MultiWii DEV 20120430

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mbrak
Posts: 136
Joined: Sat Dec 03, 2011 8:08 pm
Location: Germany, Lemgo

MultiWii DEV 20120430

Post by mbrak »

hi

just compiled and uploaded the newest DEV.
there is an older version of LCD.INO/PDE included.

howard has done some great work on the oled code. look here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350&start=50#p12353

the changes from howard are not included in the file from the last DEV. (broken chars in multiline and telemetrie display!)

can someone merge the code please?

Joachim08
Posts: 31
Joined: Sat Mar 17, 2012 10:10 am

Re: MultiWii DEV 20120430

Post by Joachim08 »

Anybody out there flown with 6050 sensor already ?
What about ACC Mode ?

mlebret
Posts: 17
Joined: Thu Jan 26, 2012 9:12 am

Re: MultiWii DEV 20120430

Post by mlebret »

Hello,

I uploaded the code on my MultiWii/freeIMU 0.43 board. Will fly it later.

I have a bug with the Mac version of MultiWiiConf : Calibrate Mag and Acc buttons are inop. I had to do a R/C Acc calibration.

Marc

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howardhb
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Location: Port Elizabeth, South Africa

Re: MultiWii DEV 20120430

Post by howardhb »

Tried it today!
Simply perfect :mrgreen:
FlyduinoMega with FreeIMU04.3, re-flashed HKF20A ESC's, Spektrum Satellite receiver.
1050KV motors, 10 x 4.5 props, 2200mAh 30C battery.
(MPU6050 Lowpass set to 42Hz)
On top of my quad, is a Sony CX110HD video camera with 0.38 wide angle lens, zoomed in, so props are not in view.
Took video footage of my friends flying their Helicopters.
I am really impressed with the stability!.....I was so confident, I looped and rolled it for the first time!


SOND CX110HD FreeIMU043 on FlyduinoMega.jpg
Last edited by howardhb on Tue May 01, 2012 10:35 pm, edited 1 time in total.

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mbrak
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Re: MultiWii DEV 20120430

Post by mbrak »

mlebret wrote:Hello,

I uploaded the code on my MultiWii/freeIMU 0.43 board. Will fly it later.

I have a bug with the Mac version of MultiWiiConf : Calibrate Mag and Acc buttons are inop. I had to do a R/C Acc calibration.

Marc



on my system (win7/32bit) the acc calibration works fine. no problem.

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mbrak
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Re: MultiWii DEV 20120430

Post by mbrak »

Joachim08 wrote:Anybody out there flown with 6050 sensor already ?
What about ACC Mode ?


hi joachim

cant say anything about acc. disabled it because this is my fun-quad :)

but reading the diffs i cannot read anything about a significant change of the acc-mode code.

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mbrak
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Re: MultiWii DEV 20120430

Post by mbrak »

@ alexinparis

can you exlain your new throttle-expo function in the gui?


i am using lcd-telemtrie and cannot see anything about throttle expo in the display. not yet implemented?

dr.tom
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Re: MultiWii DEV 20120430

Post by dr.tom »

hexa seems to work, defined A1&A0

but when I define gimbal, it works
but then motors 5&6 (A0&A1) don't work :(
Last edited by dr.tom on Thu May 03, 2012 7:05 pm, edited 1 time in total.

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mgros
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Re: MultiWii DEV 20120430

Post by mgros »

I have found a problem in FREIMUv043 the value of ACC it's not well calculted

20120330 use

Code: Select all

 #if defined(FREEIMUv04)
    acc_1G = 255;
  #else
    acc_1G = 512;

And in my opinion should be:

Code: Select all

#if defined(FREEIMUv043)
    acc_1G = 512;
  #else
    acc_1G = 255;
  #endif

as in 2.0

Also i have found a possible bug reading RX channels, 20120330 don't read the RX channels in the same PIN as 2.0.
any other have noticed the same?
i'm uisng a MEGA flyduinio board

Desaster
Posts: 2
Joined: Tue May 01, 2012 1:25 pm

Re: MultiWii DEV 20120430

Post by Desaster »

Hi all

mgros
Also i have found a possible bug reading RX channels, 20120330 don't read the RX channels in the same PIN as 2.0.
any other have noticed the same?
i'm uisng a MEGA flyduinio board

me too :D
Throttle is Pitch
Roll is Aux 1
Pitch is Aux 2
Yaw is Aux 3
Aux2 is throttle
Aux 3 is Roll

i use freeimu0.4.3 mega x9 with frsky

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mgros
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Re: MultiWii DEV 20120430

Post by mgros »

I think could be a problem in:

Code: Select all

    // PCINT activation
    for(uint8_t i = 0; i < PCINT_PIN_COUNT; i++){ // i think a for loop is ok for the init.
      PCINT_RX_PORT |= PCInt_RX_Pins[i];
      PCINT_RX_MASK |= PCInt_RX_Pins[i];
    }

but i'm not as expert as Alex. :?:

Joachim08
Posts: 31
Joined: Sat Mar 17, 2012 10:10 am

Re: MultiWii DEV 20120430

Post by Joachim08 »

howardhb wrote:Tried it today!
Simply perfect :mrgreen:
FlyduinoMega with FreeIMU04.3, re-flashed HKF20A ESC'a, Spektrum Satellite receiver.
20A esc's, 1050KV motors, 10 x 4.5 props, 2200mAh 30C battery.
(MPU6050 Lowpass set to 42Hz)
On top of my quad, is a Sony CX110HD video camera with 0.38 wide angle lens, zoomed in, so props are not in view.
Took video footage of my friends flying their Helicopters.
I am really impressed with the stability!.....I was so confident, I looped and rolled it for the first time!


SOND CX110HD FreeIMU043 on FlyduinoMega.jpg


That sounds good. Are you using stock PID's ?

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mgros
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Re: MultiWii DEV 20120430

Post by mgros »

I've found it.(almost for a MEGA) RX STANDARD
in RX.pde

Code: Select all

    #if (PCINT_PIN_COUNT > 0)
      RX_PIN_CHECK(0,2);
    #endif
    #if (PCINT_PIN_COUNT > 1)
      RX_PIN_CHECK(1,4);
    #endif
    #if (PCINT_PIN_COUNT > 2)
      RX_PIN_CHECK(2,5);
    #endif
    #if (PCINT_PIN_COUNT > 3)
      RX_PIN_CHECK(3,6);
    #endif
    #if (PCINT_PIN_COUNT > 4)
      RX_PIN_CHECK(4,7);
    #endif
    #if (PCINT_PIN_COUNT > 5)
      RX_PIN_CHECK(5,0);
    #endif
    #if (PCINT_PIN_COUNT > 6)
      RX_PIN_CHECK(6,1);
    #endif
    #if (PCINT_PIN_COUNT > 7)
      RX_PIN_CHECK(7,3);
    #endif


shoud be

Code: Select all

    #if (PCINT_PIN_COUNT > 0)
      RX_PIN_CHECK(2,2);
    #endif
    #if (PCINT_PIN_COUNT > 1)
      RX_PIN_CHECK(4,4);
    #endif
    #if (PCINT_PIN_COUNT > 2)
      RX_PIN_CHECK(5,5);
    #endif
    #if (PCINT_PIN_COUNT > 3)
      RX_PIN_CHECK(6,6);
    #endif
    #if (PCINT_PIN_COUNT > 4)
      RX_PIN_CHECK(7,7);
    #endif
    #if (PCINT_PIN_COUNT > 5)
      RX_PIN_CHECK(0,0);
    #endif
    #if (PCINT_PIN_COUNT > 6)
      RX_PIN_CHECK(1,1);
    #endif
    #if (PCINT_PIN_COUNT > 7)
      RX_PIN_CHECK(3,3);
    #endif

Melilla
Posts: 2
Joined: Thu Apr 26, 2012 1:09 pm

Re: MultiWii DEV 20120430

Post by Melilla »

hi same thing happens to me, rx channels, changed
Last edited by Melilla on Tue May 01, 2012 8:48 pm, edited 1 time in total.

ronco
Posts: 317
Joined: Thu Aug 18, 2011 2:58 pm

Re: MultiWii DEV 20120430

Post by ronco »

mgros wrote:I've found it.(almost for a MEGA)
in RX.pde

Code: Select all

    #if (PCINT_PIN_COUNT > 0)
      RX_PIN_CHECK(0,2);
    #endif
    #if (PCINT_PIN_COUNT > 1)
      RX_PIN_CHECK(1,4);
    #endif
    #if (PCINT_PIN_COUNT > 2)
      RX_PIN_CHECK(2,5);
    #endif
    #if (PCINT_PIN_COUNT > 3)
      RX_PIN_CHECK(3,6);
    #endif
    #if (PCINT_PIN_COUNT > 4)
      RX_PIN_CHECK(4,7);
    #endif
    #if (PCINT_PIN_COUNT > 5)
      RX_PIN_CHECK(5,0);
    #endif
    #if (PCINT_PIN_COUNT > 6)
      RX_PIN_CHECK(6,1);
    #endif
    #if (PCINT_PIN_COUNT > 7)
      RX_PIN_CHECK(7,3);
    #endif


shoud be

Code: Select all

    #if (PCINT_PIN_COUNT > 0)
      RX_PIN_CHECK(2,2);
    #endif
    #if (PCINT_PIN_COUNT > 1)
      RX_PIN_CHECK(4,4);
    #endif
    #if (PCINT_PIN_COUNT > 2)
      RX_PIN_CHECK(5,5);
    #endif
    #if (PCINT_PIN_COUNT > 3)
      RX_PIN_CHECK(6,6);
    #endif
    #if (PCINT_PIN_COUNT > 4)
      RX_PIN_CHECK(7,7);
    #endif
    #if (PCINT_PIN_COUNT > 5)
      RX_PIN_CHECK(0,0);
    #endif
    #if (PCINT_PIN_COUNT > 6)
      RX_PIN_CHECK(1,1);
    #endif
    #if (PCINT_PIN_COUNT > 7)
      RX_PIN_CHECK(3,3);
    #endif


Hi, i think that is my foult :S viewtopic.php?f=8&t=1596#p12802

but please dont change it in the RX.pde .. chang it in def.h at Mega defines

Code: Select all

  #define PCINT_RX_BITS              (1<<0),(1<<1),(1<<2),(1<<3),(1<<4),(1<<5),(1<<6),(1<<7)

to

Code: Select all

  #define PCINT_RX_BITS              (1<<2),(1<<4),(1<<5),(1<<6),(1<<7),(1<<0),(1<<1),(1<<3)


if you change it in RX.pde you will change also all the pins for promini and micro

i have no mega so i thought it would be right :/

regards Felix

ronco
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Re: MultiWii DEV 20120430

Post by ronco »

so if someone can confirm this order i will update the shared trunk with it..

regards felix

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mgros
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Re: MultiWii DEV 20120430

Post by mgros »

ronco wrote:so if someone can confirm this order i will update the shared trunk with it..

regards felix

I will try later but it seems OK. is other solution.

Desaster
Posts: 2
Joined: Tue May 01, 2012 1:25 pm

Re: MultiWii DEV 20120430

Post by Desaster »

Hi

have change this

20120330 use
Code: Select all #if defined(FREEIMUv04)
acc_1G = 255;
#else
acc_1G = 512;

And in my opinion should be:
Code: Select all#if defined(FREEIMUv043)
acc_1G = 512;
#else
acc_1G = 255;
#endif

and change this


but please dont change it in the RX.pde .. chang it in def.h at Mega defines
Code: Select all #define PCINT_RX_BITS (1<<0),(1<<1),(1<<2),(1<<3),(1<<4),(1<<5),(1<<6),(1<<7)

to
Code: Select all #define PCINT_RX_BITS (1<<2),(1<<4),(1<<5),(1<<6),(1<<7),(1<<0),(1<<1),(1<<3)

in the Gui is all good

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mgros
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Re: MultiWii DEV 20120430

Post by mgros »

It fly OK with the modifications.

Good JOB.

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mbrak
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Location: Germany, Lemgo

Re: MultiWii DEV 20120430

Post by mbrak »

howardhb wrote:Tried it today!
Simply perfect :mrgreen:
FlyduinoMega with FreeIMU04.3, re-flashed HKF20A ESC'a, Spektrum Satellite receiver.
20A esc's, 1050KV motors, 10 x 4.5 props, 2200mAh 30C battery.
(MPU6050 Lowpass set to 42Hz)
On top of my quad, is a Sony CX110HD video camera with 0.38 wide angle lens, zoomed in, so props are not in view.
Took video footage of my friends flying their Helicopters.
I am really impressed with the stability!.....I was so confident, I looped and rolled it for the first time!


SOND CX110HD FreeIMU043 on FlyduinoMega.jpg



same for me. very stable flying!!
after some testflights i switched back to no lowpass filter on mpu6050. with lpf=42hz i was flying with p=4 (standart pids). after using no lowpassfilter i increased the p-value to 8.5 (roll+nick) and it was super rock solid!!
those high p values are only flyable with no lowassfilter! otherwise you will get a wobble of death!

sismeiro
Posts: 173
Joined: Tue Feb 21, 2012 12:33 pm

Re: MultiWii DEV 20120430

Post by sismeiro »

Hi to all,

I was reviewing the config.h and I found two entries of the SERVO_TILT define:

Code: Select all

/* The following lines apply only for a pitch/roll tilt stabilization system
   Uncomment the first line to activate it */
//#define SERVO_TILT              //  Simple CameraGimbal By Bledy http://youtu.be/zKGr6iR54vM
//#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

From what I saw in the MultiWii code the first #define should be:

#define SERVO_MIX_TILT // Simple CameraGimbal By Bledy http://youtu.be/zKGr6iR54vM

Regards,
Luis Sismeiro

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Hamburger
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Re: MultiWii DEV 20120430

Post by Hamburger »

mbrak wrote:@ alexinparis

can you exlain your new throttle-expo function in the gui?


i am using lcd-telemtrie and cannot see anything about throttle expo in the display. not yet implemented?

Correct. That usually is left for me to do.

ronco
Posts: 317
Joined: Thu Aug 18, 2011 2:58 pm

Re: MultiWii DEV 20120430

Post by ronco »

Hi,

the correct RX pin order and these dubble SERVO_TILT define is now fixed in shared trunk.

thanks for testing :)

regards Felix

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Hamburger
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Re: MultiWii DEV 20120430

Post by Hamburger »

Hamburger wrote:
mbrak wrote:i am using lcd-telemtrie and cannot see anything about throttle expo in the display. not yet implemented?

Correct. That usually is left for me to do.

done. It is now part of the configurable items list in LCDconfig() menu. Source is in _shared.

For functionality of throttle expo, just play with the two values in the GUI and watch the graphic - quite self explanatory from there.

Alexinparis
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Joined: Wed Jan 19, 2011 9:07 pm

Re: MultiWii DEV 20120430

Post by Alexinparis »

mbrak wrote:@ alexinparis

can you exlain your new throttle-expo function in the gui?


i am using lcd-telemtrie and cannot see anything about throttle expo in the display. not yet implemented?


I will document it properly, but basically it allows to modify the throttle response inside the throttle stick input range [MINCHECK-2000]

Alexinparis
Posts: 1630
Joined: Wed Jan 19, 2011 9:07 pm

Re: MultiWii DEV 20120430

Post by Alexinparis »

mgros wrote:I have found a problem in FREIMUv043 the value of ACC it's not well calculted

20120330 use

Code: Select all

 #if defined(FREEIMUv04)
    acc_1G = 255;
  #else
    acc_1G = 512;

And in my opinion should be:

Code: Select all

#if defined(FREEIMUv043)
    acc_1G = 512;
  #else
    acc_1G = 255;
  #endif

as in 2.0


To my knowledge, FREEIMUv04 is the only one IMU that uses some old MPU6050 units where the ACC 1G was wrong.
Newer IMUs like FREEIMUv043 should be ok, that's why I made the exception only for this IMU.

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mgros
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Re: MultiWii DEV 20120430

Post by mgros »

But if you use the 20120430 version you have

Code: Select all

#if defined(FREEIMUv043)
 #define FREEIMUv04
#endif
in def.h

and in sensor.pde

Code: Select all

#if defined(FREEIMUv04)
    acc_1G = 255;
  #else
    acc_1G = 512;

The code assume always acc_1G = 255 for every board.
It's necessary a correction.

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Bledi
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Re: MultiWii DEV 20120430

Post by Bledi »

For ADXL345 : acc_1G is not 256 (2,5V) but 265 (@3V3) cf specifications

dr.tom
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Re: MultiWii DEV 20120430

Post by dr.tom »

does anyone have a working hexa + gimbal on promini?
#defined A0&A1 pins for motor 5&6 for use with normal RX.

I can make it fly really good without gimbal,
if i activate gimbal(#servo_tilt) in config, it works great,
but then motors 5&6 don't spin. and first 4 motors work ok. :(

any advice?

Thank you very much.

ronco
Posts: 317
Joined: Thu Aug 18, 2011 2:58 pm

Re: MultiWii DEV 20120430

Post by ronco »

dr.tom wrote:does anyone have a working hexa + gimbal on promini?
#defined A0&A1 pins for motor 5&6 for use with normal RX.

I can make it fly really good without gimbal,
if i activate gimbal(#servo_tilt) in config, it works great,
but then motors 5&6 don't spin. and first 4 motors work ok. :(

any advice?

Thank you very much.


hi,

does it work with 2.0?


regrads felix

ronco
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Re: MultiWii DEV 20120430

Post by ronco »

dr.tom wrote:does anyone have a working hexa + gimbal on promini?
#defined A0&A1 pins for motor 5&6 for use with normal RX.

I can make it fly really good without gimbal,
if i activate gimbal(#servo_tilt) in config, it works great,
but then motors 5&6 don't spin. and first 4 motors work ok. :(

any advice?

Thank you very much.


found it ! .. should work now at r 760 :)

regards felix

dr.tom
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Re: MultiWii DEV 20120430

Post by dr.tom »

thank you for a very fast response and a solution, will try it today ASAP:)

EDIT:

so, like you suggested, I merged the newest dev 0405 (33hrs old)
http://code.google.com/p/multiwii/downl ... p&can=2&q=

+ your rev of output file (9hrs old) (hope it will be implemented in future releases by default)
http://multiwii.googlecode.com/svn-hist ... Output.pde

indoor test while holding it in hand, seems to work,
all 6 motors respond to tilting ok, and to stick input,
and gimbal is also working OK.

thank you very much! :)

dr.tom
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Re: MultiWii DEV 20120430

Post by dr.tom »

the modified output r760 works ok when around level and throttle over 60%, flew 5-6 minutes ok.
but when the model is landing @40% throttle, and slightly tilted because of wind or something similar... it flips over momentarily,

I made few test flights yesterday, have video of it, and today inspected it in GUI...
I connected A0 to aux1 so I can see what is being outputed to esc for real.
because gui shows output for motors, that he thinks he is sending to them,
but it can be measured as aux1 input signal if needed.

when I tilt the model to the left, it increases to throttle_max(2000), that is ok because it is the middle motor on the left side of hexaX.
when I titl it slowly to the right, it decreases from prevoius, thats normal too.

but if i tilt it a little bit faster, it doesn't drop down to throttle_min or similar, but it RAISES to 2100 (max is defined to 2000! ) ?
so the copter makes a flip inevitably, because that motor should be slowing down, not going fast as it can :(

the lower the throttle is(landing?) the smaller the tilt should be to make pwm jump in wrong direction, and over the max.

I believe I know how to fly and set up a model(link to the right of PM icon), so I hope that's not the problem,
it seems the range of created PWM is not like it should be...

the test can be easily reproduced, without the need of connecting the esc-s,
only the FC and jumper cable to connect the output to some aux pin for monitoring it

#define HEX6X
#define SERVO_TILT
min command 1050
min thr 1150
max thr 2000

thank you for your help if you are willing to find the solution :)



I tought there are more people flying hex+gimbal so it wouldn't be such a problem :(

when i reproduce the same thing with r759 without gimbal, it works OK, no wrong PWM outputing.
(but it cannot run gimbal, as explained a few post earlier...)
Last edited by dr.tom on Sun May 06, 2012 12:50 pm, edited 3 times in total.

ronco
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Re: MultiWii DEV 20120430

Post by ronco »

Hi dr.tom,

with this hexa+servos method we have just one timer comperator for two motors. and because of this the trottle range is reduced to 1000-1900
please change mintrottle to 1000 or more, maxthrottle 1900 or less.
and trie again.

edit: mincommand to 1000 or more .. not minthrottle

thats also the reason why we changed to the old software pwm method for setups without servos.

regards

felix

dr.tom
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Re: MultiWii DEV 20120430

Post by dr.tom »

Thank you for your fast help :)

just uploaded your r760
with this config
#define HEX6X
#define MINCOMMAND 1010
#define MINTHROTTLE 1100
#define MAXTHROTTLE 1890
#define A0_A1_PIN_HEX
#define SERVO_TILT

it seems to work, no more overflowing the PWM range :)
(good thing newest simon's esc firmware is range programable, so power won't suffer from shorter range)

going to try it outside.

Thank you very very much! :)


IT WORKS, video -------> : viewtopic.php?f=9&t=1696&p=14201#p14201 :) 8-)
Last edited by dr.tom on Sat May 19, 2012 9:19 am, edited 1 time in total.

adam
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Joined: Sun Oct 02, 2011 4:26 pm
Location: Taiwan

Re: MultiWii DEV 20120430

Post by adam »

mbrak wrote:
howardhb wrote:Tried it today!
Simply perfect :mrgreen:
FlyduinoMega with FreeIMU04.3, re-flashed HKF20A ESC'a, Spektrum Satellite receiver.
20A esc's, 1050KV motors, 10 x 4.5 props, 2200mAh 30C battery.
(MPU6050 Lowpass set to 42Hz)
On top of my quad, is a Sony CX110HD video camera with 0.38 wide angle lens, zoomed in, so props are not in view.
Took video footage of my friends flying their Helicopters.
I am really impressed with the stability!.....I was so confident, I looped and rolled it for the first time!


SOND CX110HD FreeIMU043 on FlyduinoMega.jpg



same for me. very stable flying!!
after some testflights i switched back to no lowpass filter on mpu6050. with lpf=42hz i was flying with p=4 (standart pids). after using no lowpassfilter i increased the p-value to 8.5 (roll+nick) and it was super rock solid!!
those high p values are only flyable with no lowassfilter! otherwise you will get a wobble of death!


"Simply perfect", same with this.

Alexinparis
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Joined: Wed Jan 19, 2011 9:07 pm

Re: MultiWii DEV 20120430

Post by Alexinparis »

good news to read positive feedback :)
The MPU mod + a more accurate ACC LPF is now included in DEV 20120504.

Kayle
Posts: 141
Joined: Sun Feb 13, 2011 6:45 pm

Re: MultiWii DEV 20120430

Post by Kayle »

Hi,

I get the wobble of death still with no lpf. I leave the pid as default and just increase p for nick and roll. Above 4.5 i get the wobble of death.

Kayle

adam
Posts: 15
Joined: Sun Oct 02, 2011 4:26 pm
Location: Taiwan

Re: MultiWii DEV 20120430

Post by adam »

My QuadX on mpu6050 with lpf=42hz , default PIDS. It can fly very well on ACC mode, but like a soft wind, not a "super rock solid"!!

So, How to using no lowpassfilter from config setup!

adam

adam
Posts: 15
Joined: Sun Oct 02, 2011 4:26 pm
Location: Taiwan

Re: MultiWii DEV 20120430

Post by adam »

Alexinparis wrote:good news to read positive feedback :)
The MPU mod + a more accurate ACC LPF is now included in DEV 20120504.


Hi Alex,

A question, How to make a no lpf setup, I don't know how.

Thank you.

dr.tom
Posts: 141
Joined: Fri Mar 30, 2012 4:46 pm
Location: Croatia
Contact:

Re: MultiWii DEV 20120430

Post by dr.tom »

Thnx to ronco and his help about pwm range... I got this hexa + gimbal in the air :)

just to show result of his effort, thnx man 8-)
http://www.youtube.com/watch?v=F1z1Fq6r3-8

EosBandi is working hard on his new gps code, and I'm really looking forward to trying it,

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