MultiWii

Alexinparis

Hamburger wrote:anyone to confirm the memory waste from the unused SerialWrite16()?

I managed to reproduce this memory waste, but not currently with win Arduino 1.0.5-r2
quite odd: the declaration is done Serial.h and definition Protocol.cpp
the compiler/linker is maybe lost

Alexinparis

Hi,

About MultiWii on mini cp, you can follow this man:
https://www.youtube.com/channel/UCEtmuV ... OmnV27A7Hw
the result is apparently very good, and no problem to do fairly good 3D

According to the description he uses this board:
http://www.hobbyking.com/hobbyking/stor ... o_mag.html

This one should also be a good candidate with brushed output
http://www.hobbyking.com/hobbyking/stor ... rated.html

Alexinparis

more than 40 were eaten due to the #ifdef GPS bug

Alexinparis

around 30 are eaten here: #else //if no servo defined then zero out the config variables to prevent passing false data to the gui. for(i=0;i<8;i++) { conf.servoConf[i].min = 0; conf.servoConf[i].max = 0; conf.servoConf[i].middle = 0; conf.servoConf[i].rate = 0; } #endif I don't think this code is us...

Alexinparis

Hi, thank you for the integration. some minor corrections: 2 box MISSION&LAND were always active because of this bug #ifdef GPS → #if GPS in multiwii.cpp: if (GPS_Compute() != 0) break; if (GPS_NewData() != 0) break; the purpose is to disociate the 2 tasks: 1) not in the same loop to dissociate ...

Alexinparis

>You missed the last change, serial.cpp, store_uart_in_buf()
for me it was already done

>#if (defined(SPEKTRUM) || defined(SBUS) || defined(SUMD)) && (UART_NUMBER > 1)
ok, corrected.

Alexinparis

ok, done.
there was some definition missing in deh.h, please check if it works.

Alexinparis

Hi, I understand the channel mapping for PPM is counter intuitive in the config.h section. However we can't really speak about a bug, as the current relation in SERIAL_SUM_PPM is bijective and does the job. I'm open to introduce any possible modification matching more the real PPM channel stream, bu...

Alexinparis

Welcome back, András .... we missed you Thanks, I'm slowly getting traction again... it was a rough couple of months... Now, I'm catching up with the changes in the repo, and integrate them to the navi codebase... eventually i'll check in navi code to the main repo.... Andras Hi Andras, I'm glad to...

Alexinparis

Hi, every one, I have encountered some problems in trying to understand the code. delta = gyroData[axis] - lastGyro[axis]; //16 bits is ok here, because the dif between 2 consecutive gyro reads is limited DTerm = (delta1[axis]+delta2[axis]+delta+1)*dynD8[axis]/3/8; //16 bits is ok here delta2[axis]...

Alexinparis

Hi, I've just committed the mod suggested by JohnB. With no option (permanent mod) I think current SBUS users will have to look carefully at the change mod in next version. From what I understand, I see no reason to make post scale treatment on spektrum system. The fact users have to increase the t...

Alexinparis

Hi, I've just committed the mod suggested by JohnB. With no option (permanent mod) I think current SBUS users will have to look carefully at the change mod in next version. Why? Please make it optional for those who already have a perfect signal setup. Because here, it's a problem of SBUS code desi...

Alexinparis

ok ok, so I re add the #define option.
there are options that are not really one because 99% with use it (the reason I did not include it), but here apparently this is not the case

Alexinparis

Hi, I've just committed the mod suggested by JohnB. With no option (permanent mod) I think current SBUS users will have to look carefully at the change mod in next version. From what I understand, I see no reason to make post scale treatment on spektrum system. The fact users have to increase the tr...

Alexinparis

Hi, I'm not fan of both ideas: 1) I think the security with one stick arming sequence is enough: even if arming is done by error, it can be done only in a idle motor state. 2) I think it must be up to the user to care about the arming state of the multi. + it can be confusing for those using the mot...

Alexinparis

Hi,

The patch is applied without option: in this context I think it's a wise idea to not allow arm in any case if a gps is intended to be used.

Alexinparis

Hi,
patch applied

Alexinparis

the patch is applied

Alexinparis

The GPS_coord_to_degrees function uses 4 digits after the "." in minutes field. The 4 digit resolution is '100' = 1.1 meters (check this please i'm no way sure). not so sure. according to a portion of code: when we have 1 degree = 10 000 000, 1 unit = around 0.76 cm so here with 4 digits:...

Alexinparis

So what is the consensus ?
Plüschi : are you convinced spektrum does not need this because the scaling here is not at the same place ?
JohnB: I don't see any reason to make it optional via #define

Alexinparis

Hi,

with this mod:
error: "Cannot find anything named displayWidth"

why ?
because I use Processing 1.5.1

why ?
because with Processing 2.x I can't export MacOS binarires

Alexinparis

I'm not sure baro is a fusion, I know alt hold uses a baro and accel z fusion to work but these graphs are raw sensor data. Also at the red line when things start to go wrong the accel Z is flat, it only goes down rapidly once the throttle Is applied and the hex goes full throttle and up rapidly. T...

Alexinparis

but why? the wiki is already there. Much more promising to base additional work on what is already available than start from scratch. m There is STILL no direct link on the main m page to the wiki. Asked for that months ago. ok, now, nobody can ignore the wiki It's on the first page in Arduino IDE ...

Alexinparis

MWii is good and fun for acro + level modes, but the more sophisticated stuff barely works. Why not blatantly copy stuff that works instead of reinventing the wheel ? Althold in APM really works, flip that switch, kazing ... the copter stays there. In mwii it starts to oscillate ... and nobody give...

Alexinparis

Let me summarize: - The acro-stability flying mode of MultiWii, even with the know limitation of bits/bytes/maths , in your opinion is good enough, so there is no point to invest lot of CPU/development power for a marginal gain ... correct ? - AutoTuning is something that you may consider interesti...

Alexinparis

About acro ... I find amazing that Baseflight use a 3500uS cycle, and MultiWii on 328 can make this cycle in much less time ... how it is possible that people price the accuracy of acro of naze32 ? I think the problem is elsewhere here. It is true that doing everything with float/int32, with the ex...

Alexinparis

Hi,

Please look at r1628 change. not trivial to follow, but a little faster to do this way

Code: Select all

    baroGroundTemperatureScale = ((int32_t)baroTemperature + 27315) * (2 * 29.271267f); // 2 *  is included here => no need for * 2  on BaroAlt in additional LPF

Alexinparis

I'm curious why there is no progress in the code for some time now? Where are the smart people who were here before? Bart Hi, I can understand here a sort of frustration about the slowness these weeks There will be a 2.4 for sure. And it will be released as soon as last EOSBandi code will be merged...

Alexinparis

I see what you mean about just using the current EstM variable and formulas. I find I still need to section off some of the MAG code, specifically:[code] #if MAG EstM.A32[axis] += (int32_t)(imu.magADC[axis] - EstM.A16[2*axis+1])<<(16-GYR_CMPFM_FACTOR); #else EstM.A32[axis] += (int32_t)(deltaGyroAng...

Alexinparis

The tail pointer is first inceremented and then the TX-byte is read out instead of first reading out and then incrementing. (also the same in ISRs for UART1,2,3) could you elaborate more ? I don't see a flaw here: if this ISR is triggered, we are sure there is at least one data to send and this is ...

Alexinparis

Hi, (Applies to MultiWii 2.3, Build 1676) As MultiWii uses its own serial functions, it also introduces some different (better suitable) behaviour when the serial RX ring buffers overflow: The original Arduino "HardwareSerial" library keeps the old data in the buffer and just skips the new...

Alexinparis

Hi! float InvSqrt(float x) { uint32_t i = 0x5F1FFFF9 - (*(uint32_t*)&x >> 1); float tmp = *(float*)&i; return tmp * (1.68191409f - 0.703952253f * x * tmp * tmp); } I agree about new coef choice. it's wise and cost nothing to change. But this code (without union) takes 26 bytes more in compa...

Alexinparis

I think this m can be done faster and shorter: void i2c_MS561101BA_Calculate() { int32_t delt; union { uint32_t i; uint16_t w[2]; } lsl16; lsl16.w[0] = 0; float dT = (int32_t)ms561101ba_ctx.ut.val - (int32_t)((uint32_t)ms561101ba_ctx.c[5] << 8); lsl16.w[1] = ms561101ba_ctx.c[2]; float off = lsl16.i...

Alexinparis

Hi, Good to know that your tests were successful. I hope Alex is looking at this thread and apply the solution in the development branch. Anybody else had the opportunity to test this code change? Hi, Don't worry I'm still here and read almost all the posts If validated by 2 or 3 users, for sure I ...

Alexinparis

The "reason" the code does ++ in each switch() is because when there's no mag for example, it will just get incremented and fallthrough to the next (where it also might just get incremented etc). If there's no mag or baro or whatever, your version of taskorder will only increment by 1-2 p...

Alexinparis

So yeah MSP_ACC_TRIM has been added, great ! but how I can implement it in my app when: in MultiWii : MSP_ACC_TRIM = 121 ; MSP_SET_ACC_TRIM = 215 ; in EosBandi Nav : MSP_SET_NAV_CONFIG = 215 ; // in message Sets nav config parameters MSP_NAV_STATUS = 121 ; // out message Returns navigation status i...

Alexinparis

timecop wrote:If you wanna get real technical, ACC_TRIM was added to baseflight before multiwii allocated same ID for MSP_BIND.

are you sure ?
acc_trim: baseflight: r231 18 oct 2012
spek_bind: multiwii_shared: r1135 23 sept 2012

Alexinparis

Very strange.
I've never reproduced it, and I have no explanation.
As you said, it should be equivalent.

the reason to do log x - logy. instead of log(x/y) is to remove a costly / float operation as we know log x is constant once calibrated.

Alexinparis

Hi ! I am fighting with those two myself (who doesn't ?). I can only say that the ***same*** Hardware with an APM (even using same GPS with the very same settings, UBX+38400 baud). Was able to hold ALT within 30cm and position within 50x50x50 cm with stock values on Arducopter 3.01... yes, that's n...

Alexinparis

If you have a MAG hardware, yes there will be MAG IMU specific calculation.
But if you don't activate it, MAG shouldn't have any effect on the control. (the heading info coming from MAG computation is just ignored)

Alexinparis

I wouls like, but I can apply this patch like this.
where is defined SUMD ?

Alexinparis

viewtopic.php?f=18&t=4499#p47521

Alexinparis

Hi I was testing follow me mode and I came across one problem with RC_SERIAL command. When the application sends RC_SERIAL data the control input from the radio is overwritten by the data from the application. While it is OK in some cases, during the "follow me" tests I realised that if t...

Alexinparis

For MEGA boards, the easiest way to keep tricopter yaw on pin 2 is to comment #define MEGA_HW_PWM_SERVOS in config.h
there is no reason to see a better signal on pin 7 instead of 2.

Alexinparis

you can probably fisrt try to tune this portion of code in multiwii.cpp: // Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms) AltHoldCorr+= rcCommand[THROTTLE] - initialThrottleHold; if(abs(AltHoldCorr) > 512) { Al...

Alexinparis

Hi, I had to write a different config to the GPS that enabled UBX binary protocol and 10Hz. I read somewhere UBX GPS are more accurate at 5Hz than 10Hz. maybe an info from EOS any comment about this ? Advantages of 38400: -less I/O error probability any info about I/O errors probability on AVR UART ...

Alexinparis

because - I don't know if if still works, but MSP_BIND used to work (and I suppose it still works as designed) and was here before. Danal introduced it in the past. - The reference is multiwii_shared. Should I care about the fact baseflight didn't take it into account ? don't worry I don't forget yo...

Alexinparis

yes we can.
I will do it.

but throwing out promini-gps completely would be the far better idea.

is there still some users, Patrik ?

Alexinparis

If you use this option, the servo pin output is no more 2 but 11.
no signal of pin 11 ?

Alexinparis

Could we have MSP_ACC_TRIM implemented like in baseflight? Hi, MSP_ACC_TRIM sounds nice if you plan to introduce it in your GUI. I will add it. MSP_BIND will stay. I don't know how it works currently with spektrum sat (no problem to patch something if something can be done) , but I consider it's a ...

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