MultiWii

ziss_dm

Hi,
Is D12 still used in 1.9?

regards,
ziss_dm

ziss_dm

Hi,

I also found this project:
http://thingm.com/fileadmin/thingm/down ... asheet.pdf

regards,
ziss_dm

ziss_dm

Hi,

There are couple of projects, which can be integrated to WMC:
1) BlinkM - i2c RGB smart LED
http://thingm.com/fileadmin/thingm/down ... asheet.pdf
2) uM-FPU - i2c floating point co-processor
http://www.micromegacorp.com/umfpu-v3.html
3) uM-PWM1 - i2c 16 bit, 8 channels PPM decoder/generator
http://www.micromegacorp.com/umpwm1.html
4) Timecop's i2c to PWM converter
http://www.rcgroups.com/forums/showthread.php?t=1399162

regards,
ziss_dm

ziss_dm

Hi Quax, Rob, Sim, Looks like I finally understand what is happening with zero crossing in case of low RPM and high voltage. Whe RPM is low, the BEMF voltage is really low and have really flat slope, as a result even small amount of ringing noise would cause comparator to switch especially around ze...

ziss_dm

Hi Heiko,

Could you please try this version? The idea is simple: to have different ZC filter for low and high RPM. The question is: Is it worth to integrate it into main branch?

regards,
ziss_dm

ziss_dm

Hi Phebus, Can you also make another test, the motor is running but sensor not touching central plate, jut to make sure, that what you see is acceleration, but not electromagnetic interference from ESC's. On this picture of my oscilloscope, the switching of motor poles is at 750 Hz corresponding to ...

ziss_dm

Hi shikra, With Autolevel I of 0.05, after calibrating, it is approx level in hover. And the GUI shows level With Autolevel I of 0.006 it "levels at an angle of approx 20-25 degrees. And the GUI shows that angle. BUT - only the roll is at an angle. The Pitch is fine.... Am I understanding you c...

ziss_dm

Hi phebus, Fist of all, this was great idea to make test like that!! And defenetly, if you have 4.7g vibration at 850Hz sensor would saturate. But I would disagree with your conclusions. 1) You forget that brushless motors, usually perform 6 commutations per electrical rotation. ;( So, 14 pole motor...

ziss_dm

Hi zviratko,

Theoretically, for IMU complimentary filter you need high bandwidth from gyro and low bandwith from ACC. Assuming your control loop is running 400Hz, you need LPF for gyro 200Hz and lowest possible setting for ACC. Not sure, why you trying to increase bandwith for ACC.

regards,
ziss_dm

ziss_dm

Hi Ziss_dm I have done the following modifications in the BMA020 section of the Multiwii software : control = control | (0x00 << 3); //Range 2G 00 replaced by control = control | (0x02 << 3); //Range 8G 00 and to get acc_1G = 255 in the GUI, ((rawADC[1]<<8) | rawADC[0])/64 , ((rawADC[3]<<8) | rawAD...

ziss_dm

Hi Alex,

Maybe we should have pre-releases? Worked well with 1.7.

regards,
ziss_dm

ziss_dm

Hi timecop,

And what is ESC32?

Regards,
ziss_dm

ziss_dm

Hi phebus,

Are you sure, that after changing range to 8G, the acc_1G is still 255? I think, it should be 63?

regards,
ziss_dm

ziss_dm

Hi Heiko, OK, but I don't know what it should do . At first looking, I didn't see any difference with or without COMP_PWM. So, resets still happening? CHARGE_BOOTSTRAP - to pre-charge bootstrap capacitors (apparently this is official name) before start. And yes, braking is always active with COMP_PW...

ziss_dm

Hi, I want to reset ACC TRIM to 0 and start over Just re-calibrate ACC. It resets trims to 0. You also can use avrdude to backup/restore eeprom. (but not all arduinos support that). Example: avrdude "-C%ARDUINO_PATH%\arduino-0022\hardware\tools\avr\etc\avrdude.conf" -v -patmega328p -cstk50...

ziss_dm

Hi Heiko, In Rev 115, I have added support for "Complimentary" PWM (for n-fet boards, and it is disabled by default). It would be interesting to hear, how it performs on your setup. And it would be interesting to see acceleration/deceleration profiles, as it actively breaking. regards, zis...

ziss_dm

Hi Heiko, I use an AVR development board with a poti and a self written software to generate a 400Hz PWM signal. And to generate step, you just rotate pot fast? And it depends on idle rpm? can you try to LOWER the second power curve point? PWR_CURVE_POINT(01, 3500, 25) PWR_CURVE_POINT(02, 5600, 50) ...

ziss_dm

Hi marbalon,

What motors/props are you using? And have you removed back EMF feedback capacitors?
And if you like experiments, you can try to adjust STRT_ZC_FILTER_DELAY in core\str_zc_filter.inc. I think, you can lower it little bit.

regards,
ziss_dm

ziss_dm

Hi, @marbalon: Can you try the latest 0.11 tag? For my setups it is finally better or equal to the original one. I have some question for Mystery 20A users. I had some crashes when testing this software (because testing to high PID values, and landing in a grass, on the wall etc but luckily didn't b...

ziss_dm

Hi,

Can you make screenshots of GUI with copter 90 deg (both motor on/off)?
And also can you switch off in the sketch Baro, Mag, Camera stab, etc..

regards,
ziss_dm

ziss_dm

Hi,

Just want to clarify couple of things:
1) not TRUSTED_ACCZ is workaround for level mode for ACC with less than 30% precision
2) It is not solving problem it is just hiding it.
3) With not TRUSTED_ACCZ you cannot use MAG and Alt. Hold.

regards,
ziss_dm

ziss_dm

Hi, The original version: Af = (Af*7 + An)/8 Ok, now we want Af to be 8 times bigger: Af = Af*7/8 + An And we can transform it to: Af = (Af - Af/8) + An Also, I think the resolution of the filter's data will be reduced. The existing filter increments in steps of ±1 but the revised code will probably...

ziss_dm

Hi Simon, I was just thinking: Maybe we are looking in wrong direction? Maybe something wrong with this "virtual" charge pump on this boards? As I remember you mentined that Plush is working just fine for you? Can I also ask you to check voltage on charge pump capacitor with your scope? re...

ziss_dm

Hi,

Looks good, only one thing it requires 102 bytes of sram. ;( Do we know how much is left?

Another possibility would be:

Code: Select all

accSmooth[axis] = (accSmooth[axis] - accSmooth[axis] / ACC_LPF_FACTOR) + accADC[axis]);

regards,
ziss_dm

ziss_dm

Hi, You are right.. ;( But I was thinking, do we really need LPF? The CF is LPF by it's nature, so I have tried to remove pre-filtering and increase CF factor to 600 and looks like I have pretty much same behavior. It has slightly different reaction on really sharp stick input, but for my opinion it...

ziss_dm

Hi Heiko, Oh... , so electrical rpm = (motor rpm * stator poles) / 2? Is this correct? Almost.. rpm = (motor rpm * rotor poles) / 2. ENOUGH_GOODIES - number of successful electrical rotations before checking RPM. RPM_START_MIN_RPM - minimal RPM for transition to run RPM_STEP_INITIAL, RPM_STEP_MAX - ...

ziss_dm

Hi mr.rc-cam, With the BMP085 baro sensor, and the patched (but otherwise stock) code, I could reliably achieve ±5 meter Alt-Hold precision. This is awesome considering the performance I was getting with the original code. And left alone I think it would make most users very happy. But I tried to sq...

ziss_dm

Hi copterrichie,

And how you captured in-flight data? OpenLog?

regards,
ziss_dm

ziss_dm

Hi mr.rc-cam, But I tried to squeeze out more performance with the BMP085. With some additional code changes I am now experiencing reliable ±2 meter precision, which is not bad at all. I think it could be less than 1 meter with the EagleTree Baro sensor, but I will continue to use the BMP085 for the...

ziss_dm

Hi, I also have some resets when idle throttle is to low. This is probably because of this: ;************************* ; Run settings * ;************************* #define RPM_RUN_MIN_RPM 750 ; 3200 750 - is too low. Remeber, this is electrical RPM. I have timing problems (screams) on the first 3-4 f...

ziss_dm

Hi Alex, About old LPF implementation. As I found it "skip" small ACC value changes (where for big ACC_LPF_FACTOR, e.g. 32, it "skip" whole degrees), because of the dropping bits in cycle, BUT it really helps to filter vibrations, because here small changes of the ACC values are ...

ziss_dm

Hi Heiko, the spikes are still there. Is it possilbe that the filter is causing some "input lag"? Yes, and looks like I can see it on the graph. But looks like it also limiting the current (was 42 now 36, and taking into account that now your battery in better condition, it is quite sugnif...

ziss_dm

Hi Simon, Hello! With r72, the MT3506 motor actually seems to run quite well, without losing timing (or recovering well, I can't tell ) You can connect LED to SCK line of ISP connector, this is my DbgLED In case it is on, was ZC recovery.. r75: btw, you can use movw temp1, temp3, instead of the two ...

ziss_dm

Hi Hamburger,
Could you please post GUI screen shots?

regards,
ziss_dm

ziss_dm

Hi Heiko,
Could you please test latest r90 with your UniLog?

regards,
ziss_dm

ziss_dm

Hi Sim,
I was thinking, that it would help to "discharge" inductive kick after commutation.

regards,
ziss_dm

ziss_dm

Hi

And what about i2c modules, like this one:
http://www.dealextreme.com/p/eb-365-gps ... pset-80045
http://www.chinesegps.com/downloads/EB- ... 010719.pdf

regards,
ziss_dm

ziss_dm

Hi Alex, I was always wandering why WMC level mode has kind of "sticky" feeling.. And lso why ACC values never return to "original" in the GUI in case you tilted model after calibration and return it back.. Looks like I have found little problem with our LPF: accSmooth[axis] = (a...

ziss_dm

Hi Heiko,

Looking at this graph I was thinking: Have we tried to increase input capacitors? I think, 2x220ms/30v, low ESR would be more appropriate.

regards,
ziss_dm

ziss_dm

Hi Alex,

This one: http://www.sparkfun.com/datasheets/Sens ... 000-03.pdf Page 47.

7.10.3 ee_w
This bit must be written 1 to be able to write anything into image registers (20h .. 3Bh)
...

Not sure why they need this fortification, though.

regards,
ziss_dm

ziss_dm

Hi mr.rc-cam, What about ITG issue? Do you still want to try? I also can try to create more comprehensive init for BMA180, but somebody need to test it.. I will start anew with stock code that has been fixed with the mode 2 patch. So I will add more posts over the next few weeks as I play with alt-h...

ziss_dm

Hi Simon,

How was your test?

regards,
ziss_dm

ziss_dm

Hi Simon, All that does is move the commutation timing wait into wait_for_low/wait_for_high, and restarts the commutation "timer" if it determines that a false crossing was detected. It uses the comparator value saved from the PWM off interrupt only when looking for false crossings ("...

ziss_dm

Hi, Can you also try this init routine: #if defined(BMA180) void ACC_init () { delay(10); //default range 2G: 1G = 4096 unit. i2c_writeReg(BMA180_ADDRESS,0x0D,1<<4); // register: ctrl_reg0 -- value: set bit ee_w to 1 to enable writing delay(5); uint8_t control = i2c_readReg(BMA180_ADDRESS, 0x20); co...

ziss_dm

Hi mr.rc-cam, I would suggest to start from beginning: Can you explain how everythig is connected? And I would prepare couple of test sketches to test ITG and BMA separatelly (using Wire library). I think, in case they would have problems too, this 99% electrical or HW problem.. ;( regards, ziss_dm

ziss_dm

Hi mr.rc-cam,
Could you double-check one thing for me: On screenshot "On the floor, low throttle", I can see Gyro spikes. I think, this happened when motors started to spin. But ACC Z started to drop earlier. And even earlier MAG had a spike. Is it what happened?

regards,
ziss_dm

ziss_dm

Hi, Basically the idea is to increase resolution of the arduino PWM outputs without external hardware. I have tested it with modified escs, and looks like it working. More tests to come. But theoretically, it should be able to increase resolution even with non-modified escs. #if defined(MEGA) #defin...

ziss_dm

Hi mr.rc-cam, Would you be able to get raw acc values, without calibration and filter? To do that you need to comment: Sensors.pde void ACC_Common() { static int32_t a[3]; if (calibratingA>0) { for (uint8_t axis = 0; axis < 3; axis++) { // Reset a[axis] at start of calibration if (calibratingA == 40...

ziss_dm

Hi Alex, After seeing many issues about the decrease of ACC_Z values with a throttle input, I tried to simulate a constant wrong value (acc_1G/2), and I managed to reproduce the drift issue.This leads me to think the drift issue is tied to this. But other people decreasing cut-off of ACC_LPF and inc...

ziss_dm

Hi Alex, It is quite erratic to Yaw. Try to roll left and apply left Yaw simutaniously. But what we trying to archive by this? If we want to increase range of "trusted" acc values, would it be easier to increase range of trustred ACC values? Let's say 0.2 - 3g. Or just remove this check co...

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