MultiWii

Alexinparis

angular rates Most sensors are set to their 2000deg/s The spec of each sensor indicates the relation between LSB and deg/s and multiwii skips the last 2 bytes. That's what you get in the communication between FC and GUI. RC command: in the code // interval [1000;2000] for THROTTLE and [-500;+500] fo...

Alexinparis

Hi,
Good catch, just fixed.
EstG16.V.Z / ACC_1G * 100.0f; => you need to isolate (ACC_1G * 100.0f) otherwise EstG16.V.Z / ACC_1G is evaluated first and is mostly 0.

Alexinparis

2.3 version acc_1G definition is nice BUT it should also be used in MSP_RAW_IMU message output (protocol.c). I have an ACC_1G of 4096 and it totally messes up the GUI display. Those values should be shifted according to ACC_1G to give a nice graph. 4096 -> >>3, 2048 -> >>2, etc. Can this be automat...

Alexinparis

No reply? Wouldn't it be more efficient to set the I2C bus to 400 kHz by default and just temporarily switch to 100 kHz in the WMP/Nunchuck sensor methods instead of having 100 kHz the default and switching to 400 kHz for every sensor (except the MPUs)? This is a good idea and here is a reply: m I ...

Alexinparis

Hi Alexinparis, please fix this bug - in EEPROM.cpp you have #if GPS GPS_set_pids(); // at this time we don't have info about GPS init done #endif but should be (as in the previous version) #if GPS if (f.I2C_INIT_DONE) GPS_set_pids(); // at this time we don't have info about GPS init done #endif in...

Alexinparis

m I would like to thank all of you for making it possible main changes 2.2 -> 2.3 ***Control mode*** - main PITCH/ROLL/YAW PID modification (r1474) - the sticks scaling is no more affected by PID coefficients - yaw rate (to the right of the PIDs in GUI) now works as stick scaling - default yaw rate ...

Alexinparis

There is no word about the AlexK-Mod in the description. Can you please add this and describe how to use PID_CONTROLLER 2. For example: First press RESET in the GUI to load the AlexK-defaults Gyro-PIDS are always active Only Level_P is used for ACC; Level_I is HORIZON; Level_D is unused Is there an...

Alexinparis

I wonder why this got ignored? Having a generic MSP_GET/SET framework would be really great. With a dynamically loaded page in multiwiiconf that can expose settings that are deemed too "hard" to implement on promini. Isn't it the case today ? If you use servo, you will see a servo tab in ...

Alexinparis

haydent wrote:hope its not too late to squeeze this into 2.3, but here is a patch to add amperage display to the GUI

[update]changed patch syntax to context

It will be included, but after 2.3

Alexinparis

Hi,

I don't know if it's buggy or not, but it seems to be unsupported for a long time, and for sure not widely used.
We could keep it in the code, but I understand EOSBandi point as it takes some more time to understand the logic behind and keep it for each GPS code evolution.

Alexinparis

Sebbi wrote:I suspect spam ... first post, stock photo as avatar, link to chart software and english doesn't seem to be his first language.

I suspect also

Alexinparis

Are there new servo diagrams available? there is currently no diagrams. only description for pro mini boards: no modification for mega boards: /*********************** HW PWM Servos ***********************/ // HW PWM Servo outputs for Arduino Mega.. moves: pin D44 (Pitch) pin D45 (Roll) pin D46 (Ca...

Alexinparis

Johnnynunes wrote:sorry for the noob question, but does this means that I can use a src04 sonar for low altitude accuracy?

***GPS***

- Enables sonar altitude from i2c-gps-nav board (1424)

Tks

no, currently, it's only for a more accurate altitude display

Alexinparis

have tested in R1573 and right now in R1604 to save in the GUI "Settings page" some values. First, i found VBATscale was not saved, but then tried other "green" values in this page: Mintrottle / vbatscale / MAG DECL and none of them was sucessfully saved with write after changed...

Alexinparis

Hi,
Currently, MWWin-Gui is not compatible with 2.3

Alexinparis

Hi, This is the last chance to detect a serious bug before the 2.3 release. I put a last candidate here: m Here is the changelog project main changes 2.2 -> 2.3 ***Control mode*** - main PITCH/ROLL/YAW PID modification (r1474) - the sticks scaling is no more affected by PID coefficients - yaw rate (...

Alexinparis

take the table:
const uint8_t boxids[] PROGMEM = {
and imagine one day, we have a new need for a BOX
BOX_FOR_MAKE_COFFEE with unique id = 32 or more

how do you transmit its status ?
not possible with this way: tmp |= 1 << boxids[BOXITEM];

Alexinparis

Hi, At the beginning, we had only MSP_BOXNAMES. It's used by multiwiiconf to display the box which are configurable. Each box table is identified its position order in the name request. There is however a drawback: requesting all the name in the same request could be huge, especially for OSD. (the n...

Alexinparis

The prog_* types are not accepted by new versions of avr-gcc. The problem was reported by NikTheGreek here for Ubuntu 13.04. I see the same errors with Fedora 19. changing [GPS.cpp, line 240] resolves the compile error. void SerialGpsPrint(const char PROGMEM * str) { *******************************...

Alexinparis

spec page 41:

When using SPI interface, user should use DEVICE_RESET (register 107) as well as
SIGNAL_PATH_RESET (register 104) to ensure the reset is performed properly.

Alexinparis

Hi , I can't understand how the acc_lp_factor works . "accLPF32[axis] -= accLPF32[axis]>>(ACC_LPF_FACTOR); accLPF32[axis] += accADC[axis]; accSmooth[axis] = accLPF32[axis]>>(ACC_LPF_FACTOR);" For me a LFP should be like : fXg = Xg * alpha + (fXg * (1.0 - alpha)); Someone can explain the f...

Alexinparis

Baro signal has some aliasing (i.e.: two successive points with the same value), that happens really often (every 3-5 points). Since the signal in Multiwii (when on cable) is updated at around 3Hz, i think there might be a bigger underlying problem. Please notice that only baro seems to have this i...

Alexinparis

1. Where can you adjust the channel for manual gimbal roll / pitch ? Was in config.h before. It's no more settable in config.h It can be done only via GUI. In the gimbal servo setting you can select a static center of each servo, or select the channel which will command this center. (it's less intu...

Alexinparis

Hi,

The spec mentions the SIGNAL_PATH_RESET is specific for SPI. (so not I2C I think)

Alexinparis

Hi,
you're apparently right

when rcData[THROTTLE] reaches 2000, there is an overflow here.

Alexinparis

Things that come to mind: conf.mag_declination (what is its value in processing? why is it /10 there? what?) various vbat*scale/min/max related shit. they seem to be getting * 10 / 10 stuff in various places. why. mag_declination is in 1/10 degree. /10 is used because heading is in degree after IMU...

Alexinparis

ezio wrote:That is perfect!
Thank you very much Alex!
Could we, from this point, put the changes in the protocol in this thread with some decryption ?

Hi,
I added a page here:
http://www.multiwii.com/wiki/index.php? ... l_Protocol

I hope it will be a better basis to discuss&correct things

Alexinparis

Hi, I did more discovering about my I2C GPS reboot problem in r1573 and I found the dependecy : Reboot when writing to EEPROM happens with TRI and with HEX motor config (only with I2C GPS selected and connected) but doesn't happen for QUADX and QUADP configs (This is why most of you didn't see it.....

Alexinparis

Hi Roman, yes 328p + I2C board running r1570 maybe I2C errors - I didnt notice. or look! Not getting frozen FC on write for sure. I wrote a few times getting servo directions and PIDS etc correct. WIll try the I2C errors in next couple of days Hi shikra, I'm using r1573 (I use only "packed&quo...

Alexinparis

I tend to agree.
I doubt TinyGPS is really used.
Mis introduced GPSfromOSD mainly to support MISOSD with a standalone GPS device. Is there someone who currently uses it like this ?

Alexinparis

but when i try RTH the quad starts spinning (piroueting) , sometimes flying towards home and sometimes not - something is clearly wrong here. you should probably set everything to false here: #define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold must be enabled for ...

Alexinparis

About first oddity: There is no need to use 4 bytes for previousTime There is an implicit cast 4->2 bytes here : previousTime = micros(); It's more than enough to store a 65ms delay where no more than 10ms is required. About second bug, yes it was one and it is corrected (I hope) like this in curren...

Alexinparis

I will try to answer. Please more experienced developers correct me. Your questions refer to the old-stile Alex PID controller. The PID works in three possible modes. The standard ACRO mode, ANGLE_MODE and HORIZON_MODE. HORIZON mode is actually only a combination of the other two (and i will not di...

Alexinparis

I take it

Alexinparis

It is bugging me a little bit how rcCommand[THROTTLE] is used both for the RC input and for the throttle output. To the point that correction on the throttle are done like rcCommand[THROTTLE]+= throttleAngleCorrection; Wouldn't it be more coherent with the rest of the code to have a value axisPID[T...

Alexinparis

Hi, in eg. Alarms.cpp, there is an #include "Arduino.h" . But in the file system layout, Arduino.h is not in the same directory as Alarms.cpp. OK I really should find that migration thread you mentioned there, maybe there is a solution. But till then, what was the intension - that I get t...

Alexinparis

Hi, I have looked at the MultiWii code and gotten it to compile in Arduino too, after adding a missing alarmArray. All fine so far... I still need to understand the reasoning behind the structure of the project: There is a MultiWii folder with .ino contents and there is a MultiWii_shared with what ...

Alexinparis

// get servo middle point from Config or from RC-Data int16_t get_middle(uint8_t nr) { return (conf.servoConf[nr].middle < RC_CHANS) ? rcData[conf.servoConf[nr].middle] : conf.servoConf[nr].middle; } what the HELL is this??? Why is this kinda idiocy not commented at all? rcData[] indexed by servoco...

Alexinparis

Hi, I did a small overview with the new PRE Code and I stumbled upon a small thing I'd like to adress: I like to start action style with the copter in my hand tilted and then start engines and throttle up in acro and let it loose, I need to fly with my Camera below the copter and becuase of vibrati...

Alexinparis

Hi, today I tested r1573 in 328 (Crius SE) with I2C_GPS_NAV_v2_2 loaded in Arduino Promini and ALWAYS after powering ON I see three I2C errors in GUI. Then it works normally and number of errors remains on 3, but previously it wasn't like this. Probably just bad timing during bootup, but doesn't lo...

Alexinparis

HSPalm wrote:Hobby developer here. And I keep asking myself, why I still have to do some basic settings like min/max throttle value in config, I think this would be better off i GUI as it's a pain to tweak config.h values while out flying.

and what about "GUI globalsettings pane" ?

Alexinparis

I forgot to mention I also have an OLED_I2C_128x64. I have no sonar. Plus my MAG and BARO are on the MPU-6050 secondary i2C. This morning I tried again, using Arduino 1.5.2 and doing power-off resets after eeprom_clear I get the same results. That is ‘it all works until I bring i2C_GPS into the ske...

Alexinparis

I was reading trough the Altitude hold code as of r1555. I noticed that, although the baroPressureSum is calculated quite often, the LPF for alt.EstAlt uses it only every 25ms. not so often in fact. in Sensors.cpp line 731, you can see (for MS baro) that a new pressure measurement in only available...

Alexinparis

BTW: According to the datasheet you need to calculate "T2" to get a correct temperature readout below 20 Degree for MS5611. Just saying... right, according to spec an offset of T2 = dT2 / 2^31 should be used to the temperature, we need to evaluate it under 20deg to see if it is really rel...

Alexinparis

@linuxslate, thank you for initiating this post
@Wayne: I will check this tonight, maybe a problem with GPS I2C devices with SONAR enabled
@all: are you using the java GUI ? It's important due to one MSP message update
@vistauser: I hope we will have a lot of feedbacks like yours

Alexinparis

PatrikE wrote:If RCSERIAL MSP is detected it will a always overide all other RC-commands.

In fact not all, only those which are not set to 0.
=> you can use RCSERIAL to control only the chan you want, and you can still use Conventional RC at the same time for other channels.

Alexinparis

#2 - possible overflow issue somewhere? If I do full hard yaw side to side the real motor goes 100% for a very short time. Copter nearly perpendicular to ground. Its frigging scary... Its easily repeatable It does NOT happen in ACRO ?? It happens in Horizon. Did not try level. Hi, I don't understan...

Alexinparis

Hi Could we have a file with protocol decryption which will be updated when there are the changes in MSP protocol ? (something like this m ) Or could we have a descryption in the Protocol.cpp ? it is frustrating to find what the values means if they labeled like this: struct { uint16_t a,b,c,d,e,f;...

Alexinparis

I've uploaded a first candidate for testing/debugging purpose in the download section of google code

Alexinparis

Stars112 wrote:Hi,
Can anybody fix the problem with the fast yaw (gier) before release 2.3 please?
Fast Yaw bring the PID Controler to Run out...

Greetings from Germany,
Marc

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