadrian

Hi guys, Finally I finished my first implementation of a vario based alt-hold code. Basically it runs on 25 Hz, and changes AltHold variable regarding to throttle stick position. So the more/less throttle is applied, the faster the rising/descending is. For proper code working when higher vario rate...

nhadrian

Hi all, I tried the r1282 with the "vari" based altitude hold code. OK, basically I can move up or down, or stay in position. But it is far not exact . I modified the code ........... BR Adrian Adrian, my test with vario altitude mode with Mahowik code where look promising in altitude hol...

nhadrian

Hi all, I tried the r1282 with the "vari" based altitude hold code. OK, basically I can move up or down, or stay in position. But it is far not exact. I modified the code for changing the AltHold parameter with exact values, so theoretically ascending/descending speed could be set to any v...

nhadrian

My simple (but working) altitude correction is (origin from alexmos): 1, define this in config.h : #define THROTTLE_ANGLE_CORRECTION 400 2, add this into imu.ino , at the end of getEstimatedAttitude: cosZ = EstG.V.Z / acc_1G * 100.0f; // cos(angleZ) * 100 throttleAngleCorrection = THROTTLE_ANGLE_COR...

nhadrian

Dear mahowik! I like your idea of having throttle-stick based altitude change during alt. hold! BUT! I'm not a programmer at all but I learnt about regulations during my university studies. My oppinion is that once we would like to control the altitude too, there should be two different altitude hol...

nhadrian

in r1232 baro reading in gui was -25000 or more. I've rebooted fc then value shown in gui was 0. But when testing outside, quad was going up. Like baro wasn't working. In r1177 baro readings in gui is around 800. I live at 660m abowe sea level. But it works. Slightly goes down and then up. So alrea...

nhadrian

I have cícle time around 3000-4000, so this couldn't be the origin. BTW, I modified the code, gave own case for getEstimatedAltitude, now it works fine. Dramida, could you please also try to add own case for getEstimatedAltitude? Like this way? switch (taskOrder % 5) { case 0: taskOrder++; #if MAG i...

nhadrian

Hi, I found the origin!!! After some other tests I realised that getEstimatedAltitude is never excited! To proove that, I replaced this part: if (Baro_update() != 0 ) { break; } else { if (getEstimatedAltitude() !=0) { break; } } to this: Baro_update(); getEstimatedAltitude(); break; and it works!!!...

nhadrian

Hi,

Still nothing here. The interresting is that once I write in number instead of baroGroundPressure into the Baroalt = ..... equation, it still remains 0.

BR
Adrian

nhadrian

Hi, Your config.h looks pretty default and 19000 is in the correct range when devided by 100 (equals 950 mbar pressure). I'll try to come up with something to fix it for your configuration, but so far ... I'm clueless. You could try to replace if(baroGroundPressure == 0 && currentTime > INI...

nhadrian

Hi,

I attached my Multiwii.
BaroPressureSum looks like is not 0, plotted to debug1 divided by 100 and shows around 19000 so maybe a really big number indeed.

BR
Adrian

nhadrian

It looks like the code works on mini based FCs, maybe there is something BUG in the code which is related only to MEGA boards?

nhadrian

@nhadrian can you post you config.h settings and mabye debug the following values: - baroGroundPressure (should be whatever the ground pressure is, after 10 seconds) - BaroAlt (unfiltered alttitude) Maybe your plattform initialisation is taking longer than 10 seconds so baroGroundPressure stays 0 ....

nhadrian

Hi,

I can reproduce this every time... I holded on the floor for 1 minute and still 0.00

BTW I printed the baroPressure/10 to debug , it seems valid data, so the reading of MS5611BA is working. Something should be with the calculations after...

BR
Adrian

nhadrian

Hi,

the same here. After uploading the new R1232, alt shows constantly 0.00 .
Rolling back to R1177 shows real datas.

BR
Adrian

nhadrian

I tried many variations of orders, yaw-pitch-roll; yaw-pitch-roll to north then pitch-roll to west, etc... Also I can notice that the bad calibration caused strange behaviours in headfree mode and circlaing in position hold. So proper mag calibration is really important for those features!!! Yesterd...

nhadrian

Update. I found the solution. But not the origin... I had the idea if there is something with either the sensor or the position of the snesor on the board (some magnetic influence?!?!?!) So I removed the sensor from the board (soldered out), and connected a HMC5843 on a Brake out board (I had a spar...

nhadrian

Hi all, I'm having problems with my MAG. I have a Crius AIO pro board (HMC5883 mag sensor). The problem is that after calibration I have about 15-16 degrees error in North, 7-9 degrees error in West, 0-2 degrees in East, 0 error in South direction (compared to a real compass). I can't figure out wha...

nhadrian

I'm not using switch for arming too.

nhadrian

Hi,

for me everything works fine with r1177.
I'm using the 7.8 Finel OSD code.

http://www.youtube.com/watch?v=NAgH2xdt9AU

Maybe you doublecheck things...

BR
Adrian

nhadrian

ezio wrote:can someone check if aux works in newest version ?

Hi, yep, for me it works! Great job!

BR
Adrian

nhadrian

ezio wrote:can someone verify if AUX works as expected ?
thanks
Bart

Hi,

with r1177 AUX readings doesn't work. It shows nothing.

BR
Adrian

nhadrian

and evolving into controlled climb or descend or even autolanding is the next step to go for Baro-Acc routine. If you mean auto switch to specified alttitude it's already possible with new alt hold I have already implemented and tested (~ 2 weeks ago) "Alt to RTH" feature... Works great a...

nhadrian

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...

nhadrian

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!!!

nhadrian

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...

nhadrian

Great job!!! Looks great. Keep on good work!!!

BR Adrian

nhadrian

Thanks I downloaded latest maybe 2 hours before 7.5 released.... I'll upload latest and try out I'm using r1058 - Alex first cut Horizon mode. Since Horizon mode, serial has been changed. Only the available BOX features are sent. So for that, in OSD code you should change this: //Mode config #defin...

nhadrian

@Michael Had a few flights on OSD last night and the OSD worked great except I had some false triggerring of menus in flight. Maybe I was carrying out some sharp yaws Maybe disable access into menus when armed? This is already solved in the Mobidrone code. But, what release do you use? Since r1074 ...

nhadrian

Using GPS data for Alt hold is not a solution. My oppinion is that for good alt hold we need a PID loop on baro data, plus corrected with a P-term of acc-z (for fastinfluences), as I said many times on this forum. I wish somebody could help and write this, but I sware once I'll have time during wint...

nhadrian

Sebbi wrote:- a tablet layout
- landscape layouts (dashboard 1 when in portrait, dashboard 2 when in landscape)
- more languages (post your strings.xml and I can at least translate it to German)
- support for FrSky protocol (telemetry only)

If you think so, I'll do the hungarian translate too...

nhadrian

I'm using Mobidrone OSD right now. In my oppinion, this is not the really solution.
For me, the final acceptable solution would be two total independent serial port. Not just for my OSD but for any general puropses...

nhadrian

I suggest to check r1055 first and then you'll understand. The idea of the author was that he copied all functions of main serial port to serial 3 port. So it is not a remapping like in your topic but the idea of having two working serials at the same time. But, because of the interrupts it is now w...

nhadrian

Hi all, I just found the r1055 release on multiwii repo. I tried, when only OSD on serial3 is connected it works great. But, with this simple clone method, when serial 1 is connected to GUI too, it crashes, many data loss, etc. I thought it's not as easy as it is written down but it is interresting ...

nhadrian

All clear now!
Many thanks!

nhadrian

Hi, It's somewhere at the top in the output.ino file, at the initialization of the servo array. Thanks for your reply!!! So you mean here? /**************************************************************************************/ /*************** Software PWM & Servo variables *******************...

nhadrian

Hi all, I'm using a multiwii controller in gimbal mode, the gimbal has a 100 degrees range in pitch direction (1100 to 1900 us). The middle is about 45 degrees down, but I'd like the servos to be initialized at horizontal position (pitch value 1780). I wrote a small modification to set servos to 178...

nhadrian

Hi, I would like to set up a 328p multiwii with a serial GPS. For his GPS (Locosys LS20031 which is a great GPS!!!) the deffault setup is 38400, etc, when onboard super capacity becomes empty... So I'd like to reconfigure on startup, before looking for GPS sentences in setup code. Till now in i2c GP...

nhadrian

Hi quadwalker, EDIT.: I tested with my LEA-6H in my Crius ext. board, looks like it's not working... nothing serial from GPS. Changing back to 58600 it works. For ALT hold sensitivity, change this value in config.h: #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 20 I'm using my copter with 80 value instead...

nhadrian

you mean it mooves up-down too much when poshold is active not only alt hold?

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