MultiWii

PatrikE

setelu wrote:Hi guys, I'm new to all this. I have the apm 2.6 and I want to know if I can use the MultiWii program to modify code and test different cofiguraciones for a quadricopter.

APM board uses SPI bus and MWii I2C.

Not compatible without adding SPI protocol in MWii.

PatrikE

Dualcopter have two counterrotating props like a simple coaxial helicopter. Motors controll Yaw and two servos control Roll and nick. Here's a video showing a Singlecopter.(Only one motor) but same principles. m You can search for Singlecopter in the forum. Or something like this. m A Bi copter can ...

PatrikE

In my case, I don't use MW's failsafe, and instead use my receiver's programmable failsafe settings. So, I have RTH setup on an aux switch and can still make use of a sticky RTH feature. In that case MWii don't know it's in Failsafe. In a real failsafe case your plane will be circling over home unt...

PatrikE

When I pitch or roll the quadcopter drops altitude. I assume this is because the sonar is angled away from the ground and it thinks that it needs to reduce height. This code is already in IMU.cpp. It's something people have played with to compensate Throttle/Tilt on Helicopters. Maybe it can be use...

PatrikE

A small Update on the latest dev. In MissionPlanner this Modes is supported but need to be verified. MISSION_WAYPOINT - OK MISSION_JUMP - ? MISSION_RTH - ? Modes not supported by 328p FC and will result in PosHold. Should work on Mega FC's but needs to be verified. MISSION_HOLD_TIME MISSION_HOLD_UNL...

PatrikE

Hi Rub.. Like a Sticky mode.. When regaining control after Failsafe it would be good to not release the RTH until Pilot takes command... As it is now it just releases the moment Failsafe conditions is OK and can leave the plane in Pasthru. Fence function have kind of that. You must toggle RTH before...

PatrikE

It should be possible to use same code i use for Fxedwing navigation code

PatrikE

Normally caused by vibrations...
Balance motors and props.

PatrikE

If you search an Arduino playground you can find example code for most common sensors to start with.
http://playground.arduino.cc/Main/Inter ... rdware#DOF
Or Google for library for your sensors.

PatrikE

Well im lost in the IMU stuff. Just some other unsorted thoughts...(Rambling..) The way it works today isn't really perfect. If the plane is moving heading is overwritten By GPS. (that's OK.) But when the plane is stationary It's not. That means the heading jumps back to where Mag or Gyro say it's p...

PatrikE

That would be interesting if I could take a look at it. Do you think I somehow could use QUADX for hover-mode and FLYING_WING for fly-mode and toggle between them from one of the switches on the transmitter? Mwii cant handle multiple models like that. You need to create a new model and add both ser...

PatrikE

If ex throttle is below threshold value Failsafe is activated and you can see that ANGLE mode always is active in Gui.

This goes for the first 4 channels.
Check the ANGLE box in Gui.
If it's always active you have triggered Failsafe somehow.

PatrikE

You need to create a mixer that combine motors and control surfaces.
The transformation can be done in several ways.
Either you can switch from transmitter or you can use the sensors to handle the switching.
I have done about same on SingleCopter once.
I think i still have the code somewhere.

PatrikE

Do you use latest Wingui?
http://eosbandi.com/downloads/

PatrikE

Cereal_Killer wrote:Is changing the def.h really the ONLY way, can't you just use the overrides in config.h?

It's enough to do the changes in config.h

PatrikE

As i understand you use / prefer GPS bearing instead of mag for RTH. I do since planes usually don't fly where the nose points. But often a bit sideways in wind. GPS gives a more true course. Today i just overwrite MAG course if it diff from GPS. But it would be nice to use sensor fusion with gyro ...

PatrikE

The navigation for fixedwing is written for RTH as it is now.
It need to be modified to be able to run ex Althold separatly.

Cap is short for capacitator.(Kondensator)
And is connected on a free servo output.
It filters out some of the dips in power.

PatrikE

Actually Baromode is only for copters and handles only throttle and can stall the plane if you use Elevator. Disable Barocode in config.h with this define or don't use it.. #define SUPPRESS_BARO_ALTHOLD I will isolate the code later. I guess you're on the correct path on the other issues!.. Bad cali...

PatrikE

Well this is what i have come up with. Reused most calculations from inside MWii code. Hijacking safe_wp_distance as distance to make it settable from WinGui You also need to take a look at Fence radius . It will force the plane to RTH if it exceeds that distace. #ifdef FIXEDWING static int32_t hh; ...

PatrikE

Does anyone have the formula room calculate longitude scaling available?
That seems.to be the last piece missing now.

PatrikE

Can this latest approach be easily ported to naze32 -> baseflight? Since a lot of people are using that on that platform aparently , cruise mode would be a really nice addition. How about rally points do you think they would be portable to baseflight? Cruise mode Yes but Maybe we can test it on 8bi...

PatrikE

A raw Idé how to implement it. I think this inside void GPS_set_next_wp function should do it. Just add the difference to the hold pos. if (f.GPS_mode == GPS_MODE_HOLD && f.MAG_MODE){ #define PRESET_DIST 1000 // Move WP forward xx meter #define GEO_SKALEFACT 110.0f // Scale to match meters f...

PatrikE

I had a much simpler approach in mind. Need to think about code size to support PRO mini FC's too. Constant update would mean it you get some wind drift and model turns right next_WP_loc would be right of the original target. And i don't like the Idé of letting a model flying away in infinity.(I hav...

PatrikE

I'm on it atm.. Just have to test if it works as good for real as in theory first.. Thinking to avoid more flightmodes. If Mag is active when hold is activated move pos ex 1km ahead. And simply use Poshold to maintain altitude ad navigate. When it reaches the target it will start circling there. 1 k...

PatrikE

Hi.
Set Mwii failsafe on.
Olrs stop send ppm at failsafe.
Fixedwing Rth failsafe will take care of everything.
It is not the same as Mwii original FS.
You can check my blog where it's explained.
And a link to the absolute latest version.
Witch I have tested several flights now an it behaves good.
http://fotoflygarn.blogspot.com/2012/03 ... plane.html

PatrikE

Uploaded a corrected file in previos post.
viewtopic.php?f=8&t=6220&p=62446#p62446

PatrikE

Your right again.
Or will work better.

PatrikE

Hoppsan.

You can get that if it's too long time between valid msp-packages.
Open protocoll.cpp
search for MSP_SET_RAW_RC

rcSerialCount = 50; // 1s transition
Increase to 150.

PatrikE

dwhittin999 wrote:Awesome. It worked. Thanks PatrikE. You just showed me much about how the program works.

Then you can add more servos and motors for new functions

.

PatrikE

Your'e right Carlos... Thats where it should go. I was somewhere in the blue and made the change in my modified version and didn't think about it. After line 1145 is the correct insert point. But here's a correct file to download and replace the original. MultiWii_AP_MODE.zip And placed in the prope...

PatrikE

Use V2.4 And you should get the correct pinnout. In v2.3 W2 is on pin 37. Some info for setting up planes. m Otherwise you can do some Hacks.. In def.h Find the defs for flying wing. Change #define NUMBER_MOTOR 1 to 2 In Output find Mixtable for the wing. motor[0] = servo[7]; if (f.PASSTHRU_MODE) { ...

PatrikE

If you have 11 as left wing and 12 as right wing you have MEGA_HW_PWM_SERVOS defined in config.
Then throttle chould be on Pin 8

If you comment #define MEGA_HW_PWM_SERVOS Motor pin is 3 and wings is on pins 6 & 7.

PatrikE

Hi Frank.
WinGui crashes like your's if
#define USE_MSP_WP isn't enabled in Config.h
But the older "Stable" version don't have support for Waypoints.

If you use my Version it's set as V2.3 in order to work with Wingui.
MWii Gui from V2.3 & V2.4 will work.

PatrikE

Hello fpv_downunder, If you use GPS, it is already there, in config.h: MAX_NAV_ALTITUDE 100 // in meter Regards, Rudolf Only during Navigation!... Use V2.4 with this. Replace your original file with this MultiWii.cpp. m Add.in config.h #define LIMIT_ALTITUDE 100 // Max Ceiling in Meter It will alwa...

PatrikE

Patrik, can u be more specific?? Where to restore your code snippet?? Why it was excluded by EOS after his NAV version?? (is there a conflict between AP Aflightmode and NAvigation??) In released Version 2.4 m After line 1145 in multiwii.cpp ln:1144 if (f.GPS_FIX) { ln:1145 if (GPS_numSat >5 ) { Ins...

PatrikE

You might consider to use Lock after closing. Or when descending xx m/sec if something happens on the way up ex a Balloon burst Otherwise it will open again on the way down! Your code keeps it open regardless if it's ascending or descending between the altitudes. And freefall speed can be around Mac...

PatrikE

This should work #if defined(CAMTRIG) #define OPEND_HATCH 1000 // µs #define CLOSED_HATCH 2000 #define OPEN_AT_ALT 250000// cm #define CLOSE_AT_ALT 300000 static boolean lock = false; if(est.EstAlt > CLOSE_AT_ALT) servo[2] = CLOSED_HATCH; lock = true; else if( est.EstAlt > OPEN_AT_ALT && !lo...

PatrikE

You can find diagrams here.
https://code.google.com/p/multiwii/sour ... 2FDiagrams

PatrikE

The Altitude in Mwii is 32-bit and have a range of -2,147,483,648 to 2,147,483,647 cm. Easiest should be to make a new model in MWii. And a new mixer in output to handle the servo. Maybe you want to control more servos or functions too? It should be easy to make a release function that controls ball...

PatrikE

Hi Rub, The goal was from start a working Failsafe RTH for safer FPV. That works well now. Next goal is to merge it in the new Multiwii V2.4 version. With working Waypoints etc. Im almost there now. I just need more in air testing atm. Flying season is almost here again now. Later i will try to add ...

PatrikE

Time to unleash it and maiden soon now!...

PatrikE

@stonemag,

Can you provide compiled Gui's for non developers?
Not everyone have a compiler installed or the knowledge howto..

Win,Mac & Linux for most users.

PatrikE

set small_angle = 25
Only arms if angle is smaller than 25 degrees.

180 should disable completely it i think.

PatrikE

I'm not sure it works at all with the new servohandeling in BF. I guess you will have to buikd a custom servomixer. I have made a tool to build the mixers for windows. It's explained in my howto with link to the program. m The latest version is here.(might be unstable yet) m And a tip on servonumber...

PatrikE

Mission data stored in EEPROM? I nead mission correction in flaight. Is there possible to implement this function? Yes mission is stored in eeprom. So modifying it may/will cause glitches. In my opinion mission should be stored in eeprom then copy to RAM while arming and if the FC is armed FC shoul...

PatrikE

This should be a cleaner way to implement it. No messing with anything else than resetting the coordinates. if (f.GPS_mode == GPS_MODE_HOLD && abs(rcCommand[ROLL]) > AP_MODE || abs(rcCommand[PITCH]) > AP_MODE) { GPS_set_next_wp(&GPS_coord[LAT], &GPS_coord[LON],&GPS_coord[LAT], &a...

PatrikE

I think it should be as a option in PH mode.
Not everyone have advanced radios or skills to program them correctly.

PatrikE

Vibrations!...
I have cf props that have adapter rings in wrong diameter.
Check that the rings have a press fit in the hole.
If they can fall out or move they don't center properly.

PatrikE

The goal was from beginning to have a working Failsafe and RTH for Planes. Using only a MPU 6050 and GPS for a really poormans setup. And to avoid Magnetic interference etc as bonus. It works satisfying now with the current code. Split up like you say could be a good improvement. We can use the old ...

PatrikE

Feel free to improve.
It would be nice with fresh eyes on the code.
It's easy to be blind after a while.

Search found 1976 matches