mr.sneezy wrote:Thanks TC. That partly explains the weird compass stuff, maybe all of it.
OK, I have done the Acc/Gyro reorientation. This image shows the new Acc and Gyro axis settings, might help somebody sometime. Numerically it makes little sense, but on the GUI all is now well, including the compass. Time to fly...
jingej wrote:mr.sneezy wrote:Thanks TC. That partly explains the weird compass stuff, maybe all of it.
OK, I have done the Acc/Gyro reorientation. This image shows the new Acc and Gyro axis settings, might help somebody sometime. Numerically it makes little sense, but on the GUI all is now well, including the compass. Time to fly...
i turned my board 90° CW and i tried several hours to find out the correct values for the MAG... gyro and acc were easy, but mag was a horror... so its not the values you need (180°) but it may give you an idea of the mag-values...
set align_gyro_x = -2
set align_gyro_y = 1
set align_gyro_z = -3
set align_acc_x = -1
set align_acc_y = -2
set align_acc_z = 3
set align_mag_x = -1
set align_mag_y = -3
set align_mag_z = -2
kol wrote:Hi. I tried to test GPS PosHold, but when i turned on this feature copter immediately lost his position and flew to the side.
Have someone working PosHold and RTL on baseflight firmware?
kol wrote:Hi. I tried to test GPS PosHold, but when i turned on this feature copter immediately lost his position and flew to the side.
Have someone working PosHold and RTL on baseflight firmware?
Plüschi wrote:There is ZERO influence of the stm32 on 432 mhz (6*72 = 432). A receiver on 433.xxx wont be disturbed in any way.
....
(Code: Select all
void computeIMU(void)
{
uint32_t axis;
static int16_t gyroYawSmooth = 0;
ACC_getADC();
Gyro_getADC();
getEstimatedAttitude();
annexCode();
for (axis = 0; axis < 3; axis++)
gyroData[axis] = gyroADC[axis];
if (mcfg.mixerConfiguration == MULTITYPE_TRI) {
gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW]) / 3;
gyroYawSmooth = gyroData[YAW];
}
}
Plüschi wrote:Scrat, if there was any benefit of other looptimes or other pwm freq's, dont you think this would be default value?
after some hours of 'digging in the mudd'Code: Select all
// aBUGSworstnightmare; changed on 10/20/2013
// Definition of __errno and _exit were needed to make it link under Keil + GCC
// NOT FLIGHT TESTED!!!!
static int errno;
int *__errno(void) { return &errno; }
void _exit(void) {
while(1) {
// Loop until reset
}
}
// END OF GCC SYMBOLStimecop wrote:It would take all of 5 seconds to find out that max PWM freq is 498Hz, in steps of 1Hz. So you can set it to any number between 50 and 498.
Plüschi wrote:Scrat, if there was any benefit of other looptimes or other pwm freq's, dont you think this would be default value?
scrat wrote:I have set pwm freq's to 450Hz. It's working better for me. I have all esc's flashed with simonk FW. And looptime...i have it set to 2900.
Code: Select all
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH