MultiWii

pm1

Sorry, my last suggestion was crap. Try to replace ini with this: void Mag_init() { delay(100); magCal[ROLL] = 1.16; magCal[PITCH] = 1.16; magCal[YAW] = 1.08; i2c_writeReg(MAG_ADDRESS ,0x02 ,0x00 ); //Mode register -- 000000 00 continuous Conversion Mode magInit = 1; }

pm1

Tried with pids standards and was increasing and then decreasing, gps hold woks inverse, on acc only is better. Tried with mag mag on and then off and the result are the same. When the gui shows position and satellites, the gps setup should be ok. But: ACC+MAG has to be switched on for succesful op...

pm1

And after calibration?

pm1

Ok, I have no explanation, maybe a workaround: old magCal[ROLL] = 1160.0 / abs(magADC[ROLL]); magCal[PITCH] = 1160.0 / abs(magADC[PITCH]); magCal[YAW] = 1080.0 / abs(magADC[YAW]); new magCal[ROLL] = 1160.0; magCal[PITCH] = 1160.0; magCal[YAW] = 1080.0; In fact removing calibration, more or less like...

pm1

Not immediately,
but for debug: insert the following:

magCal[YAW] = 1000.0 / abs(magADC[YAW]);
#endif

debug[0] = magADC[ROLL];
debug[1] = magADC[PITCH];
debug[2] = magADC[YAW];

// leave test mode

Please give the values of the debug values in the gui...

pm1

Yes, I tried this code and still no luck. Actually what I described above is after making pointed out by you code. // leave test mode i2c_writeReg(MAG_ADDRESS ,0x00 ,0x70 ); //Configuration Register A -- 0 11 100 00 num samples: 8 ; output rate: 15Hz ; normal measurement mode i2c_writeReg(MAG_ADDRE...

pm1

Most likely you ran into the overflow I described in this thread. Have you already tried this fix?

viewtopic.php?f=8&t=2253#p21094

pm1

yes, bug was introduced when removing c++ classes (The code for the i2c board ist still ok). Second thing is, in calc_poshold the P and I term are dependend on rate_error, the D term is dependend on error. This is in fact a second P term of velocity (rate). Try to pull the copter by hand from waypoi...

pm1

pm1 wrote:
MrDrone wrote:I have seen updated code references for the CN-06 GPS but I do not know if I need them, where to find them, or how to upload/flash them into the CN-06. Any advice would be appreciated.

Perhaps have a look here:
http://www.rcgroups.com/forums/showthread.php?t=1724694
There should be anything you need at one place

pm1

MrDrone wrote:I have seen updated code references for the CN-06 GPS but I do not know if I need them, where to find them, or how to upload/flash them into the CN-06. Any advice would be appreciated.

Perhaps have a look here:
http://www.rcgroups.com/forums/showthre ... 694&page=2

pm1

Please, please, please . . . I have two questions not previously addressed here. 1) How do I "FLASH" my I2C-GPS board with Arduino? It is assumed that one just does this with no problems - not true! Yes, I have the FTDI connection but Arduino refuses to "verify" hence, refuses t...

pm1

Try my version: I had the same issues and changed the code...
http://www.rcgroups.com/forums/showthread.php?t=1724694

pm1

The averaging array gets a new value very 25 ms. The altitude is updated every 75 ms. The averaging array is therefore populated with only 3 measurements. The internal oversampling of the BMP085 was reduced from 8 to 4 with the reason, that you get more unique samples for averaging assuming new valu...

pm1

critical: gyro+acc at every cycle, and rc stuff every 20ms non critical: everything else in a sequential order when we are not in a rc decoding cycle. If this is critcal, check between every small step, if it has to be done. The implemetation, that fixing the cycle time changes the whole timing of ...

pm1

Ausi1972 wrote:Ahh I see, so I should plug power into the quad then make sure it is not moved for say 5 seconds to let the board boot and gyros calibrate.

I calibrate the gyro with the sticks just before arming after every power on. As doughboy says, it is done within seconds...

pm1

ok. waiting for your good implementation. You may look in timecops repository. I made the fixation of the cycle time there some months ago. In short (MUltiWii.ino): Mag_getADC(); Baro_update(); getEstimatedAltitude(); #if GPS if(GPS_Enable) GPS_NewData(); #endif #if SONAR Sonar_update();debug[2] = ...

pm1

Is there an interrupt flag on the Baro that can be polled and if the data is ready, then retrieve it otherwise, just bypass the reading/calculation routine? I guess not on the BMP085 however, on page 16 of the datasheet, it talks about an end of conversation flag that can be checked for when this p...

pm1

The calibration *is* kept forever! I never heard of a known problem here. Are you sure, that you didn't run into the problem I described? Here the reason is, gyro has auto-calibration at power on. This calibration only works correctly, if the copter is *not* moved while calibration.

pm1

Ausi1972 wrote:Does anyone else see this problem?

Yes, if I forget to make a manual *gyro* calibration after power on. It happens, that I move the copter after plugging in the battery. If you fly in level mode all the time this looks then as if acc is not calibrated....

pm1

Would not the fixation of cycle time reduce the effect you describe? No, it will get worse (at least with the bad way, how it is implemented now). If you fix the cycle time to 5 ms, the sensors will be called each 25ms, the baro calculation will be each 100ms+. Instead of continously polling if som...

pm1

Hi, is it clear to everyone, that the following code limits the time resolution for every step to about 15ms? MultiWii.ino static uint8_t taskOrder=0; // never call all functions in the same loop, to avoid high delay spikes switch (taskOrder++ % 5) { case 0: #if MAG Mag_getADC(); #endif break; case ...

pm1

cardboard wrote:...
Anyone like to have a guess as to what is causing this?

Some suggestion:
- check, if PIDs have changed
- calibrate MAG
- ensure MAG is activated

pm1

turbothief wrote:...
I also have tried several times with no success. I have tried and want to start all over. How to upload to gps the codes. Light on i2c board blinks 1 sec on/ 1 sec off.
...

I have here improved the recipe, how me and some others got it to work:
http://www.rcgroups.com/forums/showthread.php?t=1724694

pm1

It is the correct way to do this. Please make sure, that you haven't a define, which then overrides your setting in def.h -> Quick and dirty test: Put *your* settings at the end of def.h

pm1

My changes only limit *speed over ground* while PH. It has no influence due to wind. So the limiting factors in wind is the maximum I term and max bank angle (30 degrees in my last version). I can't tell for real, where the limit is, but here were already some stronger wind gusts wirhout problem.

pm1

If you try the original code, be careful with the PIDs. It flew fine with no wind, and then had bad oszillations leading to a crash with some wind. Therefore I changed function GPS_calc_poshold to limit possible speed while only correcting position. Maybe have a look into that...

pm1

[quote="Alexinparis" That's not true. A GPS has a very poor alt resolution (some 10 meters), much more worse than its ground 2D accuracy.[/quote] Don't mix up precision with resolution. If you expect absolute correct values over long time, you are right. Depending on the count and angles o...

pm1

mahowik wrote: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...

I know, but otherwise you could not judge from the video, how big the deviation are

.

pm1

@pm1: ...the Accz part is really crude and far from perfect... In my code you see the last step *back* from the full integration and calculations of the distance error in comment. I wanted to implement only a z axis dampener this way. But even that did not work sufficiently. So in fact, I did chang...

pm1

mahowik wrote:could you share your code on this?

Yes, here my latest code.... Download

My alt pids: 1.0 0.010 20

pm1

Filter out (LPF) those frequencies and you will get a clean signal. The LPF is not the point. On ACC you have zero point *drift* because of vibration. Due to the integration you can run into problems If we have an 5-10 seconds averaging vector for altitude, all the noise is gone. So mixing the resu...

pm1

Hi,
very nic app. But in in latest version I get a fc when I switch to map view.

pm1

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...

pm1

Start only with PH. I hadn't very much luck with the orginal code. The parameters were very sensitive. I changed a few lines of code in the pos_hold routine (have a look in my download). After that, It's now solid as a rock, even in stronger wind. Best regards P.S. I changed the i2c_nav code (downlo...

pm1

Hi, you seem to have exactly the same board as me. The data in u-center is looking fine. When I tried to get it to work, I had to fiddle around with the delays for unknown reason. Maybe give that a try. I tried to move the change of baud rate to the beginning -> no success. I can confirm, that my ne...

pm1

trex450 wrote:Can you also post the PIDs you used ? just to get an idea of where it should be..

... screenshot in the download...

pm1

With I2C_GPS_NAV_latest, I get a lot of errors, I used arduino-1.0.1: ... C:\Users\Helge\Downloads\arduino-1.0.1-windows\ arduino-1.0.1\libraries\I2C_GPS_NAV/ twiMW.c:96 It look like as if you copied for some reason the I2C_GPS_NAV somewhere to the arduino library folder. Delete it there and put it...

pm1

Ok, here a updated, simplified recipe how I did get this combination to work: 1. Download this version of i2c_nav : Download 2. solder a bridge between pin 13+34 of gps board (picture included in download) 3. use arduino 1.01 to flash i2c_nav with downloaded version 4. update fc multiwii 2.1 with ac...

pm1

I tried the Poshold with genuine i2c_gps_nav rc2 from EOS but my copter speeded up after a few seconds forwards and backwards and begin to tilt so I must switch off the gps for avoiding a crash. That's exactly the situation I met. Therefore I had a deeper look into the code. The lines I did put in ...

pm1

Hi, I had drastic drifts about 200 meters with my i2cGPS+LLC from Drotek. This was absolute unflyable. So after reading pm1 post, I tried his solution: x_target_speed = constrain(x_target_speed,-100,100); ... I leaved my board in static position about 30 minutes, the result is bluffy ! Only drifts ...

pm1

penpen77 wrote:Seems strange you constrain only x speed target value and not both x and y. What's the reason ?

Sorry, I forgot to mention, that I did the same for y

.

pm1

Yellowboy63 wrote:So where exactly do I make this change? Am I adding this code to the config.h or gps in WMC, or am I adding this in my I2c-gps nav code?

If you have an i2c gps board, there in I2C_GPS_NAV.ino. You only have to add the line in red.

pm1

Hi, I changed the GPS code a bit for poshold: static void GPS_calc_poshold(int x_error, int y_error) { ... x_target_speed = pi_poshold_lon.get_p(x_error); // calculate desired speed from lon error x_target_speed = constrain(x_target_speed,-100,100); x_rate_error = x_target_speed - x_actual_speed; //...

pm1

gps1.jpg Is ths normal behaviour for a newly connected GPS module, what I mean it is hooked up to the Arduino and working but no PID tuning or arming of motors, oh and I'm in the house. It is normal, if you are in a house. The satellite signal are reflected by other houses or walls. Therefore the c...

pm1

Have you used IMU data in position hold error function? In this way the copter would react even at the slightest lateral acceleration.(DJI does this way) No, it was not neccessary. I tried exactly this for altiude hold, but it didn`t work. With the integration I got so such an drift, that it was wo...

pm1

Hello When PosHold and AltHold are activated, do you have your position well kept? In my case, my quad is flying slowly to the left, mostly 5 or 10m from the position I activivated then he is coming back to the position wanted but staring again going back to the left and backward as well. After 2/3...

pm1

mmmmh, I wonder, why the ublox refuses any commands after sending that low-battery issue. I think, it will then refuse the command to reset the ublox too. You only have and advantage of the battery, if you have the GPS almanach stored to have a fast warm boot. So I would suggest to try to remove the...

pm1

A couple of quick question: If I complete the HW and SW mod in post 1, I don't need to manually config the GPS itself, right? right When the system is working properly, what are the correct LED flashing sequence for the GPS and I2C board during and after power initiation? After power on, the I2C bo...

pm1

Hi,
the pids for I2C-GPS are update too early in current code. Therefore you start with default values every time after power on. Here a code change, which corrects this.

https://dl.dropbox.com/u/60532252/gps_pids.patch

pm1

I guess I have the older SE board with no extra I2C for the GPS, it just has the 4 I2C pins next to the FTDI, RC Timer pic shows the nav board plugged into these 4 pins. If this is an "older" board (50x50mm), it has *no* I2C pins. Next to the FTDI is another serial connection (for bluetoo...

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