Airplane mode RTH

PatrikE · Post by **PatrikE** » Sun Mar 09, 2014 11:34 am

@i3dm
Sorry i don't have any experience of Ublox.
I only use NMEA Gps.
Non of my patches should effect it.
It just changes some calculations.

i3dm · Post by **i3dm** » Sun Mar 09, 2014 1:18 pm

PatrikE wrote:@i3dm
Sorry i don't have any experience of Ublox.
I only use NMEA Gps.
Non of my patches should effect it.
It just changes some calculations.

thats interesting - as it works perfectly well with the I2C_GPS versions i have on my Quads.
This is what i currently use (i chose V2 in the post) and works well:

http://www.rcgroups.com/forums/showthread.php?t=1724694

perhaps you could have a look and see if its any different than yours?

BTW i can configure my Ublox for NMEA as well, but read in several places that Ublox is more accurate - honestly for a plane it shouldnt matter as much as for a Multi.

perhaps you could share your actual file for the I2C_GPS board + GPSS settings (NMEA, buad rate etc?) and i will configure my Ublox accordingly and retry.

PatrikE · Post by **PatrikE** » Sun Mar 09, 2014 1:33 pm

The config in the I2C Patch is configured for my setup!
10hz @ 115200 NMEA
I'll check if there's any difference.

i3dm · Post by **i3dm** » Sun Mar 09, 2014 1:45 pm

PatrikE wrote:I'll check if there's any difference.

Thank you - that will be most helpful

BTW which calculations did you change in your patch?
can i use the stock I2C_GPS with your airplane setup?

PatrikE · Post by **PatrikE** » Sun Mar 09, 2014 1:52 pm

i3dm wrote:can i use the stock I2C_GPS with your airplane setup?

Not recommended!
You can find the changes if you search in I2C_GPS_NAV.ino for
#define FIXEDWING // Patches for Navigation on Fixedwing.
#define I2CPATCH //Corrects OSD data and Navigation on Fixedwing.

I patched the file you linked to.
https://dl.dropboxusercontent.com/u/975 ... _Mod_x.rar
Compiles But Not tested but.

Test if it works with you Ublox.

i3dm · Post by **i3dm** » Sun Mar 09, 2014 1:54 pm

PatrikE wrote:
i3dm wrote:can i use the stock I2C_GPS with your airplane setup?
Not recommended!

I patched the file you linked to.
https://dl.dropboxusercontent.com/u/975 ... _Mod_x.rar
Compiles But Not tested but.

Test if it works with you Ublox.

Wow that was quick - thank you!

I will test tonight once im in ront of my desk. is it any different than your original version?
BTW - what calcs are you changing?

PatrikE · Post by **PatrikE** » Sun Mar 09, 2014 1:55 pm

You can find the changes if you search in I2C_GPS_NAV.ino for
#define FIXEDWING // Patches for Navigation on Fixedwing.
#define I2CPATCH //Corrects OSD data and Navigation on Fixedwing.

i3dm · Post by **i3dm** » Sun Mar 09, 2014 1:56 pm

PatrikE wrote:You can find the changes if you search in I2C_GPS_NAV.ino for
#define FIXEDWING // Patches for Navigation on Fixedwing.
#define I2CPATCH //Corrects OSD data and Navigation on Fixedwing.

is the original file i used any different than yours was originally (before patches)?

PatrikE · Post by **PatrikE** » Sun Mar 09, 2014 2:01 pm

Not much but some NEO 6 stuff is added/changed in your files.

i3dm · Post by **i3dm** » Sun Mar 09, 2014 2:04 pm

PatrikE wrote:Not much but some NEO 6 stuff is added/changed in your files.

Crossing fingers thats the ticket to get it to work then

Oh, and how does your version perform RTH? simply turn home and fly in a straight line on steady altitude? and then circling home or..? i didnt fimd this info anywhere.

PatrikE · Post by **PatrikE** » Sun Mar 09, 2014 3:20 pm

How does your version perform RTH? simply turn home and fly in a straight line on steady altitude? and then circling home or..?

Short answer YES!

Long answer...
When RTH is activated.

#1
Start Climb to >20 m
#2
Begin Navigating while Climbing to RTH Alt.
#3
Navigate to home maintaining altitude.
#4
After Home is reached.
Keep RTH Altitude and return to home Pos after Passing it.(Hold Pos)

If RTH is activated Higher than programmed it will keep the current Alt
and start Descend when home is reached 1:st time.

GPS HOLD sets a 3D WP that it will go for repeatedly!

i3dm · Post by **i3dm** » Sun Mar 09, 2014 3:52 pm

PatrikE wrote:
How does your version perform RTH? simply turn home and fly in a straight line on steady altitude? and then circling home or..?
Short answer YES!

Long answer...
When RTH is activated.
#1
Start Climb to >20 m
#2
Begin Navigating while Climbing to RTH Alt.
#3
Navigate to home maintaining altitude.
#4
After Home is reached.
Keep RTH Altitude and return to home Pos after Passing it.(Hold Pos)

If RTH is activated Higher than programmed it will keep the current Alt
and start Descend when home is reached 1:st time.

GPS HOLD sets a 3D WP that it will go for repeatedly!

does it control the throttle to change altitude?
also where to i set RTH alt?
thanks again for all your help.

PatrikE · Post by **PatrikE** » Sun Mar 09, 2014 4:41 pm

Read GpsPlane setup.txt

POSR_D => Set RTH altitude 0.250 = 250 meter over home pos

Default value is set to 50m.

Throttle is controlled by Navigation,
Alterror + Climbangle.
And also if groundspeed is < 5m/s during navigation.

i3dm · Post by **i3dm** » Sun Mar 09, 2014 8:08 pm

PatrikE wrote:Not much but some NEO 6 stuff is added/changed in your files.

im a bit emberrassed.. hehe
actually both files seem to work now - perhaps the sattelite reception was borderline yesterday, the Ublox module showed a 3d lock (3 sats+) and the adapter didnt show it, but now with 6 sats both files seem to flash the red LED on the i2c_gps 3 times indicating a lock.

i3dm · Post by **i3dm** » Mon Mar 10, 2014 1:39 pm

PatrikE,

any videos of your flight testing with your Multiwii airplane RTH version?

Chriss · Post by **Chriss** » Mon Mar 10, 2014 5:54 pm

Hi,

maybe I can take a video tomorrow, yesterday my KeyCam was empty on RTH...

Best Regards from Germany!
Chriss

PatrikE · Post by **PatrikE** » Mon Mar 10, 2014 6:20 pm

Testflight i did almost one year ago.
http://youtu.be/tgVza2NYfb4
A lot of things have been improved since then.

A video someone posted on Youtube
http://youtu.be/ZONx-R0EHd0

And a video from RBirdie001
http://youtu.be/n7FW4q12tU0

hinkel · Post by **hinkel** » Mon Mar 10, 2014 11:10 pm

@PatrikE
Just a noob question , is your code available on Naze32 ?

i3dm · Post by **i3dm** » Mon Mar 10, 2014 11:47 pm

So i have Multiwii Airplane installed in my flying wing and i have a few questions:
Edit: got most of it working.
one question though - what happens when i have to trim my plane in pass through mode? when flying in HORIZON for example the board will think i want to turn as the trims are off center,

thank you.

PatrikE · Post by **PatrikE** » Tue Mar 11, 2014 11:45 am

hinkel wrote:@PatrikE
Just a noob question , is your code available on Naze32 ?

Not yet.
You have to use Arduino.

PatrikE · Post by **PatrikE** » Tue Mar 11, 2014 12:01 pm

@i3dm
The plane should be mechanically correct trimmed for level flight.
Exactly as a plane without stabilisation.

Fly the plane in Passthru and trim it to fly level.
Land and remember the positions of the control surfaces.
zero the trims on TX.

The correct way to trim

Adjust linkages until control surfaces have same positions as with trim.
Repeat until it fly perfect.

Or the simple way to trim

Or you can trim it with the servo tab in Gui.
Repeat until it fly perfect.

Summary
Plane should fly level in passthru.(Only transmitter commands)
Rig the plane up in expected angles for level flight and Calibrate ACC.

i3dm · Post by **i3dm** » Tue Mar 11, 2014 1:14 pm

PatrikE wrote:@i3dm
The plane should be mechanically correct trimmed for level flight.
Exactly as a plane without stabilisation.

Fly the plane in Passthru and trim it to fly level.
Land and remember the positions of the control surfaces.
zero the trims on TX.

The correct way to trim
Adjust linkages until control surfaces have same positions as with trim.
Repeat until it fly perfect.

Or the simple way to trim
Or you can trim it with the servo tab in Gui.
Repeat until it fly perfect.

Summary
Plane should fly level in passthru.(Only transmitter commands)
Rig the plane up in expected angles for level flight and Calibrate ACC.

That makes sense. i havent explored the servo tab of the GUI yet - can i simply define Multiwii the correct PWM for the center of each servo in the GUI? if so i couls just copy the PWM i see on the GUI screen into such a field (if it exists).

choder · Post by **choder** » Tue Mar 11, 2014 8:35 pm

I have read through all 48 pages and I am still confused as to what version and if my board's gps is compatible.

I have a hobbyking multiwii pro with the MTK GPS module. I would like to install it on a AXN (Plane) and have RTH and way points work.

Is this possible?

If so where can I find the latest release of the software?

Thank you

choder · Post by **choder** » Wed Mar 12, 2014 3:57 am

I found PatrikE version from this link http://goo.gl/NvSlp5 on page 43 if this thread, compiled it and uploaded and have multiwiigui running. Everything looks functional, including GPS. Now just have to put it in my AXN and hook it up to my reciever. Any advise would be appreciated.

One question. How do I engage passthru from my TX, it is in the config.h file somewhere? I have 6 channel radio and receiver. My toggles for Flaps and Gear have only 2 positions, they are not a 3 position switch.

Thank you for you help

PatrikE · Post by **PatrikE** » Wed Mar 12, 2014 10:14 am

I keep the dev files here.
https://code.google.com/p/multiwii/sour ... ingNav_Dev

I use a model similar to the AXN.
It should work fine with all setting untouched.
The most info you need is in the text file in the rar file.
On a rudder model set Yaw I = 0.

All Flightmodes is set from the Gui.
2 Pos switches are no fun!
With 2 pos switches i would set.
For initial tests without GPS
SW1 Passthru | ARM
SW2 Acro | Horizon

Later with GPS
SW1 Passthru | ARM
SW2 Acro Or Horizon | RTH+Angle

I only use Passthru on ground to stop servos moving while carrying the model.
If you Arm with sticks and skip Passthru you can get a switch free.

SW1 Acro| Horizon
SW2 ---- | RTH+Angle

i3dm · Post by **i3dm** » Wed Mar 12, 2014 11:00 am

Whats the difference between acro and passthrough?

PatrikE, i now have your version of KV_OSD running as well

PatrikE · Post by **PatrikE** » Wed Mar 12, 2014 11:44 am

i3dm wrote:Whats the difference between acro and passthrough?

Difference between Flight modes.
Angle restrict the model Tilt angels to ~45 degrees and gives a real Trainer feeling.
Horizon Gives you more freedom. Allows rolls and loops. But Auto recover if sticks is centered.
Acro Full freedom for maneuvers. The model just feel more stable! Like it's on rails.
Passthru Gives you full control of the model No sensors Mixed to outputs. (It's actually You who fly the plane now!)

Acro is "Normal" Mode.if not Acc or passthru is selected.
Passthru & Acc modes Is activated by switches set in gui.

GPS require acc mode to work.
Must be set manually in Gui.

i3dm · Post by **i3dm** » Wed Mar 12, 2014 12:21 pm

PatrikE wrote:
i3dm wrote:Whats the difference between acro and passthrough?

Difference between Flight modes.
Angle restrict the model Tilt angels to ~45 degrees and gives a real Trainer feeling.
Horizon Gives you more freedom. Allows rolls and loops. But Auto recover if sticks is centered.
Acro Full freedom for maneuvers. The model just feel more stable! Like it's on rails.
Passthru Gives you full control of the model No sensors Mixed to outputs. (It's actually You who fly the plane now!)

Acro is "Normal" Mode.if not Acc or passthru is selected.
Passthru & Acc modes Is activated by switches set in gui.

GPS require acc mode to work.
Must be set manually in Gui.

Acc = accelerometer?

PatrikE · Post by **PatrikE** » Wed Mar 12, 2014 12:22 pm

Correct!

i3dm · Post by **i3dm** » Wed Mar 12, 2014 1:48 pm

PatrikE wrote:Correct!

so i set:
1. passthrough (manual mode).
2. horizon (since i want manual control with auto levelonly).
3. horizon + gps home + gps hold + baro + mag (this is for RTH).

is this OK ?

crashlander · Post by **crashlander** » Wed Mar 12, 2014 1:55 pm

gps hold
in

i3dm wrote:3. horizon + gps home + gps hold + baro + mag (this is for RTH).

is not necessary (and is overridden) when gps home is activated.
baro
is also not needed with airplane (and it probably does nothing).

Regards
Andrej

PatrikE · Post by **PatrikE** » Wed Mar 12, 2014 2:14 pm

If you want your plane to come back.
Check boxes for.
Angle + Gps Home.

Stay "Hold" at location.
Angle + Gps Hold.

That's the only thing you need for navigating the plane.
Mag & Baro will disturb navigation with GPS if you activate them.

You can use Mag for non Gps flying.
Not tested but should work.

choder · Post by **choder** » Wed Mar 12, 2014 2:19 pm

PatrikE wrote:I keep the dev files here.
https://code.google.com/p/multiwii/sour ... ingNav_Dev

I use a model similar to the AXN.
It should work fine with all setting untouched.
The most info you need is in the text file in the rar file.
On a rudder model set Yaw I = 0.

All Flightmodes is set from the Gui.
2 Pos switches are no fun!
With 2 pos switches i would set.
For initial tests without GPS
SW1 Passthru | ARM
SW2 Acro | Horizon

Later with GPS
SW1 Passthru | ARM
SW2 Acro Or Horizon | RTH+Angle

I only use Passthru on ground to stop servos moving while carrying the model.
If you Arm with sticks and skip Passthru you can get a switch free.

SW1 Acro| Horizon
SW2 ---- | RTH+Angle

I have a dx6i and found a way to use the mix to essentially get 3 positions on my switch instead of two. So would I set it to the following

SW1 Passthru | ARM
SW2 Acro| Horizon (or what ever i want, eg. position hold gps hold + angle)
SW3 ---- | RTH+Angle

Thank you for you help.

i3dm · Post by **i3dm** » Wed Mar 12, 2014 4:43 pm

PatrikE wrote:If you want your plane to come back.
Check boxes for.
Angle + Gps Home.

Stay "Hold" at location.
Angle + Gps Hold.

That's the only thing you need for navigating the plane.
Mag & Baro will disturb navigation with GPS if you activate them.

You can use Mag for non Gps flying.
Not tested but should work.

Thank you, i will change configuration.
if i choose "arm" for a certain flight mode also, does that mean its armed all the time in this mode? honestly i dont see the need to disarm an airplane (unlike a multirotor).

PatrikE · Post by **PatrikE** » Wed Mar 12, 2014 5:07 pm

The Arm function on Planes is mostly a protection against Stick Setup combos that are available When DisArmed.
In next release i will add a function to Disable Disarming planes.
Once armed it will remain armed as long as there is battery connected or Failsafe Disarm.

But for now you must have ARM active to keep the motor spinning!

i3dm · Post by **i3dm** » Wed Mar 12, 2014 5:40 pm

PatrikE wrote:The Arm function on Planes is mostly a protection against Stick Setup combos that are available When DisArmed.
In next release i will add a function to Disable Disarming planes.
Once armed it will remain armed as long as there is battery connected or Failsafe Disarm.

But for now you must have ARM active to keep the motor spinning!

so simply tick "arm" in all modes?

PatrikE · Post by **PatrikE** » Wed Mar 12, 2014 6:27 pm

Since i have 8 channels and only need two for flight modes.
I use a dedicated switch just for ARM.

i3dm · Post by **i3dm** » Wed Mar 12, 2014 11:47 pm

PatrikE wrote:Since i have 8 channels and only need two for flight modes.
I use a dedicated switch just for ARM.

OK but it should be armed for all flight conditions right? if its stick armed, it could potentially disarm in flight if the stick is moved accordingly.

choder · Post by **choder** » Wed Mar 12, 2014 11:56 pm

i3dm wrote:
PatrikE wrote:Since i have 8 channels and only need two for flight modes.
I use a dedicated switch just for ARM.

OK but it should be armed for all flight conditions right? if its stick armed, it could potentially disarm in flight if the stick is moved accordingly.

I am curious what Stick Setup combo is, I have never heard that term before. Thanks

choder · Post by **choder** » Thu Mar 13, 2014 2:24 am

I was hooking the multiwii up to my reciever tonight and I am confused on the pinouts going from the multiwii to the servos and ecs. Is there documentation in the rar file that tells me the pinout. My reciever is hooked up fine and responds to my TX in the multiwii gui.

fryefryefrye · Post by **fryefryefrye** » Thu Mar 13, 2014 7:37 am

choder wrote:
i3dm wrote:
PatrikE wrote:Since i have 8 channels and only need two for flight modes.
I use a dedicated switch just for ARM.

OK but it should be armed for all flight conditions right? if its stick armed, it could potentially disarm in flight if the stick is moved accordingly.

I am curious what Stick Setup combo is, I have never heard that term before. Thanks

Throttle in minimum and rudder in the full left will let the plane disarmed ,and mot will stop.

As most of people will not gliding, and most of people use Aileron to make the turn.

So it's not a big problem.

PatrikE · Post by **PatrikE** » Thu Mar 13, 2014 12:30 pm

choder wrote:Is there documentation in the rar file that tells me the pinout.

Not currently.
But here is the pinout for Mega boards.
viewtopic.php?f=7&t=2456&start=410#p47260

choder · Post by **choder** » Thu Mar 13, 2014 12:36 pm

PatrikE wrote:
choder wrote:Is there documentation in the rar file that tells me the pinout.

Not currently.
But here is the pinout for Mega boards.
viewtopic.php?f=7&t=2456&start=410#p47260

Thanks for your help. I will update you on my success. It it's my plan to get the mulltiwii working with rth, then install my camera for fpv with a5.8ghz 200mA tx. I saw in your rar file that you have a file for gps. Do I need to flash that for the gps? I didn't and my gps seems to work fine.

PatrikE · Post by **PatrikE** » Thu Mar 13, 2014 12:46 pm

If you use I2c Gps then you need to use my Patched version.
Gps Emulator is just a Simulator for testing the Gps Functions on the testBench.
It sends simulated GpsData for debugging.

choder · Post by **choder** » Thu Mar 13, 2014 2:11 pm

PatrikE wrote:If you use I2c Gps then you need to use my Patched version.
Gps Emulator is just a Simulator for testing the Gps Functions on the testBench.
It sends simulated GpsData for debugging.

Thanks you, I am using the MTK 3329 GPS that came with the multiwii pro from Hobbyking. I saw the GPS simulator, I will give that a test.

Does your version of software for the Multiwii support way-points? And if so what is the easiest way of configuring the waypoints?

PatrikE · Post by **PatrikE** » Thu Mar 13, 2014 5:03 pm

Only Rth & PosHold.

choder · Post by **choder** » Fri Mar 14, 2014 1:54 am

PatrikE wrote:
choder wrote:Is there documentation in the rar file that tells me the pinout.

Not currently.
But here is the pinout for Mega boards.
viewtopic.php?f=7&t=2456&start=410#p47260

I have 2 servos for my ailerons plugged into a y harness. But there are two outputs for them from the multiwii going to the servos. Can I configure it to use only one output to run both servos off the y harness? When I test the ailerons by pluging the y harness into the rudder or elevator the ailerons operate correctly. Can you configure the multiwii to use the y harness (just one aileron output)?

Thank you.

fryefryefrye · Post by **fryefryefrye** » Fri Mar 14, 2014 7:38 am

choder wrote:
PatrikE wrote:
choder wrote:Is there documentation in the rar file that tells me the pinout.

Not currently.
But here is the pinout for Mega boards.
viewtopic.php?f=7&t=2456&start=410#p47260

I have 2 servos for my ailerons plugged into a y harness. But there are two outputs for them from the multiwii going to the servos. Can I configure it to use only one output to run both servos off the y harness? When I test the ailerons by pluging the y harness into the rudder or elevator the ailerons operate correctly. Can you configure the multiwii to use the y harness (just one aileron output)?

Thank you.

Just use the y harness , You do not need do configure for y harness. May be a reserve is the only needs.

Only one output is OK if you do not need flap.

PatrikE · Post by **PatrikE** » Fri Mar 14, 2014 8:18 am

Fry is right.
You need 2 outputs only if you want flap function on the ailerons.
But it's easier to trim with separate outputs.

choder · Post by **choder** » Fri Mar 14, 2014 1:50 pm

So I only need to plug the y harness into either the left or right output from the board. I have tried that and it does not work, the ailerons just move about 20 degrees and lock there and will not respond to input from my tx, but I can see the aileron channel move in the gui. I Will try again later today, it might be possible I am plugging into the wrong output.