Baseflight aka multiwii port to stm32

mr.sneezy · Post by **mr.sneezy** » Sun Jan 13, 2013 1:24 pm

brm wrote:what did you change?
tc has not much time at the moment.
this is the reason he is quite silent.
are you doing gps related things?
when yes how to get it?

Not sure if the ? was directed at me.

I changed the gps_type in CLI to type 2 for MTK. I verified that the GPS output rate changed from 10Hz to 5Hz, so I guess the GPS is using MTK protocol.
Not sure if 5Hz is better (less serial load perhaps) but since the change to r250 and the gps_type change the GPS indicator box on MultiWii GUI is lighting up green right away now.

My desire for GPS on this Quad is mainly for 'Return To Home' when I loose orientation while flying it. Getting it to fly a course of two or more waypoints would be good eventually for some videoing tasks.
Currently I'm happy to have debugged a switch to Baseflight this weekend and debugged attaching a GPS module I had laying around doing nothing better.

I've not actually flown it today with r250, but it was very nice on the previous old version I had before (July version I think).

Regards,
Martin

fiendie · Post by **fiendie** » Sun Jan 13, 2013 3:51 pm

mr.sneezy wrote:Thanks Andy. Not sure what FreeNode is
I'd rather not bug TC anyway as GPS is not his interest, but I'm happy that guys here who do use BaseFlight with GPS can chime in.

FreeNode is an IRC (Internet Relay Chat) server where many open source projects maintain channels (chat rooms).
You can join by either using a dedicated client like XChat or mIRC, or by using their web chat: http://webchat.freenode.net/

And you can bug him all day, he loves that ;P

-- Andy

brm · Post by **brm** » Sun Jan 13, 2013 4:07 pm

http://youtu.be/tv73kWezRwc
my quad flies not that bad - even with bended motorshafts and the gopro is just taped to the frame.
no vibration absorber inbetween.
should also be a good base for my fpv trials...

yes, the next thing is a safe return to home function.

mr.sneezy · Post by **mr.sneezy** » Tue Jan 15, 2013 1:48 pm

brm wrote:yes, the next thing is a safe return to home function.

My own aspirations of eventual RTH took a dive today. Powered up the quad and GPS tonight, and no output from the GPS at all. Power is good, data wires fine. I wonder if the firmware in the FMP04 (MTK 3329) is stuffed. Anyone had that happen ?

mr.sneezy · Post by **mr.sneezy** » Mon Jan 21, 2013 2:35 pm

Guys, I resurrected the FMP04 GPS module (MTK MT3329). I opened up the RF shield and had a poke around. Turns out the battery is stone dead, or at least very nearly at 0.1V on it. I took a punt and shorted it out completely for a few seconds then applied power to the GPS to see if it had any change on the battery voltage (like charging). Nope, no change, but then I noticed the current to the module was pulsing like it used to, and yep now it's sending data again.

So, looks like I need to graft on a 3V lithium cell to restore the battery backup, and being dead or mostly dead may have stopped it working or at least corrupted some settings...
Martin

Lapino · Post by **Lapino** » Mon Jan 21, 2013 7:03 pm

Hi TC, is there some kind of current consumption estimation implemented for the naze? On arduino there was powermeter but I didn't see this option in the cli or manual

Thanks in advance

timecop · Post by **timecop** » Tue Jan 22, 2013 7:48 am

There isn't, as there's no reasonable way to calculate that just based on motors spinning.
A feature returning random numbers would make more sense than whatever "poweremeter" is implemented in current 8bit multiwii.

Lapino · Post by **Lapino** » Tue Jan 22, 2013 8:33 am

But there's also the option to add a current sensor

Could vbat be modified to do so? Current sensors have voltage output in correspondence with current used ...or am I wrong with that?

timecop · Post by **timecop** » Tue Jan 22, 2013 8:36 am

There is no reasonable way to add a current sensor, so no.

Lapino · Post by **Lapino** » Tue Jan 22, 2013 12:46 pm

Ok, thank you

gena_g · Post by **gena_g** » Wed Jan 30, 2013 9:33 am

Tell me please. As the firmware r260 mode triсoptera can include Gimbal (servo_tilt).

timecop · Post by **timecop** » Wed Jan 30, 2013 9:40 am

Not unless you want to use PPM input and change driver to allow more servos (well, actually, change should be minimal, but whatevers).
Too much effort otherwise.

gena_g · Post by **gena_g** » Wed Jan 30, 2013 10:02 am

I use the PPM-sum. And you can adjust the gimbal with cmix . The board free PWM5-PWM8. They can be used for Gimbal

timecop · Post by **timecop** » Wed Jan 30, 2013 10:12 am

Right.
Feel free to contribute a patch that makes use of additionally available servos in that mode.
Its certainly doable.

whakahere · Post by **whakahere** » Wed Jan 30, 2013 9:20 pm

I am having a hell of a time find the looptime variable. I'm using the lastest version of baseflight and the naze32 android app. I thought it would be under sets in the cli but I can't find it in there.

I want to improve the level of my quad and from what I understand I need to increase looptime. Is it under a different name or in a different location in the app?

Lapino · Post by **Lapino** » Wed Jan 30, 2013 10:13 pm

Looptime should be in the set accessible via cli

Just have a closer look at it...

whakahere · Post by **whakahere** » Wed Jan 30, 2013 10:27 pm

I know it can be changed by the cli ... If I could plug in my board but I built my current quad with the board sealed within the body (it's a battle style, all weather quad). This means I can't plug it in by usb. I do have access through bluetooth but for the life of me I have no idea how to access that through a mac. So I was hoping since all functions were meant to be in the app I would do all my updating through that. (no need to add to the firmware as I just need rate and level mode).

Of course I updated the lastest baseflight before putting it in.

Crashpilot1000 · Post by **Crashpilot1000** » Thu Jan 31, 2013 11:53 am

Hi!
Currently i am implementing the new eos bandi code into my nazeproject. Due to my limited c coding abilities, i am experiencing severe problems with the new leadfilter and its' "class" definition. I always get compile errors with the class definition of the mwii gps code (http://code.google.com/p/multiwii/sourc ... 321&r=1321) what is the secret?
Cheers
Kraut Rob

timecop · Post by **timecop** » Thu Jan 31, 2013 5:29 pm

uh, wow, why the fuck would they go back to class-based C++ failcode...
Well, just rewrite the class garbage in C and problem solved.

Crashpilot1000 · Post by **Crashpilot1000** » Thu Jan 31, 2013 5:48 pm

Hahaha actually it is arducopter gps leadfilter class "failcode" LOL !
I am too stupid to do that but i will try

timecop · Post by **timecop** » Fri Feb 01, 2013 5:45 am

i.e. class Crap { int foo; int bar; void trash(); void param(int lol); }
rewrite as
typedef struct crapStruct { int foo; int bar; } crapStruct;

crapStruct c_static_data;
c_crap_ctor(crapStruct *this) { /* init stuff */ this->foo = 42; this->bar = 10; }
c_crap_trash(crapStruct *this) { /* do crap */ print(this->foo); }
c_crap_params(crapStruct *this, int lol) { /* do stuff */ this->foo += lol; }

then use like
c_crap_ctor(&c_static_data);
c_crap_trash(&c_static_data);
c_crap_params(&c_static_data, 133);
etc.

Crashpilot1000 · Post by **Crashpilot1000** » Sun Feb 03, 2013 11:38 pm

@Timecop: Thank you very much for your info!!! I haven't looked into this subject already but meanwhile i improved BF very much.

- Althold relative to throttlestick middle with Autoland (put thr stick completely down in althold) and Disarm after Landing
- RTH with Autoland and minimal hight for Return feature
- Showing Satnumbers with red LED Blinkcode. So you know how many Sats you have while Arming (setting Homepos)
- PosHold Override. Pos hold is only engaged when you let go the stick, so you can fly around and PH is engaged. PH only possible with 7 Sats to prevent flyaway
- Failsafe: RTL and Autoland (if Baro&GPS) or just Autoland (no GPS but Baro) or the old crap (no GPS no Baro) or RTL and old crap if only GPS
- Updated/refreshed GPS code. Added binary protocol MTK16/MTK19, improved initialization (with 10sec timeout). Replaced moving average with own Spikefilter. Own MTK binary parser.
- Improved Main Pid controller with floats and dT and PT1 Element, flies more stable, you can increase roll/pitch P now.
- ESC Calibration function "feature pass" (disable for flight "feature -pass") does a Passthrough of thr channel to all esc according to copter config (default QuadX). You can Calibrate/config all your soldered ESC at once now.
The documentation is currently only available in Kraut

but here is the link: http://fpv-community.de/showthread.php? ... post284706
I attach the files here as well, so you don't have to sign up, if you want to take a look.
Perhaps there is some useful stuff for your upcoming releases in it.

Cheers
Kraut Rob

Lapino · Post by **Lapino** » Sun Feb 03, 2013 11:54 pm

Sounds nice

Did anyone test it yet?
I would if I could

timecop · Post by **timecop** » Mon Feb 04, 2013 12:04 am

Crashpilot1000 - you mean GPS works? Shock and horror.

Crashpilot1000 · Post by **Crashpilot1000** » Mon Feb 04, 2013 12:12 am

He says it works: http://fpv-community.de/showthread.php? ... post283741

I am currently grounded by weather and hardware (motor)..

Cheers
Kraut Rob

Gimbal · Post by **Gimbal** » Mon Feb 04, 2013 11:50 am

I'm a bit confused, witch software version shall i use and what GUI

timecop · Post by **timecop** » Mon Feb 04, 2013 11:52 am

First post of thread.

Gimbal · Post by **Gimbal** » Mon Feb 04, 2013 1:29 pm

Well i hate to brake it to you Timecop, but you're not the only one contributing to this thread.
Cp witch GUI can i use together with Harakiri6c.

have a few MTK laying around i'd like to test

KR Anders

timecop · Post by **timecop** » Mon Feb 04, 2013 1:33 pm

Since it looks like stuff copied from -dev multiwii, I would assume whatever -dev gui is on multiwii code page.
it takes about 15 seconds to try and find out.

Gimbal · Post by **Gimbal** » Mon Feb 04, 2013 1:46 pm

for the latest MW dev (from 12?? something) Win -GUI can not be used, so ther is a few diferent GIU's, shure i can make som trail n error but why not ask ? btw have em all.

Crashpilot1000 · Post by **Crashpilot1000** » Mon Feb 04, 2013 5:11 pm

Does anybody have a working mag code for the naze? Mwii stinks alot in this area.
I will try to get eos bandi's improved mag calibration to work, but has anyone a proper mag rotation routine wich works upside down as well?

Gimbal · Post by **Gimbal** » Mon Feb 04, 2013 7:56 pm

thnx CP1000 for great work, trying to keep up with small successes ;-)

Crashpilot1000 · Post by **Crashpilot1000** » Mon Feb 04, 2013 8:15 pm

@Gimbal: Thank you very much!
The Harakiri6c is just a mutant of baseflight r251, so use your normal Mwii2.1 Gui!
Flash your 3329 MTK with 3drobotics 1.9FW. I don't know if there is a similar FW for MTK3339 available, otherwise you will be stuck to shabby nmea.

Cheers
Kraut Rob

Crashpilot1000 · Post by **Crashpilot1000** » Wed Feb 06, 2013 4:46 am

Hi Timecop!

I am currently improving the MAG based on eos bandis great work in this area. But i started from the other point: the correct tiltcompensation.
When you replace the orig mwii line in Sensors

Code: Select all

heading = _atan2f(EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X, EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z);

with this:

Code: Select all

        #define RADX10 M_PI/1800.0f                  // 0.001745329252f
        float rollRAD = (float)angle[ROLL] * RADX10;
        float pitchRAD = -(float)angle[PITCH] * RADX10;
        float magX = EstM.A[1];                         // Swap X/Y
        float magY = EstM.A[0];                         // Swap X/Y
        float magZ = EstM.A[2];
        float cr = cosf(rollRAD);
        float sr = sinf(rollRAD);
        float cp = cosf(pitchRAD);
        float sp = sinf(pitchRAD);
        float Xh;
        float Yh;
        Xh = magX*cp+magY*sr*sp + magZ*cr*sp;
        Yh = magY*cr-magZ*sr;    
        heading = _atan2f(-Yh,Xh);                      // magnetic heading * 10

You can fly your copter on the back without loosing the heading now

. This is only possible with your nice "proper" matrix rotation!!
The next step is the calibration, fiddeling with drv_hmc5883l and other ugly stuff.
BTW: I questioned here viewtopic.php?f=8&t=3031#p30539 but no reply:( . The link here: http://www.loveelectronics.co.uk/Tutori ... o-tutorial contains just s**t.

Cheers
Kraut
Rob

EDIT: Don't use it with orig. mwii because you will have no benefit without the proper matrix rotation routine from TC.

timecop · Post by **timecop** » Wed Feb 06, 2013 4:49 am

Very nice.
Been waiting for something to come out of that mag discusion in the other thread, though formatting and indentation definitely needs to go.
Also C89 doesn't allow variable declarations in the middle of scope, I suppose you knew that though.

Crashpilot1000 · Post by **Crashpilot1000** » Wed Feb 06, 2013 4:55 am

timecop wrote: ...Also C89 doesn't allow variable declarations in the middle of scope, I suppose you knew that though.

Thanks!!!
No, I am no programmer, so i don't know this stuff.. What should i do with the Variables? Declare them before?

Cheers
Kraut

timecop · Post by **timecop** » Wed Feb 06, 2013 4:57 am

I'll probably merge this into current code after making sure its all good, so you will see the proper way.
But yeah, start of scope is after opening brace ({) so variables get declared there, then used later.

EDIT: just applied it to baseflight, very nice! mag angle is perfect throughout. Will commit shortly.

Crashpilot1000 · Post by **Crashpilot1000** » Wed Feb 06, 2013 5:46 am

Thx for injecting the code into the official branch!!
lol! I don't see the difference of variable definition

. EDIT: Ahh, i see, the Xh Yh stuff!!
BTW I got compile errors with the "#if INACCURATE" stuff when doing #define INACCURATE. Writing "#ifdef INACCURATE" instead of "#if INACCURATE" works. Perhaps it's my compiler.

Cheers
Kraut Rob

timecop · Post by **timecop** » Wed Feb 06, 2013 6:59 am

for #if, you need to do something like #define INACCURATE 1
#ifdef checks if something is DEFINED, #if checks literal value , so with #define INACCURATE, it would be #if ??? (nothing) bla bla #endif
and with #define iNACCURATE 1 it would be #if 1 /* code */ #endif
Yea, about vars, I forgot that the mag stuff was at start of scope - I thought the heading calculation was buried in the middle of stuff. so var/scope comment doesn't really apply.

Crashpilot1000 · Post by **Crashpilot1000** » Wed Feb 06, 2013 5:14 pm

Ahh, ok now i understand the magic of the #if /#ifdef stuff.
Currently i removed all the inaccurate stuff, because i have no use for it anymore. When checking the mag i saw that S is not exactly on the opposite of N. It's probably off by 10degrees. That is now fixed with more FP math. The Mag gets better.

Code: Select all

 #define RADX10 M_PI/1800.0f                  // if not already defined in board.h

    if (sensors(SENSOR_MAG)) {
        float rollRAD = (float)angle[ROLL] * RADX10;    // Crashpilot CORRECT MAG TILT COMPENSATION now you can fly on your back with correct heading
        float pitchRAD = -(float)angle[PITCH] * RADX10;
        float magX = EstM.A[1];                         // Swap X/Y
        float magY = EstM.A[0];                         // Swap X/Y
        float magZ = EstM.A[2];
        float cr = cosf(rollRAD);
        float sr = sinf(rollRAD);
        float cp = cosf(pitchRAD);
        float sp = sinf(pitchRAD);
        float Xh = magX * cp + magY * sr * sp + magZ * cr * sp;
        float Yh = magY * cr - magZ * sr;
        float flthead = (atan2f(-Yh,Xh) * 1800.0f / M_PI + magneticDeclination)/10;
        if (flthead > 180.0f) flthead = flthead - 360.0f;
        else if (flthead < -180.0f) flthead = flthead + 360.0f;
        heading = flthead;
    }

Cheers
Kraut Rob

whakahere · Post by **whakahere** » Fri Feb 08, 2013 11:01 pm

most likely a no answer but if I don't ask I don't know.

Can you update the firmware through the bluetooth module? I have sunk the board into the quad and can only reach it now through bluetooth.

Crashpilot1000 · Post by **Crashpilot1000** » Fri Feb 08, 2013 11:02 pm

@TC: Your drv_ms5611.c seems somehow faulty. It is producing slow but increasing measurements. Even a BMP in the same room doesn't do that. I am still looking to fix this. Do you have an idea?

Cheers Kraut Rob

@ whakahere: BT is just a serial cable with air in between?? Why shouldn't it work?

EDIT: I did some really hacky sh** to the mag stuff in sensors.c - to not disrupt the datastructure - and i got the mag 10-15 degree more accurate on tilting now.

whakahere · Post by **whakahere** » Fri Feb 08, 2013 11:19 pm

well I will give it a try .... that is if I can find out how to update firmware with a mac. It's my only machine with bluetooth build in. I have no problem talking with the cli so I can get the computer and the board communicating.

brm · Post by **brm** » Sat Feb 09, 2013 11:03 am

Crashpilot1000 wrote:@TC: Your drv_ms5611.c seems somehow faulty. It is producing slow but increasing measurements. Even a BMP in the same room doesn't do that. I am still looking to fix this. Do you have an idea?

what means increasing?
2mm or 2m?

edit: i looked at it again.
behaves nice +- 5 cm.
your setup seems to be in question:
- correct voltage and stable?
- bad board?

Crashpilot1000 · Post by **Crashpilot1000** » Sat Feb 09, 2013 4:05 pm

I looked into this ms driver thing some more. It seems i produced a timing issue of some kind. Sometimes it works ok but on the next initialization it can produce +4m in 5 minutes in a closed room.... hmm. So it's a problem produced by ME, but perhaps it just reveals a weakness. Interestingly on my other naze with BMP the bmp behaves better in this regard.
The MS hardware is fine.
Cheers Kraut Rob

brm · Post by **brm** » Sat Feb 09, 2013 4:43 pm

ha - i just flew my imu with an ms device ... sucks.
i need to adjust the whole altitude hold - not only parts ... :-/

the test flight was with my larger quad - with low kv motors and a rel. soft frame.
the video is just bad ...

Crashpilot1000 · Post by **Crashpilot1000** » Sun Feb 10, 2013 5:19 pm

Hi!

The ms 5611 is a real bi***. It seems i have found / fixed the problem. The more or less increasing measured hight is a problem of the initialization - even with the original TC-hex files. I found that out by powering the naze and looking at the increasing hight, than without repowering, i entered the cli and exit to reset the naze, and Boom - it works correctly. I have another ms baro in my mwii (with the plastic cap) wich doesn't show this problem so it seems to be some variation between the msbaros.

Code: Select all

altered ms5611Detect:
...
    baro->get_up = ms5611_get_up;
    baro->calculate = ms5611_calculate;

    delay(50);
    for (i = 0; i < 10; i++) ms5611_reset();                     // Reset the damn thing a few times
    delay(50);
    return true;
}
...

Crashpilot1000 · Post by **Crashpilot1000** » Sun Feb 10, 2013 10:45 pm

Hi, based on Harakiri6c (viewtopic.php?f=23&t=1947&start=160#p30453) i improved the mag stuff (including calibration: http://fpv-community.de/showthread.php? ... post289267) and did slight improvements on baro (MS/BMP). Now the mag calibration runs for 60 sec, calibrate ACC before and put in the right mag declination (cli). Also swing copter on its' back and do a full yaw turn during mag calibration. You can see the full post here in "Kraut": http://fpv-community.de/showthread.php? ... post289961. I also added a 200ms delay before initial I2C initialization to give homebuild tarduino devices some time to initialize.

Have Fun!

Cheers
Kraut Rob

BTW: There is also some interesting stuff here: http://code.google.com/p/multiwii/source/detail?r=1337

msev · Post by **msev** » Sun Feb 10, 2013 11:10 pm

Nice work Crashpilot1000! Would you by any chance include also some kind of support for fixed wings in one of your next releases, so that fixed wing aircraft could do all the cool stuff like rth, ph, altitude hold & heading hold and of course the mandatory stab.+autolevel.

It would probably be a tough job, but I know you can handle it

fiendie · Post by **fiendie** » Sun Feb 10, 2013 11:30 pm

msev wrote:Nice work Crashpilot1000! Would you by any chance include also some kind of support for fixed wings in one of your next releases, so that fixed wing aircraft could do all the cool stuff like rth, ph, altitude hold & heading hold and of course the mandatory stab.+autolevel.

It would probably be a tough job, but I know you can handle it

Nobody cares about fixed wings msev.
Go over to the *Mono*Wii forum and try your luck there.