MultiWii v1.pre7 released

quadslo · Post by **quadslo** » Sat Feb 26, 2011 12:44 pm

I have one problem uploading to arduino.

I have arduino mega and I defined that. But got this error.
What can I do?

Alexinparis · Post by **Alexinparis** » Sat Feb 26, 2011 1:02 pm

what is your arduino version ?

quadslo · Post by **quadslo** » Sat Feb 26, 2011 1:10 pm

I have program: ARDUINO 0022 - 2010.12.24

and board: Duemilanove ATtmega328

OpticalFlow · Post by **OpticalFlow** » Sun Feb 27, 2011 12:24 pm

quadslo wrote:I have program: ARDUINO 0022 - 2010.12.24

and board: Duemilanove ATtmega328

The Duemilanove is not an Arduino Mega board (despite the fact that the chip has the "mega" in its name)

quadslo · Post by **quadslo** » Mon Feb 28, 2011 10:48 am

Tnx for info! It should work now.

JussiH · Post by **JussiH** » Mon Feb 28, 2011 3:37 pm

I just got chance to fly my Flyduino XQuad with FF IMU and pre1.7. Disabled baro and Magneto in code.

Flew just fine with default PID settings. And could be flown with the warped MK 1045 props vibrating like hell.

Stable mode, is as you said - greatly improved. With stock settings and a little bit of stable mode trimming it snapped back to level each time.

Thanks Alex, I really think you outdid yourself this time. I like the way you have also kept the simplicity of the GUI. Thanks for keeping it simple while managing to improve performance each time! Video to come!

Jussi

Alexinparis · Post by **Alexinparis** » Mon Feb 28, 2011 7:30 pm

Nice,
So, we are waiting for your video.
I think the next step is the compass implementation as it can be tested inside.
The most complicated part is probably the implementation of baro+Z ACC compensation.

JussiH · Post by **JussiH** » Mon Feb 28, 2011 9:20 pm

Here is that video...just some autolevel and ground effect hover testing.

http://www.youtube.com/watch?v=TR3NYhg-62k

Pilot error cut my testing short :roll:

. This was still with stock PID´s so I think I can improve performance with a little bit of tuning! Looks like we will get some calm days later in the week, so I will go and make a better vid then!

Great work. Looking forward to the compass - but I think you can start to study the datasheet for ]for HMC5883L since that will be the one on the 1.22L FF IMU. And take your time on the Baro/Z-accel. I know that stuff is tricky to code, and you are doing great already! I cant believe how far this has come already!

HMC5883L datasheet:
http://media.digikey.com/PDF/Data%20She ... C5883L.pdf

HMC5883L Errata sheet:
http://media.digikey.com/PDF/Data%20She ... ata%20.pdf

javitech · Post by **javitech** » Mon Feb 28, 2011 10:22 pm

Hi 420rcpilot:

I really want to know, how much value you have por autolevel and I values...

also i want to know your PID settings...

thats is very responsitive... very fast...

what is your config please?

THX in advance...

hope your quad is fixed easy...

vfbl · Post by **vfbl** » Tue Mar 01, 2011 4:21 am

The patch is still not working for me.

Putting MultiWiiConf1_pre7_GUI_patch under eclipse, I could only tell it was looping through draw() and processSerialData(), but the conf window was updated only once after the pressing the start button and would not refresh any more. The animation thread was active but I don't have the source to check what it was doing.

The process was showing on top as the top process:

PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
19754 root 20 0 1473m 122m 23m S 102 3.1 0:37.49 java

It used one core of my dual core CPU and 1.5G virtual memory. I have 4G RAM.

The original 1_pre7 conf used 1.9G RAM. It is still not working, probably due to the new 3D stuff.

I am running 64bit linux with a GeForce 7500LG. Since only 32bit share libraries were included with the zip's, I have to point them to my local 64bit libraries.

Woud there be an option to turn off the 3D stuff without patching the source on my own when 1.7 is released?

Thanks.

JussiH · Post by **JussiH** » Tue Mar 01, 2011 11:59 am

javitech wrote:Hi 420rcpilot:

I really want to know, how much value you have por autolevel and I values...

also i want to know your PID settings...

thats is very responsitive... very fast...

what is your config please?

THX in advance...

hope your quad is fixed easy...

The setup is as follows:

KDA20-22L (980 Kv)
EPP 1045 props
18A plush esc
Flyduino
FreeFlight IMU 1.1 (Only using ITG3200 and BMA180) Looptime was circa 2500 uS
2200 3S 35C lipo

The frame is my own folding design! And there was only prop damage. (Epp dont like cold weather)

All PID settings in the video is stock settings.

I only had to trim the autolevel mode a bit to get it to fly level each time!

Hamburger · Post by **Hamburger** » Tue Mar 01, 2011 2:20 pm

Hi,

sorry for the crosspost, I also posted on RCG at http://www.rcgroups.com/forums/showpost.php?p=17551337 (did not find any rules?

I cannot run the 1.pre7-patched GUI on MacosX 10.5.8 with latest java installed.
Starting from shell I see

Code: Select all

<some path>/JavaApplicationStub
Invalid memory access of location 0x8 eip=0x37ef77d
Bus error

or when starting application I get additional info:

Code: Select all

Thread 0:
0   dyld                             0x8fe0f630 ImageLoader::hasHiddenExports() const + 0
1   dyld                             0x8fe063a8 __ZN4dyldL18findExportedSymbolEPKcbPPKN11ImageLoader6SymbolEPPKS2_ + 312
2   dyld                             0x8fe0695c dyld::findCoalescedExportedSymbol(char const*, ImageLoader::Symbol const**, ImageLoader const**) + 28
3   dyld                             0x8fe14a9b ImageLoaderMachO::resolveUndefined(ImageLoader::LinkContext const&, macho_nlist const*, bool, ImageLoader const**) + 283
4   dyld                             0x8fe19828 ImageLoaderMachO::doBindIndirectSymbolPointers(ImageLoader::LinkContext const&, bool, bool, bool) + 472
5   dyld                             0x8fe19b23 ImageLoaderMachO::doBind(ImageLoader::LinkContext const&, bool) + 243
6   dyld                             0x8fe103b0 ImageLoader::recursiveBind(ImageLoader::LinkContext const&, bool) + 112
7   dyld                             0x8fe12af7 ImageLoader::link(ImageLoader::LinkContext const&, bool, bool, ImageLoader::RPathChain const&) + 295
8   dyld                             0x8fe05bbf dyld::link(ImageLoader*, bool, ImageLoader::RPathChain const&) + 207
9   dyld                             0x8fe0d9c0 dlopen + 1008

So I setup Processing 1.2.1 and installed ControlP5.
There I can RUN the code ok (can see the GUI window and click - not tested further) via the RUN button,
BUT if I export application, that gives same error as above!

Any hints, please?
Hamburger

One Followup on my own post: I just found if I export application and check the fullscreen option then the application works!

vfbl · Post by **vfbl** » Tue Mar 01, 2011 8:42 pm

While trying to dig up the source of the included jar's, I came across this:

http://forum.jogamp.org/Where-to-downlo ... 09620.html

No problems in finding the jogl though.

I am using 64 bit Nvidia driver version 260.19.36 which provides opengl support. I wonder if that could be not backward compatible.

dynai · Post by **dynai** » Tue Mar 01, 2011 10:17 pm

Hi everybody,

i have a small problem that occurred to me first with version 1.6 and continues on into 1.7

when applying full throttle my quad-X starts to rotate (yaw) this happens on FULLTHROTTLE and only on it. 3/4 throttle no problem.
i had no such problems on v 1.4 and 1.5
others in the forum i picked up on the multiwii experienced similar problems.

i tried to lower MAXTHROTTLE and increase the I-value for yaw without any significant improvement.

are there others here that have experienced similar problems?

is it possible that this i due to the implementation of the antigyro glitch?

greets christoph

Alexinparis · Post by **Alexinparis** » Tue Mar 01, 2011 10:35 pm

@dynai
It may be explained by the anti yaw jump implementation
(you can try to comment or remove the part of the code between #if MOTOR_NUMBER >3 ... #endif)

@vfbl and Hamburger
I don't know all the compatibility issues about processing running an openGL code. I'm not a java fan :mrgreen:

but processing coding is so convenient
Apparently, issues are present and I'm not sure it's related to a GUI bug.
It's quite easy to remove opengl references (but with no more 3D visualization), I will build an export just for test.

dynai · Post by **dynai** » Tue Mar 01, 2011 11:19 pm

thanks

ill check this as soon as possible.. right now i'm a bit short on time. Ill report back.
kind regards

Christoph

dynai · Post by **dynai** » Tue Mar 01, 2011 11:59 pm

Hi,

i just gave it a minute and commented that part out and checked it on the gui.
with the anti yaw jump compensation acitve the esc-monitor reacts much less sensitive.
is it possible to encreas the range of the the jump compensation to allow for bigger range?

Code: Select all

#if NUMBER_MOTOR > 3
    //prevent "yaw jump" during yaw correction: the yaw correction should allow the same ammount of motor speed variation in both ways
    if      (rcCommand[THROTTLE]-axisPID[YAW] < MINTHROTTLE) axisPID[YAW] = rcCommand[THROTTLE]-MINTHROTTLE;
    else if (rcCommand[THROTTLE]+axisPID[YAW] < MINTHROTTLE) axisPID[YAW] = -rcCommand[THROTTLE]+MINTHROTTLE;
    else if (rcCommand[THROTTLE]+axisPID[YAW] > MAXTHROTTLE) axisPID[YAW] = MAXTHROTTLE-rcCommand[THROTTLE];
    else if (rcCommand[THROTTLE]-axisPID[YAW] > MAXTHROTTLE) axisPID[YAW] = -MAXTHROTTLE+rcCommand[THROTTLE];
    axisPID[YAW] = constrain(axisPID[YAW],-100-abs(rcCommand[YAW]),+100+abs(rcCommand[YAW]));
  #endif

do i get this right? would increasing the 100 value solve it or will i run into some over/underflow? and what limits would i have to respect?

Code: Select all

axisPID[YAW] = constrain(axisPID[YAW],-400-abs(rcCommand[YAW]),+400+abs(rcCommand[YAW]));

i just tried this at my desk so i have no clue how this will act in real life conditions, but from what i can see on the monitor it look more responsive.

greets Christoph

Alexinparis · Post by **Alexinparis** » Wed Mar 02, 2011 8:25 am

Hi,

I think the problem comes from the first 4 lines:

Code: Select all

   if      (rcCommand[THROTTLE]-axisPID[YAW] < MINTHROTTLE) axisPID[YAW] = rcCommand[THROTTLE]-MINTHROTTLE;
    else if (rcCommand[THROTTLE]+axisPID[YAW] < MINTHROTTLE) axisPID[YAW] = -rcCommand[THROTTLE]+MINTHROTTLE;
    else if (rcCommand[THROTTLE]+axisPID[YAW] > MAXTHROTTLE) axisPID[YAW] = MAXTHROTTLE-rcCommand[THROTTLE];
    else if (rcCommand[THROTTLE]-axisPID[YAW] > MAXTHROTTLE) axisPID[YAW] = -MAXTHROTTLE+rcCommand[THROTTLE];

After thinking about it, something is not efficient here and I would make a first test with the suppression of those lines.

I think the last line is ok

Code: Select all

axisPID[YAW] = constrain(axisPID[YAW],-100-abs(rcCommand[YAW]),+100+abs(rcCommand[YAW]));

mskroese · Post by **mskroese** » Thu Mar 03, 2011 5:04 pm

Ok 1.7 seems to work OK accept for the fact that I can't get the engines to arm. The arduino is blinking after booting, what does that indicate? I haven't seen this before, coming from version 1.5...

Any advice?

Thanks!

Maurits

Alexinparis · Post by **Alexinparis** » Thu Mar 03, 2011 7:50 pm

The arduino will blink forever (and will prevent arming motors) until you calibrate properly the ACC, or if your multi is not horizontal.
It's new with 1.pre7

mskroese · Post by **mskroese** » Thu Mar 03, 2011 8:18 pm

Alexinparis wrote:The arduino will blink forever (and will prevent arming motors) until you calibrate properly the ACC, or if your multi is not horizontal.
It's new with 1.pre7

It works! Great, thanks!

M

JussiH · Post by **JussiH** » Fri Mar 04, 2011 7:57 pm

I have a serial LCD question

I got the 20*4 sparkfun display...Datasheet is identical to the 16*2:

http://www.sparkfun.com/datasheets/LCD/SerLCD_V2_5.PDF

I cant get it to work with any MultiWii version....But I really need it for field config.

Which serial connection is used for Display on mega version?

What baud rate should I run the display at?

Do I need to change something in code to fit the 20 character lines?

Hamburger · Post by **Hamburger** » Fri Mar 04, 2011 10:44 pm

420RcPilot wrote:I have a serial LCD question

I got the 20*4 sparkfun display...[...]

What baud rate should I run the display at?

Do I need to change something in code to fit the 20 character lines?

default in the original MultiWii code is set to 9600 baud.
The code inverts the use of RX,TX pin funktionality (was meant to facilitate using a servo cable, iirc).
So maybe try swapping rx,tx connection at display connector.

No need to change the code, from delving in the code lately I am quite sure it does not rely on the display dimensions. It should just work but not use the additional display real estate. If it is the same type apart form dimensions then it should understand the same command sequences and fit.
Hamburger

noobee · Post by **noobee** » Sat Mar 05, 2011 2:00 am

420RcPilot wrote:I have a serial LCD question

I got the 20*4 sparkfun display...Datasheet is identical to the 16*2:

http://www.sparkfun.com/datasheets/LCD/SerLCD_V2_5.PDF

I cant get it to work with any MultiWii version....But I really need it for field config.

Which serial connection is used for Display on mega version?

What baud rate should I run the display at?

Do I need to change something in code to fit the 20 character lines?

it should just work.

check your pinout again, i think you need to swap the order of the pins in the servo connector to properly line up the signals (if you are following the ftdi serial module pinout).

did the lcd power up and display the sparkfun banner?

dynai · Post by **dynai** » Sat Mar 05, 2011 5:35 pm

Hi just report back from the flight field, I did testflights with the original 1.7pre and the part below in comments.
As soon as the first 4 lines are commented the drift during maxthrottle-climbs is gone so i think your suggestion to completely remove them is save.
(tested flips, speedpass stationary and autolevel)

Code: Select all

#if NUMBER_MOTOR > 3
 /*   //prevent "yaw jump" during yaw correction: the yaw correction should allow the same ammount of motor speed variation in both ways
    if      (rcCommand[THROTTLE]-axisPID[YAW] < MINTHROTTLE) axisPID[YAW] = rcCommand[THROTTLE]-MINTHROTTLE;
    else if (rcCommand[THROTTLE]+axisPID[YAW] < MINTHROTTLE) axisPID[YAW] = -rcCommand[THROTTLE]+MINTHROTTLE;
    else if (rcCommand[THROTTLE]+axisPID[YAW] > MAXTHROTTLE) axisPID[YAW] = MAXTHROTTLE-rcCommand[THROTTLE];
    else if (rcCommand[THROTTLE]-axisPID[YAW] > MAXTHROTTLE) axisPID[YAW] = -MAXTHROTTLE+rcCommand[THROTTLE]; */
    axisPID[YAW] = constrain(axisPID[YAW],-100-abs(rcCommand[YAW]),+100+abs(rcCommand[YAW]));
  #endif

Code: Select all

axisPID[YAW] = constrain(axisPID[YAW],-100-abs(rcCommand[YAW]),+100+abs(rcCommand[YAW]));

Kind regards

Christoph

Black Thunder · Post by **Black Thunder** » Sat Mar 05, 2011 11:45 pm

Hi guys,

I have a strange problem with stable mode. When flying in normal mode my quad is really stable. But after I switch on stable mode, front left motor immediately spins at full speed, when throttle is applied. The other 3 motors are spinning as they are expected to. ACC is already calibrated and shows correct values. Any ideas how to solve the problem?

Thanks in advance

speto_sk · Post by **speto_sk** » Sun Mar 06, 2011 10:16 pm

I'm beginner in Wii copter. Before I had KKboard. I have one question, can I change pid and other parameters via GUI or only via LCD. When I can change, how via GUI ? Thnx.

Alexinparis · Post by **Alexinparis** » Sun Mar 06, 2011 10:29 pm

@dynai: ok good to know, I will suppress those line in the next revision

@speto_sk: To change a value in the gui, you must first read the current ones (button READ, activated after button START). and then click on it and slide the mouse. Then write (button WRITE).

speto_sk · Post by **speto_sk** » Sun Mar 06, 2011 10:41 pm

THNX Alexinparis, now I know.

Black Thunder · Post by **Black Thunder** » Thu Mar 10, 2011 9:42 pm

Black Thunder wrote:Hi guys,

I have a strange problem with stable mode. When flying in normal mode my quad is really stable. But after I switch on stable mode, front left motor immediately spins at full speed, when throttle is applied. The other 3 motors are spinning as they are expected to. ACC is already calibrated and shows correct values. Any ideas how to solve the problem?

Thanks in advance

Problem still exists, but I've tried v1.6 and there stable mode works normally. So maybe there is a bug in v1.7pre?

kodox · Post by **kodox** » Fri Mar 11, 2011 2:27 am

Black Thunder wrote:
Black Thunder wrote:Hi guys,

I have a strange problem with stable mode. When flying in normal mode my quad is really stable. But after I switch on stable mode, front left motor immediately spins at full speed, when throttle is applied. The other 3 motors are spinning as they are expected to. ACC is already calibrated and shows correct values. Any ideas how to solve the problem?

Thanks in advance

Problem still exists, but I've tried v1.6 and there stable mode works normally. So maybe there is a bug in v1.7pre?

hi , im also have the same problem when turn on stable mode.
im flying quad with home made aluminum frame. now using default v1pre7, without stable mode flying rock sport!!..

JussiH · Post by **JussiH** » Sun Mar 13, 2011 5:44 pm

When you have good PID and can hover level in acro mode, you then need to trim Autolevel.

Procedure:

Disarm copter

Move throttle to full

Use pitch/roll stick to trim level mode: Each time you move the stick fully in one direction you add one click of trim in that direction. The LED on your board blinks one time for each click you apply.

Lower throttle

Arm copter, fly

Repeat procedure until you can hover level in stable mode!

Here is my latest autolevel test with Flyduino and FreeFlight IMU on my quad. Flying with unbalanced load in form of a 172 gram battery strapped to one arm:

http://www.youtube.com/watch?v=5pvjKDa6dC4

This is still with stock PID, so wiht some additional tuning, I think I can get it even more stable than this.

Alex...Pre 1.7 is a masterpiece! Autolevel is indeed working very well now....

kodox · Post by **kodox** » Mon Mar 14, 2011 6:31 am

WOW!!
thanks 420RcPilot

. now i know how to trim in stable mode. ver 1pre7 is really awesome. big thanks to alex.
im flying in stable mode now.. yahoooo :lol:

..
will upload video later..

captaingeek · Post by **captaingeek** » Mon Mar 14, 2011 6:57 pm

nice going!! which arduino board would you recommend these days if you want to use all the fetures / channels?

quax · Post by **quax** » Mon Mar 14, 2011 8:22 pm

I found this line in the .pde and wonder, what it is good for.

Code: Select all

  #define LEDPIN_SWITCH              PINB |= 1<<5;     //switch LEDPIN state (digital PIN 13)

As far as I know, the PINB register is read only and cannot be written.

Alexinparis · Post by **Alexinparis** » Mon Mar 14, 2011 8:32 pm

look here:
http://billgrundmann.wordpress.com/2009 ... tedigital/

Kevinlei324 · Post by **Kevinlei324** » Wed Mar 16, 2011 3:58 pm

Hey guys.
I just tired running the 1.7 with both the NP and nunchuck. I'm still waiting for my tx and rx...
In the Configurator, when I tilt the quad, the roll indicator stays in place. The Pitch indicator however, will move to the angle that the quad is at, the drift backwards, PAST level, and settle at the same angle, but past level. (Say, I tilt the quad 45 degrees back, and the pitch will point upwards, at a 45 degree angle. The will drift towards level, and settle, with the pitch arrow pointing DOWNWARD, at a 45 degree angle). Is this normal? Also, my Roll Pitch indicator (The Black circle with the white arrow inside) does not respond. It stays pointing straight up...
Please help! this is my first time using MWC. Thanks!

quadslo · Post by **quadslo** » Thu Mar 17, 2011 10:23 pm

I will upgrade my quad from 1.5 to 1.pre7.

If I leave all the PID config in 1.7 as in 1.5, will quad fly the same in acro mode?

captaingeek · Post by **captaingeek** » Tue Jun 28, 2011 10:55 pm

any idea when 1.7 will go gold?

PatrikE · Post by **PatrikE** » Wed Jun 29, 2011 2:51 pm

captaingeek wrote:any idea when 1.7 will go gold?

If you mean released it's a long time ago.
All releases can be found here.
http://code.google.com/p/multiwii/source/browse/#svn%2Ftags
And if you look in the trunk there is the latest Development releases to be tested.

captaingeek · Post by **captaingeek** » Thu Jun 30, 2011 6:33 pm

OK I was looking for a release announcement / thread for it here. I suppose we're just discussing it in this thread.

captaingeek · Post by **captaingeek** » Wed Jul 06, 2011 5:01 pm

2 questions:

MAIN SOFT: software trim for stable mode
It is now possible to adjust the trim of the level mode to match the same TX trim used for the acro mode.
1) disarm the motors
2) full throttle (must be >1900)
3) full PITCH forward/backward and full ROLL left/right (2 axis possibilities) will trim the level mode according to the neutral angle you want to change. The status LED will blink to confirm each ticks.

1) How many ticks are there? 100? I had to about 10 left roll and 5 pitch back ticks to get it level. How many are possible?

2) In the conf, what does the numbers with commas mean? How do I adjust each number? In the past I would click drag to go from a negative to a positive number.

http://wbb.multiwii.com/download/file.php?id=36&mode=view