MultiWii 2.0 is coming

[Stalk]

Altitude hold in dev_20120225 only works well at temperatures above 20 degrees.
In a room works well, but outside no.
In my workshop I have 18 degrees.
Sometimes I get this in the GUI:

Thank you for pointing this.
I suspected something wrong about the MS baro code, as I also had a baro alt issue outside.
There was a bug in the code which should be corrected now in the pre version 2.0

It seems that it works in version 2.0pre. I tested out, the temperature of 5 degrees.
Thank you very much for your endless efforts in this project. I admire your stamina.
Whether you are doing.
Stanley

[Tazzy]

Im trying to compile 2.0 pre with lcd vt100 telemetry but it fails with this error :

MultiWii_2_0_preversion1.cpp: In function 'void lcd_telemetry()':
MultiWii_2_0_preversion1:2301: error: 'PRI_SERVO_FROM' was not declared in this scope
MultiWii_2_0_preversion1:2302: error: 'PRI_SERVO_TO' was not declared in this scope

as soon i uncomment #define LCD_VT100 i got this error what am i doing wrong or is it a bug ?

i include my config file zipped

// Fredde

[nhadrian]

Today I tested the altitude hold with MS5611, works well.
Temperature was 8 C degrees.
Worked well, even for 8 minutes without drift.

BR
Adrian

[Hamburger]

Fredde,

Im trying to compile 2.0 pre with lcd vt100 telemetry but it fails with this error :

in your zip I cannot see your config.
What copter type do you define?

[timecop]

I like how the filename for 2.0pre is "preversion", I kept reading it as "perversion".

[Th0rsten]

Maybe "Release Candidate 1" (RC1) would be better.

BTW: Don't forget to update the version in LCD.pde.

[Tazzy]

Fredde,

Im trying to compile 2.0 pre with lcd vt100 telemetry but it fails with this error :

in your zip I cannot see your config.
What copter type do you define?

Hello Hamburger

I have #define QUADX with motion+ with nk all orginal
all settings default exept

#define BMP085
#define HMC5843
#define DEADBAND 4
#define SERIAL_SUM_PPM THROTTLE,PITCH,ROLL,YAW,AUX1,AUX2,AUX3,AUX4 //For some turnigy frsky
#define MAXTHROTTLE 1950
#define POWERMETER_SOFT
#define LCD_TELEMETRY
#define LCD_TELEMETRY_AUTO "12345267" // pages 1 to 7 in ascending order

// Fredde

[Hamburger]

Fredde,
so you have no servos.
As a quick fix, in LCD.pde starting around line 1030, remove the entire block dealing with servos. In my case that would look like

Code: Select all

         /*       
      uint8_t j = i-7; // [8;15] -> [1;8]
                        #ifdef SEC_SERVO_FROM
                if (PRI_SERVO_FROM <= j && PRI_SERVO_TO >= j) || (SEC_SERVO_FROM  <= j && SEC_SERVO_TO  >= j)
                        #else
                        if (j < PRI_SERVO_FROM) index = 7 + PRI_SERVO_FROM;
                        else if (j > PRI_SERVO_TO) index = 16;
                        else // (PRI_SERVO_FROM <= j && PRI_SERVO_TO >= j)
                        #endif
                        {
                                LCDprintChar(outputNames[i]);
                                LCDprint(' ');
                                unit = servo[j-1]; // [1000 ; 2000]
                                LCDprint( digit1000(unit) );
                                LCDprint( digit100(unit) );
                                LCDprint( digit10(unit) );
                                LCDprint( digit1(unit) );
                                LCDprint(' ');
                                LCDbar(12, (unit-1000)/10 );
                            LCDcrlf();
                                linenr++;
                                break;
                        }
   */
        }
        break;

[Tazzy]

Fredde,
so you have no servos.
As a quick fix, in LCD.pde starting around line 1030, remove the entire block dealing with servos. In my case that would look like

Code: Select all

         /*       
      uint8_t j = i-7; // [8;15] -> [1;8]
                        #ifdef SEC_SERVO_FROM
                if (PRI_SERVO_FROM <= j && PRI_SERVO_TO >= j) || (SEC_SERVO_FROM  <= j && SEC_SERVO_TO  >= j)
                        #else
                        if (j < PRI_SERVO_FROM) index = 7 + PRI_SERVO_FROM;
                        else if (j > PRI_SERVO_TO) index = 16;
                        else // (PRI_SERVO_FROM <= j && PRI_SERVO_TO >= j)
                        #endif
                        {
                                LCDprintChar(outputNames[i]);
                                LCDprint(' ');
                                unit = servo[j-1]; // [1000 ; 2000]
                                LCDprint( digit1000(unit) );
                                LCDprint( digit100(unit) );
                                LCDprint( digit10(unit) );
                                LCDprint( digit1(unit) );
                                LCDprint(' ');
                                LCDbar(12, (unit-1000)/10 );
                            LCDcrlf();
                                linenr++;
                                break;
                        }
   */
        }
        break;

Ok Thanks Hamburger so it was a bug .... i thought i was stupid

Now it compiles so now i need to set my apc220 up for serial telemetry and try it in air before i leave for Cebit and Germany next week ..... a week without flying sux

Regards and Thanks for the help and development

[timecop]

Is this a bug?

Code: Select all

                if (rcDelayCommand == 20) {
                    servo[0] = 1500;    //we center the yaw gyro in conf mode

didn't yaw servo move to like servo[5] or so?
if it didn't, what does t his code do?

[dodecopter]

Better efficiency for hardware pwm: digitalWrite arduino function was removed in order to address directly the output ports.
One consequence: motor order is no more easily configurable.

is there no chance to modify motor-outs anymore?
that would be the only drawback for me and some others, who burnt a single motor-out pin from their flyduino mega...

seems that i have to change my "handicapped" mega to a new one.



great work , its amazing how this project grows and grows....

thx alex

[Hamburger]

Is this a bug?

Code: Select all

                if (rcDelayCommand == 20) {
                    servo[0] = 1500;    //we center the yaw gyro in conf mode

didn't yaw servo move to like servo[5] or so?
if it didn't, what does t his code do?

amost; from def.h

Code: Select all

#elif defined(TRI)
  #define NUMBER_MOTOR 3
  #define PRI_SERVO_FROM   6 // use only servo 6
  #define PRI_SERVO_TO     6

spurious side effect?

[timecop]

I'm thinking maybe just someone forgot to change stuff.

[Hamburger]

yes, relics left over from a not too distant past.
Just like the 1500 constants sprayed all over the code.

[Alexinparis]

it was already under discussion to split the current M data into two:
...
Motivation was to reduce transmission time for the M stream - currently each transmission exceeds the 650us limit. This may be bad because people use this to tune their PIDs which they do with an exceptionally prolonged cycle time.

Hi,
To be more accurate, it's not exactly true.
The time to compute and put into the TX buffer the whole 155 octets of M is quite short: around 200 microseconds
The time to send the buffer over the TX line is quite long, but it's done in background via interrupts: around 10ms
So currently, it would be possible to handle 50 octets more per M frame without any problem .

The problem with telemetry is only a question of computation time (a lot of costly division), not a problem of octets.

[Alexinparis]

hi

a change for setting new home position during flight with AUX4 (High). without the secound term in the if-structure you would not get the FIX LED pattern automaticly.

Line 736 in DEV 20120225

Code: Select all

 if (rcData[AUX4]>1800 || GPS_fix_home == 0) {

Hi,
I've corrected it. I'm sure EOSBandi will enhanced anyway this part dealing with I2C GPS

hi alex

you corrected it only in the i2c part of the code in r631. for my part i have a serial (flyduino) gps.
will both (i2c and serial) gps supported and have the same functionality?

best regards
michael

Hi,
I've the same config (flyduino+serial GPS).
For this config, GPS HOME and GPS HOLD are currently both implemented with working checkbox.
So no need to reset the home position with only the GPS HOME mode.

I2C and Serial code will converge, but are for the moment very new.

[Alexinparis]

Altitude hold in dev_20120225 only works well at temperatures above 20 degrees.
In a room works well, but outside no.
In my workshop I have 18 degrees.
Sometimes I get this in the GUI:

Thank you for pointing this.
I suspected something wrong about the MS baro code, as I also had a baro alt issue outside.
There was a bug in the code which should be corrected now in the pre version 2.0

It seems that it works in version 2.0pre. I tested out, the temperature of 5 degrees.
Thank you very much for your endless efforts in this project. I admire your stamina.
Whether you are doing.
Stanley

cool
It's also thanks to you (for pointing bugs)

[Alexinparis]

I like how the filename for 2.0pre is "preversion", I kept reading it as "perversion".

I know how 8bit specific code could be a perversion for you

[Alexinparis]

Is this a bug?

Code: Select all

                if (rcDelayCommand == 20) {
                    servo[0] = 1500;    //we center the yaw gyro in conf mode

didn't yaw servo move to like servo[5] or so?
if it didn't, what does t his code do?

Yes it is.
The purpose is to set the servo for a tricopter at the center (because conf mode is activated via a full yaw).
Before rewriting output.pde, it was servo[0], now it's servo[5]

[Alexinparis]

Better efficiency for hardware pwm: digitalWrite arduino function was removed in order to address directly the output ports.
One consequence: motor order is no more easily configurable.

is there no chance to modify motor-outs anymore?
that would be the only drawback for me and some others, who burnt a single motor-out pin from their flyduino mega...

seems that i have to change my "handicapped" mega to a new one.

It's less easier to modify the order, but it's still possible.
It's just more complicated than moving 2 numbers.

[rbirdie001]

sorry, still in doubts: Should in the current state of the preversion 2.0 I2C GPS work for RTH and PH or it's not implemented yet?
Thanks for explanation!
Roman

[Hamburger]

The problem with telemetry is only a question of computation time (a lot of costly division), not a problem of octets.

Hi
I did also see the 650us limit exceeded while connected to GUI not telemetry.

[timecop]

Yes it is.
The purpose is to set the servo for a tricopter at the center (because conf mode is activated via a full yaw).
Before rewriting output.pde, it was servo[0], now it's servo[5]

OK, great
I got another one, in latest "perversion" as I'm backporting it to STM32:

Code: Select all

+  #if defined(GYRO_SMOOTHING)
+    static uint8_t Smoothing[3]  = GYRO_SMOOTHING; // How much to smoothen with per axis
+    static int16_t gyroSmooth[3] = {0,0,0};
+    for (axis = 0; axis < 3; axis++) {
+      constrain(Smoothing[axis],1,100); // Avoid to divide with Zero
+      gyroData[axis] = (gyroSmooth[axis]*(Smoothing[axis]-1)+gyroData[axis]+1)/Smoothing[axis];
+      gyroSmooth[axis] = gyroData[axis];
+    }

the 'constrain' part is a no-op,
it should be
Smoothing[axis] = constrain(Smoothing[axis],1,100); // Avoid to divide with Zero
or just get rid of it all together and precalculate at startup.

[Dehas]

A small typo in config.h, line 153

Code: Select all

 //#define MMA745

should be

Code: Select all

 //#define MMA7455

[Hamburger]

the 'constrain' part is a no-op,

If you follow the trunk changes you can see I had removed it already.

[Alexinparis]

The problem with telemetry is only a question of computation time (a lot of costly division), not a problem of octets.

Hi
I did also see the 650us limit exceeded while connected to GUI not telemetry.

I saw also this, but it was before the analogRead for vbat was changed: without the optimization, analogRead was very time jittery.

[Hamburger]

I saw also this, but it was before the analogRead for vbat was changed: without the optimization, analogRead was very time jittery.

ok. Please can we have the same optimization for the analogRead of Powermeter (pin 2, I think?) ?

[Alexinparis]

I saw also this, but it was before the analogRead for vbat was changed: without the optimization, analogRead was very time jittery.

ok. Please can we have the same optimization for the analogRead of Powermeter (pin 2, I think?) ?

Hi,
The mod to speed up vbat reading is a global mod for analogRead, so powermeter pin reading is also faster.

Code: Select all

       ADCSRA |= _BV(ADPS2) ; ADCSRA &= ~_BV(ADPS1); ADCSRA &= ~_BV(ADPS0); //this speeds up analogRead without loosing too much resolution: http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1208715493/11

I will move it in the setup() part. (no need to use this code at every cycle)

[PatrikE]

The Config file is starting to be very crowded and hard to find things in.
Could it be time to split it up in smaller parts?

Ex.
Sensors.
Radio.
Functions.
etc..
/Patrik

[Magnetron]

Better via gui configuration?

[timecop]

Better via gui configuration?

Good luck. Last time I asked for basic things like camera pitch/roll proportional to be configured via GUI, I was laughed at.
Because surely, anyone who wants to adjust gimbal gain is just DYING to recompile + reupload after changing one character.
Amirite?

[ApoC]

Hey

Im a very proud MWii Copter Pilot and i love the smoothness of the MWii Code. I fly Arducopter, but MWii is much better to handle for me. Its much better to fly, because its so crispy. I can steer my Copter very hard, stopping - and MWii stops. I like this Flight Silhouette. Its impressive, what u all have done. Thx a lot.

But...

Can someone P L Z do some work in the Wiki? After 2 Month of flying and not looking at the Code, so much things are changed, that im very confused now. The whole Informations are scattered in so many Threads / Posts and so on. So can someone collect all the actual Data, like Ports, Motormapping, Wiring the Mega and so on in the Wiki?

Would be nice.

Im flying the Flyduino Mega - and i dont know how i wire it, because i dont know, what the code atm does.
Other Hardware: Drotek IMU 10DOF with the new Baro and the GPS Board from Paul.

I hope we can fill up the Wiki with actual Informations.

Thx
Chris

[kos]

Better via gui configuration?

Good luck. Last time I asked for basic things like camera pitch/roll proportional to be configured via GUI, I was laughed at.
Because surely, anyone who wants to adjust gimbal gain is just DYING to recompile + reupload after changing one character.
Amirite?

... and what about stickConfiguration ?

i have a 4chn tx , so i wanted to switch level mode without using the gui ... can be extends to any var like camera pitch/roll ..

Code: Select all

   //KOS++       
     // stick configuration for switching accMode on/off
          if (accMode) {
        accMode = 0;
        blinkLED(1,100,3);
          } 
          else
        accMode = 1;             
        blinkLED(1,100,2);
        }
        DO_BEEP
     //KOS--
      } 
      else
        rcDelayCommand = 0;
    } 

edit : do not use the code as is , as accMode is read from rcoptions at each lopp .. but minors minors changes .

Code: Select all

//KOS++ 
  // with  4chan , we do ne have any rcOptions to read
  //  rcOptions = (rcData[AUX1]<1300)   + (1300<rcData[AUX1] && rcData[AUX1]<1700)*2  + (rcData[AUX1]>1700)*4
  //    +(rcData[AUX2]<1300)*8 + (1300<rcData[AUX2] && rcData[AUX2]<1700)*16 + (rcData[AUX2]>1700)*32;

    //note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false


//  failsafeCnt > (FAILSAVE_DELAY) && armed==1) 
  
 // if (((rcOptions & activate[BOXACC]) || (failsafeCnt > 5*FAILSAVE_DELAY) ) && (ACC || nunchuk)) {    
    if ((failsafeCnt > FAILSAVE_DELAY)  && (ACC || nunchuk)) { 
//KOS--

      // failsafe engaged -> if not do bumpless transfer to Level mode
        errorAngleI[ROLL] = 0; 
        errorAngleI[PITCH] = 0;
        accMode = 1;
        
       // if defined AUTOLANDING
       
    } 

[shikra]

Because surely, anyone who wants to adjust gimbal gain is just DYING to recompile + reupload after changing one character.
Amirite?

Rite!
although it's not too bad, because not a setting tend to adjust like PIDs, but if you have to swap a servo at the field....

Same goes for servo yaw direction on a tri... Now I just make sure I stick with same brand servos

[haley0918]

Hi!

I'd just tried the 2.0 preversion1 and I found that the IMU orientation function, viewed through the conf, is different than 1.9 12/11/11.

When I tilted the system in all direction, the orientation initially follows and then slowly drifting back to level. In 1.9, the orientation stays perfectly still.

Also, the I2C error counter keeps on increasing in this version though I have perfectly no error in previous version (1.9 12/11/11).

My system consists of Arduino Nano + Allinone by CSG_EU only.



*Found it
The I2C address of 0x82 for BMA180 is not defined in 2.0 preversion1

[Hamburger]

just submitted a semantic split for displays to _shared:
new: can switch separately the protocol/hardware used (like Textstar etc.) and the line style to use (2 lines vs. multi lines).
For now this is implemented in the telemetry display function (much easier to read again) - need to write a multiline version of the LCDconfiguration later.
Requires no explicit configuration by endusers unless explicitly wanted.

Also started a restructuring of config.h, makes it easier to read and use as a side effect too.

[kos]

ATmega 328p 8Mhz / 3.3v quad is flying with 2.0_pre1

contrib : viewtopic.php?f=8&t=1236

[Alexinparis]

Can someone P L Z do some work in the Wiki? After 2 Month of flying and not looking at the Code, so much things are changed, that im very confused now. The whole Informations are scattered in so many Threads / Posts and so on. So can someone collect all the actual Data, like Ports, Motormapping, Wiring the Mega and so on in the Wiki?

I think the connection diagrams are well described in the "connecting elements" part of this site.
Berkely did also a nice job to document MEGA or PROMINI PIN connections.

what is your wiki reference ?

[nhadrian]

I found a small BUG in 2.0 PV1.

in multiwii.ino:

Code: Select all

void setup() {
  SerialOpen(0,115200);
  LEDPIN_PINMODE;
  POWERPIN_PINMODE;

should be:

Code: Select all

void setup() {
  SerialOpen(0,SERIAL_COM_SPEED);
  LEDPIN_PINMODE;
  POWERPIN_PINMODE;

BR
Adrian

[timecop]

I think that was already fixed in -current in svn

[pm1]

Hi,
in IMU.pde
void getEstimatedAltitude()
...
if (abs(temp32) < 10 && BaroPID < 10) BaroPID = 0;

I think, intended was this:
if (abs(temp32) < 10 && abs(BaroPID) < 10) BaroPID = 0;

Best regards
Peter

[Christian1990]

Hello,
I currently fly with the 2.0 se CRIUS board.
I wonder what must I do to the software and on a board with a WMP can fly to.

[Bledi]

To correct, the rusduino section is not ok, must be change to :

Code: Select all

  
case 'Y':  // RUSHDUINO OSD TO Arduino - contribution from JohnyGab (rushduino.com)
      serialize8('Y');
      for(i=0;i<8;i++) 
      {
        serialize8(P8[i]);
        serialize8(I8[i]);
        serialize8(D8[i]);
      }
      serialize8(rcRate8);
      serialize8(rcExpo8);
      serialize8(rollPitchRate);
      serialize8(yawRate);
      serialize8(dynThrPID);
      serialize8('Y');
      UartSendData();
      break;

      case 'Z':  // arduino to OSD data - contribution from JohnyGab (rushduino.com)
      while (SerialAvailable(0)<30) {}
      for(i=0;i<8;i++) 
      {
        P8[i]=SerialRead(0);
        I8[i]=SerialRead(0);
        D8[i]=SerialRead(0);
      }
      rcRate8 = SerialRead(0);
      rcExpo8 = SerialRead(0); //20
      rollPitchRate = SerialRead(0);
      yawRate = SerialRead(0); //22
      dynThrPID = SerialRead(0); //23
      writeParams();
      break;
      
    case 'O':  // arduino to OSD data - contribution from MIS
      serialize8('O');
      for(i=0;i<3;i++) serialize16(accSmooth[i]);
      for(i=0;i<3;i++) serialize16(gyroData[i]);
      serialize16(EstAlt*10.0f);
      serialize16(heading); // compass - 16 bytes
      for(i=0;i<2;i++) serialize16(angle[i]); //20
      for(i=0;i<6;i++) serialize16(motor[i]); //32
      for(i=0;i<6;i++) {serialize16(rcData[i]);} //44
      serialize8(nunchuk|ACC<<1|BARO<<2|MAG<<3|GPS<<4);
      serialize8(accMode|baroMode<<1|magMode<<2|GPSModeHome<<3|GPSModeHold<<4|armed<<5);
      serialize8(vbat);     // Vbatt 47
      serialize8(VERSION);  // MultiWii Firmware version    
      serialize8(armed);
      serialize16(GPS_distanceToHome);
      serialize16(GPS_directionToHome);
      serialize8(GPS_numSat);
      serialize8(GPS_fix);
      serialize8(GPS_update);       
      serialize8('O'); //49
      UartSendData();
      break;

[oli]

Is there any reason, why SIGNAL is used in Serial.ino to define interrupt routines? As far as I know, SIGNAL is deprecated and should not be used any longer, but ISR.
Futhermore SERIAL_COM_SPEED is not used in any SerialOpen() state and therefore has no influence.

[Magnetron]

Hi,
I would to try APC220 433MHz Wireless module to monitor GUI during flying.
I have a Flyduino Mega 2560 Board v2. It is possible to use this module on serial 3 without use FTDI port? Or can I connect APC220 on FTDI port directly?
Is it possibile to modify multiwii serial code to connect serial port 3?
Thanks.

[haley0918]

Is it possible to correct the I2C address of BMA180 for ALLINONE sensor board in the shared trunk?

I'm getting tired of manually adding the required line every time I update from the trunk

[Alexinparis]

Hi,
in IMU.pde
void getEstimatedAltitude()
...
if (abs(temp32) < 10 && BaroPID < 10) BaroPID = 0;

I think, intended was this:
if (abs(temp32) < 10 && abs(BaroPID) < 10) BaroPID = 0;

Best regards
Peter

right

[Alexinparis]

Hi,
I would to try APC220 433MHz Wireless module to monitor GUI during flying.
I have a Flyduino Mega 2560 Board v2. It is possible to use this module on serial 3 without use FTDI port? Or can I connect APC220 on FTDI port directly?
Is it possibile to modify multiwii serial code to connect serial port 3?
Thanks.

currently, only Serial0 can be used for multiwii communication on MEGA.

[Alexinparis]

Is it possible to correct the I2C address of BMA180 for ALLINONE sensor board in the shared trunk?

I'm getting tired of manually adding the required line every time I update from the trunk

I read sometimes ago there was multiple versions of allinone with different I2C address.
you have probably not the one which is documented.

[Alexinparis]

Is there any reason, why SIGNAL is used in Serial.ino to define interrupt routines? As far as I know, SIGNAL is deprecated and should not be used any longer, but ISR.
Futhermore SERIAL_COM_SPEED is not used in any SerialOpen() state and therefore has no influence.

Hi,
you're right,
The SERIAL term was originated form the HardwareSerial.cpp functions from Arduino.