MultiWii

Anybody can tell me how to adjust the PID. My MWC include Arduino Nano 3.0 and MPU-6050.

I have tried my best to adjust it. If I set PID like picture below

The quadricopterX can fly. But it is very unstable. And I hardly control it.
Here is the video.
http://v.youku.com/v_show/id_XNDA5MzQ3MjI0.html


For increasing the stability of the quadricopterX. I increase the P and D like picture below

But the quadricopterX can not fly.
Here is the video.
http://v.youku.com/v_show/id_XNDA5MzU3NTI0.html


Someone tell me my MWC have some problem. Because he find that I have a lot of error on the I2C from my picture above.
I try to weld my PCB again. But the problem have not resolved.

What can I do for my MWC? Anybody can help me. Thanks.

Those screen shots tell use nothing other than you have i2c errors like they are going out of fashion. According to the cycle time you only appear to have a WMP connected although you have data reading for Acc and Baro, and that you havent got your motors running. Give use some more info like what version of code you are using, what gear have you got fitted is it just an Arduino with a WMP with IMU or shield with Arduino and other sensors fitted, a screen shot with the motors running at idle and 50% (No Props). Clear the check mark next to level for the time being we need to be able to see what is happening in Acro mode (gyro only) before we move forward. A pic of your copter showing wiring would help that we we can see if you have it hooked up properly.

looking at your video, it looks to me like your speed controllers (ESC) are not calibrated properly.

bill516 wrote:Those screen shots tell use nothing other than you have i2c errors like they are going out of fashion. According to the cycle time you only appear to have a WMP connected although you have data reading for Acc and Baro, and that you havent got your motors running. Give use some more info like what version of code you are using, what gear have you got fitted is it just an Arduino with a WMP with IMU or shield with Arduino and other sensors fitted, a screen shot with the motors running at idle and 50% (No Props). Clear the check mark next to level for the time being we need to be able to see what is happening in Acro mode (gyro only) before we move forward. A pic of your copter showing wiring would help that we we can see if you have it hooked up properly.

I have solved the problem of I2C error. My sensors only include MPU-6050. I don't have MS5611 and HMC5883L.
But I changed the code about sensors in config.h like below

//#define FREEIMUv035_MS // FreeIMU v0.3.5_MS <- confirmed by Alex
//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex
#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
//#define PIPO // 9DOF board from erazz
//#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex
//#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy second edition <- confirmed by Alex
//#define ALLINONE // full FC board or standalone 9DOF+baro board from CSG_EU

And now, I change the code in def.h(line 403) like below

#if defined(FREEIMUv04)
#define MPU6050
// #define HMC5883
// #define MS561101BA
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
// #define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = -Z;}
// #define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050
#undef INTERNAL_I2C_PULLUPS
#endif

The I2C error is 0 now like picture below


But the QUADX still is unstable or can not fly like before.

BTW, the verson that I used is 2.0 release.

tovrin wrote:looking at your video, it looks to me like your speed controllers (ESC) are not calibrated properly.

Which options of my ESC need be calibrated ?

Here is the manual of my ESC
http://www.hobbywing.com/uploadfiles/sx/file/manual/HW-01-SW.pdf

The type of mine is 'Skywalker-20A'

I used the default setting.

you can do a search on the site, there is a new tool that will help calibrate them, or you can do it manually.

manually is the only way i know.
connect your speed controllers to your RX throttle pin (if you make an adapter you can do all 4 at once, which is preferable)
turn your TX on, and turn the throttle all the way up. your ESC will beep confirming max throttle, throttle all the way down now before it beeps again.
thats it.
this has to be done to each ESC to make sure they all have the same min and max throttle.

tovrin wrote:you can do a search on the site, there is a new tool that will help calibrate them, or you can do it manually.

manually is the only way i know.
connect your speed controllers to your RX throttle pin (if you make an adapter you can do all 4 at once, which is preferable)
turn your TX on, and turn the throttle all the way up. your ESC will beep confirming max throttle, throttle all the way down now before it beeps again.
thats it.
this has to be done to each ESC to make sure they all have the same min and max throttle.

I have calibrated my ESC. But the MWC is still not unstable like video below. When I increase the throttle, one motor will decrease the output of it suddenly. You can find out it at the eleventh seconds in the video

http://v.youku.com/v_show/id_XNDExMTM3OTg4.html

That twitching looks like vibration maybe? Put low pass filtering on for the sensors?

And Dude, PUT a shirt on next time.

Pyrofer wrote:That twitching looks like vibration maybe? Put low pass filtering on for the sensors?

And Dude, PUT a shirt on next time.

Thank you. I will test it tonight. And I will aslo put a T-Shirt. ^_^

Dude put a vid of the GUI with motors running at 50% no props then we can see what is happening with your Gyro and ACC graphs. If the copter is stable without props then you might have a prop imbalance, re-do the vid but with props and be VERY careful so we can see the results.

RE the esc calibration, there is a section in the latest Dev version for calibrating esc's

Did you calibrate your ACC?
In one Video it looks like Copter wants to get always the same ´Position every time you put throttle on it and so ACC gets active. Best you recalbrate ACC with stickkombination, Copter standing on the Landinggear.

I have my first stable MWC. The video is below. Thanks everyone!

http://v.youku.com/v_show/id_XNDMxOTYyOTcy.html

GRATS!