Alexinparis wrote:warthox wrote:it seems that the lpf for the mpu6050 has not a bit of effect.
Hi,
It's possible as I never used a LPF setting on my multis.
I will check, it's maybe a problem of register setting order.
Hamburger wrote:for OCTOFLATP I did receive the following bug report via email from Michael Geuer:#define OCTOFLATP ausgewählt. Aber im Config ist Roll und Pitch falsch und es steht auch noch OctoX im Tool
which imho boils down to:
for OCTOFLATP, the GUI displays OctoX instead and roll and pitch are wrong (switched?)
Hope it makes sense to someone - I have nothing bigger than TRIs.
Joachim08 wrote:Alexinparis wrote:
Hi,
can you try to remove this line in multiwii.ino (from 2.0):Code: Select all
PTerm = constrain(PTerm,-D8[PIDLEVEL]*5,+D8[PIDLEVEL]*5);
With this, you should have exactly the same behavior of 1.9 stable mode.
can you ensure also that when the multi is reverted, Z ACC is negative and equal in absolute to the value it has when the multi is flat and not reverted ?
Alex,
regarding the tbe i have just downloaded 2.0dev of 14. April. It looks like you have changed the line in multiwii.ino already.
The Z ACC is around 512 when it is flat on the ground and - (minus) 524 when it is reverted.
Is that ok so far ?
When i start the copter in my hands it looks much better now, but i cannot fly because of windy weather outside, maybe
i can give it a try later this evening.
Is there any reason why you have not included the code for the new Drotek IMU 10DOF with MP6050 in the sketch ?
mbrak wrote:is there any solution for this problem?
my quad with flydiuno MPU6050 has the same problem as wartho described before.
would be great if anyone could solve the problem.
br michael
jhoexp wrote:Please check the full-range scale too. We really don't need the 2000 °/sec, 1000 or 500°/s should be better. (I think that is the "problem" with itg32XX too, it's just too sensitive, while old good wmp's idg600 gives a better feeling in slow flying and for AP purposes)
warthox wrote:are u sure that we dont need the full scale?
try out with p=9.0/I=0.04/D=23
jhoexp wrote:LPF filter has no effect.
bitman wrote:Hi all,
I think I have a problem with MultiWii 2.0 firm. I have a multiwiicopter with PARIS 4.0, bma180 and a WMP. I have changued this into config file:
#define QUADP
#define BMA180
#define MOTOR_STOP
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z;}
You can see the behavior in this video:
http://www.youtube.com/watch?v=br3-SZr3 ... r_embedded
It's seems like a bug, because with 1.9 firm, everything works fine.
What can I do?
thx
Bye!
Code: Select all
//#define BMA180 Code: Select all
#define BMA180_ADDRESS 0x82
Hamburger wrote:It is stored in eeprom and can be changed via lcd or via terminal of arduino ide.
Else you can clear eeprom and upload mwii again.
wilco1967 wrote:if I change (in output):
servo[5] = constrain(tri_yaw_middle + YAW_DIRECTION * axisPID[YAW], TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
to
servo[5] = constrain(1560 + YAW_DIRECTION * axisPID[YAW], TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
it works ok.....
Seems like the variable tri_yaw_middle gets overwritten somehow, but I cannot find how/where
SovGVD wrote:the same bug, i changed tri_yaw_middle variable to TRI_YAW_MIDDLE (define in config.h)
Ausi1972 wrote:I am using Multiwii 2.0 (NOT DEV)
I think I may have found a problem either with my config, my Crius SE board or the code (not sure which).
In the Multiwii gui if I switch on only the graph for the mag yaw then rotate the quad there is almost no movement in the line. However if I pitch the quad with only this same same graph line (MAG YAW) goes up and down nicely.
If I only show the pitch or roll for the MAG the lines roll up and down nicely pitch and roll of the quad as expected.
I have calibrated the mag several times, whilst connected via USB to the multiwii GUI I hit the calib mag button then rotate the quad 2 to 3 times on the yaw, roll and pitch axis.
Here is my config.h stuff:
#define QUADX
//#define YAW_DIRECTION -1
#define CRIUS_SE
....
//#define SERVO_TILT
#define TILT_PITCH_MIN 1020 //servo travel min, don't set it below 1020
#define TILT_PITCH_MAX 2000 //servo travel max, max value=2000
#define TILT_PITCH_MIDDLE 1500 //servo neutral value
#define TILT_PITCH_PROP 10 //servo proportional (tied to angle) ; can be negative to invert movement
#define TILT_ROLL_MIN 1020
#define TILT_ROLL_MAX 2000
#define TILT_ROLL_MIDDLE 1500
#define TILT_ROLL_PROP 10
.....
//#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; 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 ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = X; accADC[PITCH] = Y; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = X; gyroADC[PITCH] = Y; gyroADC[YAW] = Z;}
#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = -Y; magADC[PITCH] = X; magADC[YAW] = Z;}
Code: Select all
#if BARO
if (baroMode) {
if (abs(rcCommand[THROTTLE]-initialThrottleHold)>20) {
baroMode = 0; // so that a new althold reference is defined
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
}
#endif
Code: Select all
static uint8_t baroloopcounter=0;
static int32_t thrsticksum=0;
static int16_t thrstickmw=0;
static int32_t estaltsum=0;
static int32_t estaltmw=0;
Code: Select all
#if BARO
if (baroMode)
{
if (baroloopcounter <64)
{
estaltsum=estaltsum+EstAlt;
thrsticksum=thrsticksum+rcCommand[THROTTLE];
thrstickmw=0;
estaltmw=0;
baroloopcounter=baroloopcounter+1;
}
else
{
baroloopcounter=0;
estaltmw=estaltsum>>6;
thrstickmw=thrsticksum>>6;
estaltsum=0;
thrsticksum=0;
// debug3=thrstickmw - initialThrottleHold;
// debug4=estaltmw - AltHold;
if (abs(estaltmw - AltHold)>60 && abs(thrstickmw - initialThrottleHold)>20) //Did the hight significant change over time on purpose?
{
baroMode = 0; // so that a new althold reference is defined
}
}
rcCommand[THROTTLE] = rcCommand[THROTTLE] + BaroPID;
}
#endif
