MultiWii v1.preter7 released

[Alexinparis]

differences with the previous dev 1.prebis7:

OSD: thanks to Rurek and mis_b, optimisation of OSD code Serial write is driven by a switchable interrupt, minimising delay to transmit data

MAIN SOFT: thanks to Syberian, a bug was corrected to prevent ACC correction just before hovering. It could explain some odd flips when using autolevel at the beginning

MAIN SOFT: thanks to ziss_dm, a bug was corrected about the ITG3200: there was a variable overflow which occured only for high PITCH variation.

MAIN SOFT: thanks to mis_b (MIS), integration of failsafe code.
Failsafe detect absence of RC pulse on THROTTLE channel (standard PPM receiver)
If the pulse is OFF the failsafe procedure is initiated.

After configurable FAILSAVE_DELAY time of pulse absence,
the level mode is switched to ON (if ACC or nunchuk is available),
PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAVE_THROTTLE value.
This value is dependent from your configuration, AUW and some other params.

Next, afrer configurable FAILSAVE_OFF_DELAY time,
the copter is disarmed, and motors are stopped.
If RC pulse coming back before reached FAILSAVE_OFF_DELAY time,
after the small quard time the RC control is returned to normal.

MAIN SOFT: thanks to Ciskje, integration of L3G4200D gyro (this Gyro is present in PIPO ISU)

The code is on the googlecode repository
http://code.google.com/p/multiwii/source/browse/tags
This code is as usual compatible with everything developed before
including the very low cost setup: WMP only + promini + standard 4ch receiver

[arnaldo]

good job Alex!

[spagoziak]

Beautiful!

Do you have any plans to make the Failsafe system more robust? I'm thinking calculating rate of descent using the z axis of the acc and initiating the disarm procedure after a certain amount of time where the gyros are still (which would mean the craft is still).

How tricky is this? WAAAYYY beyond my capabilities lol...

But they sound like good ideas, anyway

spag

[rocketray]

Hi Alex ,

One of my quads has a four channel RX and in 1.6 i can force auto mode to be on all the time. This is great in particular for letting selected friends have a little go, as it is so easy to fly,
anyway is there any way to do the same in this latest release. If not, is there anyway you could please implement it in the next release. Otherwise i will have to stick with 1.6 with just that quad, But hey 1.6 is good too

Rocketray(whiteturbo)

[Alexinparis]

Hi rocketray,

It's in fact already implemented
on the LEVEL row: check the 3 white boxes AUX1 low, AUX1 mid, AUX1 high
This way, the LEVEL mode will always be on.

[rocketray]

Thanks very much

[Rurek]

Beautiful!

Do you have any plans to make the Failsafe system more robust? I'm thinking calculating rate of descent using the z axis of the acc and initiating the disarm procedure after a certain amount of time where the gyros are still (which would mean the craft is still).

How tricky is this? WAAAYYY beyond my capabilities lol...

But they sound like good ideas, anyway

spag

You asked for it also on the RCG... It s not so easy, what is now done is better than a mikrokopter;) In calculating the ACC Z axis can not realize your idea, you need a BARO or if you have a GPS (and support for OSD MultiWii, those that I distribute). However, disarming engines "if there are no readings from the gyro that means copter landed"- unless there is no need to invent a complex algorithm that detects such a situation ... But you can define yourself the time after which the engine switched off (this does not even mk.de!!)

[Ebi]

Great, Thanks a lot Alex.

It would be great to have the new added functions like fail-safe and Auto-level trim implemented so that we can just remove it by checking one line like for the LCD function for example.

What make the multiwii software so wonderful it's simplicity and efficiency.

We should able to keep it simple by being able to easily remove unwanted features not always useful depending on our configuration.

For example, I do trim differently for normal mode and auto-level mode on my radio with 2 flight mode and I have full fail-safe for all channels on my 2.4GHz receiver too so I would rather not have all those new features running in my soft.

Merci pour tout tout le travail que tu as fais,

Ebi

[mskroese]

Hi all!

Were there changes in the 1.7preter for the camera stabilization? I had it working in the 1.7prebis but now the stabilizing servo's don't do anything at all anymore. Normally when calibrating the wm+ the start to wiggle until it was done, after which they would work perfect. So now none of that...

Anyone any idea's? I posted my personalized code as well.

Cheers,

Maurits

[BlueAngel]

thanks Alex for you great work.

I hope i can test the new software soon.
I had sometimes too a strange behavior with the ACC.
Flying fast in head holding mode and the switch to ACC and the quad does not level right. More 30° turned to one side.

@fail safe:
Yes, i have too failsafe on copter.
So i don't need that code too.
Unless there is something like a slow auto landing feature after a fixed time. (for sure only with baro sensor)

[mskroese]

Hi all!

Were there changes in the 1.7preter for the camera stabilization? I had it working in the 1.7prebis but now the stabilizing servo's don't do anything at all anymore. Normally when calibrating the wm+ the start to wiggle until it was done, after which they would work perfect. So now none of that...

Anyone any idea's? I posted my personalized code as well.

Cheers,

Maurits

nm, works already!

[Alexinparis]

thanks Alex for you great work.

I hope i can test the new software soon.
I had sometimes too a strange behavior with the ACC.
Flying fast in head holding mode and the switch to ACC and the quad does not level right. More 30° turned to one side.

So,
the stable mode is ok when your multi is static, but not ok after a translation ?

[Alexinparis]

Great, Thanks a lot Alex.

It would be great to have the new added functions like fail-safe and Auto-level trim implemented so that we can just remove it by checking one line like for the LCD function for example.

What make the multiwii software so wonderful it's simplicity and efficiency.

We should able to keep it simple by being able to easily remove unwanted features not always useful depending on our configuration.

I did it for LCD because it was a quite isolated part.
For failsafe or autolevel trim, it's more merged and does not take a lot of bytes more.

Merci pour tout tout le travail que tu as fais,

Ebi

de rien

[Alexinparis]

Yes, i have too failsafe on copter.
So i don't need that code too.
Unless there is something like a slow auto landing feature after a fixed time. (for sure only with baro sensor)

Note the current failsafe will only work is there is no more ppm coming from the RX (a connexion problem for instance)
If you have a receiver with integrated failsafe, the multiwii failsafe won't be activated. It should be transparent in your case.

[jofamilly13]

bonsoir à tous et merci alex pour le code et les actualisations
pouvez vous me dire comment activer le mode stable seulement avec les manches si possible
(je l'ai lu quelque part) me semble t il.
y à t il un site plus french car la traduction google reste approximative
je vole en 1.7prebis et c'est deja tres bien le quad vole mieux que moi
http://www.youtube.com/watch?v=VeuC8qRF ... er&list=UL

[BlueAngel]

thanks Alex for you great work.

I hope i can test the new software soon.
I had sometimes too a strange behavior with the ACC.
Flying fast in head holding mode and the switch to ACC and the quad does not level right. More 30° turned to one side.

So,
the stable mode is ok when your multi is static, but not ok after a translation ?

I have not flown that much, because i use mainly "head holding" mode.
The stable mode does work very good when i fly in stable mode and too when i switch from "head holding" to stable mode.
But when i was flying very fast around and switched on stable mode, it looks like the ACC was a little sick. But maybe it would stabilize after some time, but i disabled it right after enable, because quad was drifting away.
I have to test more, to give good feedback.
Maybe it has something to do with the BMA020. I haven't connected the SD0 pad to ground, like stated in the manual.

regarding the failsafe:
okay thanks, so i have double security.
Failsafe from receiver, or failsafe from copter if receiver fails.
thanks

[tgasttko]

Used the pre 1.7 on my Avatar style w/promini, wii and nk. I wired it per your instruction.
The problem is the pitch control when i push pitch forward the motor on the right moves upward push it downward left motor moves down.
push pitch left both servo move forward, push it to the right both motor pull backwards.
Is there an adj. i have to change.
Yaw and throttle both oky.
Thanks,
Tony

[ciskje]

The scale for the gyro has been moved so the new L3G4200D doen't have a correct scale, please add:

gyroADC[ROLL] = ((rawADC_L3G4200D[1]<<8) | rawADC_L3G4200D[0])/20 ;
gyroADC[PITCH] = ((rawADC_L3G4200D[3]<<8) | rawADC_L3G4200D[2])/20 ;
gyroADC[YAW] = -((rawADC_L3G4200D[5]<<8) | rawADC_L3G4200D[4])/20 ;

[dramida]

hi, this is how is flying arduwiino 1preter7 on a windy day

http://www.youtube.com/watch?v=dYW3ex6UfTs

[Alexinparis]

The scale for the gyro has been moved so the new L3G4200D doen't have a correct scale, please add:

gyroADC[ROLL] = ((rawADC_L3G4200D[1]<<8) | rawADC_L3G4200D[0])/20 ;
gyroADC[PITCH] = ((rawADC_L3G4200D[3]<<8) | rawADC_L3G4200D[2])/20 ;
gyroADC[YAW] = -((rawADC_L3G4200D[5]<<8) | rawADC_L3G4200D[4])/20 ;

Ok thanks, it will be corrected in the final 1.7

[arnaldo]

do you think that the barometer in 1.7final will be improved

[Alexinparis]

do you think that the barometer in 1.7final will be improved

It will be a little better than in 1.6 (small adjustment already implemented in prebis and preter).

But clearly, there are many improvements to code about altitude stabilization. I think about Z ACC coupling.
Not in 1.7 because I wan't to release it rapidly

[arnaldo]

sure...thank you alex!