MultiWii

MultiWii 2.2 is released and is available here:
http://code.google.com/p/multiwii/downloads/list

Many thanks for all of the contributors and for all of those using it and sharing their passion.
I hope again this version will animate a lot of flying models around the world.

main changes since the last release 2.1


***documentation***

===============================================================
Documentation for releases should be in the official wiki at
http://www.multiwii.com/wiki

stable and development versions can be found here:
http://code.google.com/p/multiwii/downloads/list
For development versions you are on your own - good luck.
Don't try any development version if you don't follow dev evolution.
Don't forget a multirotor is something that can be dangerous.

For discussion and questions the official forum is at
http://www.multiwii.com/forum

Evolution of the code can be followed here:
http://code.google.com/p/multiwii/source/list

MultiWii is not a product, nor a plug and play solution.
It is basically an open source project.
Don't expect to buy a compatible board and run it without a minimum knowledge.



***Control mode***

- introduction of HORIZON MODE.
We have now 3 modes:

ACRO mode.
This is the default one when none of the ANGLE & HORIZON BOX is activated.
The copter will continue rotating in the direction in which you tilt sticks. When you let go of sticks it will maintain that angle and not return to level

ANGLE mode
The position of the stick indicates the angle at which the copter tries to maintain. Sticks off = level. Full sticks in any direction and it will tilt at around 50 degrees. It's proportional in-between.
It maintains the angle set by the stick. Let go of sticks and it returns to level

HORIZON mode <- new
It's a proportional mix of the two. Sticks off = level. Full deflection = ACRO. In between it gradually mixes from LEVEL mode to ACRO.
It's a fine mix to be able to do some ACRO with the safety of ANGLE mode when you release the sticks.
It allows also a more natural way of flying as the multi seems less constrained.


- failsafe code is more strict. (thanks to MIS)
If activated, it takes into account all the main channels and it's important to stay strictly inside the [1000-2000] range.
For instance a throttle of 995 will activate the failsafe
failsafe is optional and can be activated via #define FAILSAFE

- Acrotrainer mode introduced by PatrikE
a kind of non proportional horizon mode
more info here: viewtopic.php?f=16&t=1944

- SERVO_TILT_MIX
introduced by Bledi and Gary
http://youtu.be/zKGr6iR54vM
corrected after to support optionally up to 2 AUX channels superposition to control the gimbal

- CAM STAB: (thanks to Gary and suggested or Arne)
Ability to define Cam Stab control channels used
Ability to turn off
Fix for AUX3 + 4 affecting tilt/roll with camstab enabled



***add-ons***

- pilotlamp integration (thanks to mr.rc-cam, jevermeister, doughboy )
via #define PILOTLAMP
http://code.google.com/p/multiwii/wiki/ ... _Pilotlamp

- LEDRING pattern was refined thanks to shikra
instructions here: http://code.google.com/p/multiwii/sourc ... README.txt

- variometer introduced by Hamburger
enable to get audio feedback upon rising/falling copter/plane
via #define VARIOMETER



***receiver & UART***

- option to use throttle PIN as the PPM PIN on mega boards thanks to MIS
this way you can use the UART 1 for other purpose
via #define PPM_ON_THROTTLE

- every UART port on MEGA boards can be used at the same time with different baud configuration.
ie, you can connect up to 4 GUI or OSD or anything using MSP simultaneously

- the second UART port on promicro boards can be used at the same time with different baud configuration.

- spektrum (thanks to Danal)
- spektrum satellite up to 12 channels, even if only 8 are usable in multiwii
- spektrum satellite BIND button, to associate a satellite without the main receiver



***PIN mapping***

- possibility to override some PIN definition in config.h (thanks to Hamburger)



***GPS***

- UBLOX GPS: the baud configuration is autodetected and the UBLOX binary protocol is automaticly set (thanks to MIS & EOSBandi)

- MKT GPS can now be parsed in binary mode is possible thanks to EOSBandi
made for DIYDrones MTK firmware v1.6 and v1.9

- I2C GPS:
correct directionToHome (change it to the opposite direction)
there is still a problem remaining when your distance to home reaches 654m: it overflows.
a I2C code evolution is needed to correct this problem

- a forward predictive filter was ported from the Arducopter code by EOSBandi
optional and by default activated: #define GPS_LEAD_FILTER

- first implementation of MSP_SET_WP
with the help of Ezio app (EZ-GUI), we can now control the multi with a smartphone: set a new position on a map / follow me / follow heading
see Multiwii EZ-GUI specific topic: viewtopic.php?f=8&t=2034
some video about this functionality:
http://www.youtube.com/watch?v=qpoPanmVa9Y
http://www.youtube.com/watch?v=hPj6WZex8j0
http://www.youtube.com/watch?v=nPICiiaDTnc

- AP_MODE introduced by PatrikE
used in GPS POS HOLD mode, outside the specified stick range the POS HOLD position is renew



***multiwii models***

- HELICOPTER and PLANE models was refined thanks to PatrickE and Hamburger
multiple helicopter type HELI_120_CCPM , HELI_90_DEG
servo configuration for plane, FLAP, FLAPPERON

- HEXH6 multicopter type added (thanks to shikra)

- Bi-Copter pitch direction setting

- USE_THROTTLESERVO (for airplanes), COLLECTIVE_RANGE changed (second value not offset anymore)



***GUI & OSD & LCD***

- a RECONNECT button was added by PatrickE
a file is now generated to indicate the last COM&Serial speed. The serial speed can be edited in this file to change the UART speed of GUI.

- New MultiWiiConf GUI v2.2 with graphical improvements (thanks to Magnetron and doughboy)
cool things like virtual horizon

- optional 3 independent configurations, stick selectable settings in EEPROM (thanks to MIS)
can be activated via #define MULTIPLE_CONFIGURATION_PROFILES

- a RESET button was added in the GUI
if you encounter any EEPROM problem or if you want to restore the default values



***LCD***

- on mega boards, it's possible to define the LCD port for LCD supporting true UART.

- more parameters are tunable via LCD conf, all the one in config.h with a small (*) besides, thanks to Hamburger
those parameters will be moved in the GUI later in another step, once we find the good way to do it.
example: failsave.throttle , vbat tunable params , powermeter tunable params

- many telemetry and LCD config enhancements (thanks to hamburger)
telemetry page 3: use long boxnames
telemetry page 2: show numerical values for sensor data next to bar graphs
no user interaction necessary to run telemetry info upon start up
set individual board name string (currently used for display; no GUI representation yet)

- LCDconfig menu: with THROTTLE=High, increment is 10 times of normal

- servos are moved to neutral position during calibration and lcd.configuration



***OSD***

- RSSI PIN added for OSD use (thanks to Kataventos)
the RSSI output can be retrieved via a MSP message for OSD

- OSD BOX added for OSD activation (thanks to Itai)

- huge work made on an open source code OSD fully compatible with MultiWii (thanks to the team lead by Kataventos)
viewtopic.php?f=8&t=2918
http://code.google.com/p/rush-osd-development/



***IMU and baro***

- gyro calibration could be held until the MWC stops moving
introduced by MIS, and made optional after via a specific define: #define GYROCALIBRATIONFAILSAFE

- mag gain calibration is improved thanks to EOSBandi
based on Fabio FreeIMU code. We won't forget you Fabio...

- perfect euler angle computation in case of 9DOF (better heading)
no more gimbal lock in GUI representation with a 9DOF sensor

- force sensors orientation to override board specific defaults
optional in config.h

- default ACC LPF factor reduced from 16 (2^4), and is share with ACC LPF for alt hold

- gyro/acc complementary filter value increased from 400 to 600

- gyro/mag complementary filter now set to 250 instead of 200

- gyro scale factor changed from 2380 to 2279

- accelerometer now used below 1.15G and above 0.85G instead of previous 1.4G/0.6G settings

- option: SENSORS_TILT_45DEG_LEFT/RIGHT to change X/P configuration without changing board orientation

- ALT HOLD is greatly improved thanks to the code of Mahowik, a little bit optimized since
improved baro hold (PID) algorithm that includes the accelerometer z-axis
its a real major improvement for multiwii
http://www.youtube.com/watch?v=T3htaJ53Z7E

- baro calibration and calculation is improved thanks to Sebbi
baro indicates now altitude 0 when it is powered. This is the reference altitude.

- calculation of barometric altitude changed to include temperature, faster update rate

- new FC boards: SIRIUSGPS, SIRIUS_AIR, SIRIUS_AIR_GPS, MICROWII, GY_521, MultiWiiMega, DESQUARED6DOFV2GO, DESQUARED6DOFV4, LADYBIRD, MEGAWAP_V2_STD, MEGAWAP_V2_ADV, HK_MultiWii_SE_V2, HK_MultiWii_328P, RCNet_FC, FLYDU_ULTRA



***internal improvements***

- some default PID were changed for optimization speed in PID copmputation.
The default PID should behave exactly as the previous ones.
To restore your old PID settings, just a proportion is needed.

- 5 hardware PWM servos avaliable with Mega boards on pins 44,45,46,11,12 (thanks to MIS)

- EEPROM settings secured by checksum (thanks to MIS)

- optional permanent logging to eeprom
setting: LOG_PERMANENT

- change LED blink frequency for acc-uncalibrated or tilt>25 from 50ms to 10ms

- rework of task scheduler code thanks to ideas from Sebbi
we have now a better computation time repartition

- optional fixate cycle time (by burning cpu time away)

- allow override of motor/servo mixing from config.h - no need to edit Output.ino
experimental

- faster cycle time than with v2.1

- many many hidden optimizations in the code

Just download the Multiwii2.2 Thanks! ^_^

Cheers!

Nice

Hello

loaded the new Version2.2, up to the level control all OK.

The problem:

the throttle is at the bottom, so the engines are off, now the barometer is enabled to run the motors at once, so that the copter almost apart.

The next problem:

one has accidentally activated the Baro and turns the copter over the sharp roll or yaw motors are running at once at full throttle and the copter Flipt to the appropriate page, stands beside a possible injury.

I fly out with Frsky sum signal is defined on motor.


Might know a solution to this problem? In the current version too just for the beginner too dangerous.


greeting

Rainer

with all pids by default gps hold wobbles what should I do?? I have the filters turned off .. and use arduino mini freeimu 043 gps drotek IC2 mtk

the gps is this http://www.drotek.fr/shop/en/88-i2c-pa6c-gps-llc.html

and I have configured this way
#define GPS_BAUD 115200
#define NMEA
#define I2C_GPS
//#define GPS_LEAD_FILTER // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
//#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable

thank you very much for all.

Hi

cannot activate telemetry display (oled) via stickcombo throttle center down/roll left,pitch forward.

in dev1349 (first pre2.2) it was working perfectly. has something related changed inbetween this versions?

can someone confirm this?

Thanks for 2.2 release!
just tried and found 2 little things

1) comment not closed in config.h on line 780
/* to enable automatic hopping between a choice of telemetry pages uncomment this. */

2) using

on HK_MultiWii_328P board have a long delay when navigate by sticks, fix this for me by disabling serial read key in LCD.ino
(due 328 has 1 UART and already used by SPEKTRUM)



sorry for my english:)
thanks:)

vatanuki wrote:1) comment not closed in config.h on line 780
/* to enable automatic hopping between a choice of telemetry pages uncomment this. */

dammit, that was to be avoided. You just found the first possibly serious error in the new release. Congratulations.

About spektrum & SerialRead(), that may need a more general approach. Thanks for pointing it out.

I thing, when i define 32u4ALLPINS i dont need define BUZZERD8.
But the Buzzer is only on D8 when you activate booth: 32u4ALLpins and define BUZZERD8.

But, the new Version is a big step forward!
Thank you.

Hi!
I already asked the same question in "2.2 is coming" but now I have the same problem with fresh 2.2 release so I'll try to ask again:
I tried to use GPS_PROMINI_SERIAL (autosense of GPS on 328p the only serial) but it seems not to work. At least I'm not getting any blinking info about the GPS data reception, unfortunately I don't have any external display and GUI can't be used.
In the default config I changed only this:
#define TRI
#define CRIUS_SE // Crius MultiWii SE
#define NMEA
#define GPS_PROMINI_SERIAL 115200 // Will Autosense if GPS is connected when ardu boots
#define GPS_LED_INDICATOR
Compiled OK, loaded into Crius SE, connected serial MTK3329 GPS set by firmware to 10Hz @ 115200 serial speed, NMEA, but the LED is still dark - not blinking neither for "receiving packets" nor for "fix".
GPS have fix 5+ sats.
When I load MWC 2.1 with the same options, after a minute I'm getting fast blinking like "FIX OK".
Am I doing something wrong, or there is a problem in 2.2?
Is it really problem with receiving GPS data, or only with signalization?
Any ideas how to correct it?
My original post here: viewtopic.php?f=8&t=3127&start=150#p32490
PatrikE noticed it too so it seems to be really problem in the release.
Thanks!
Roman

I just finished building my first quad this weekend, and now there's a new version of MultiWii software to test it with!! Thanks to everybody for their contributions to this awesome project.


Tracer

The LED indicator for GPS have been re defined from LEDPIN to STABLE_PIN.

STABLE_PIN is defined as A2 on some 328 based AIO boards.
Mega bords is defined as PIN 32.

The 328 boards don't have the GPS indicator as default!. (Only some)

http://www.multiwii.com/forum/viewtopic.php?f=7&t=2456&p=32642#p32642

Thanks a lot for the release!

Hamburger wrote:

vatanuki wrote:1) comment not closed in config.h on line 780
/* to enable automatic hopping between a choice of telemetry pages uncomment this. */

dammit, that was to be avoided. You just found the first possibly serious error in the new release. Congratulations.

About spektrum & SerialRead(), that may need a more general approach. Thanks for pointing it out.

So is this corrected in stable 2.2 release in this zip file - http://code.google.com/p/multiwii/downl ... p&can=2&q=

Thanks.

No. It is correct3d in r1362.

Hamburger wrote:No. It is correct3d in r1362.

Could someone be so kind and post corrected 2.2 stable release as .zip?

Rainer wrote:The problem:

the throttle is at the bottom, so the engines are off

I think this is the first problem to solve, except if you are using MOTOR_STOP.

- motors should be in idle state when the throttle is at the bottom.
- in the current implementation baro should be activated once the target alt is reached, not directly from the ground

crono wrote:with all pids by default gps hold wobbles what should I do?? I have the filters turned off .. and use arduino mini freeimu 043 gps drotek IC2 mtk

the gps is this http://www.drotek.fr/shop/en/88-i2c-pa6c-gps-llc.html

and I have configured this way
#define GPS_BAUD 115200
#define NMEA
#define I2C_GPS
//#define GPS_LEAD_FILTER // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
//#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable

just leave commented in multiwii code
//#define GPS_BAUD 115200
//#define NMEA

because you have a I2C GPS and not a serial one

scrat wrote:

Hamburger wrote:No. It is correct3d in r1362.

Could someone be so kind and post corrected 2.2 stable release as .zip?

I will transparently replace the file tonight.
note the impact is limited to telemetry and not dangerous.

Alexinparis wrote:

scrat wrote:

Hamburger wrote:No. It is correct3d in r1362.

Could someone be so kind and post corrected 2.2 stable release as .zip?

I will transparently replace the file tonight.
note the impact is limited to telemetry and not dangerous.

Thanks for your reply and info Alex.

If I'm correct that means you'll just change the file config.h in stable 2.2.zip file?

Maybe better give it different name v2.2.1 so it is more visible

scrat wrote:Thanks for your reply and info Alex.

If I'm correct that means you'll just change the file config.h in stable 2.2.zip file?

That's it.
I don't want to add more confusion and change the version.

Alexinparis wrote:

scrat wrote:Thanks for your reply and info Alex.

If I'm correct that means you'll just change the file config.h in stable 2.2.zip file?

That's it.
I don't want to add more confusion and change the version.

Thanks again.

Alexinparis wrote:

crono wrote:with all pids by default gps hold wobbles what should I do?? I have the filters turned off .. and use arduino mini freeimu 043 gps drotek IC2 mtk

the gps is this http://www.drotek.fr/shop/en/88-i2c-pa6c-gps-llc.html

and I have configured this way
#define GPS_BAUD 115200
#define NMEA
#define I2C_GPS
//#define GPS_LEAD_FILTER // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
//#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable

just leave commented in multiwii code
//#define GPS_BAUD 115200
//#define NMEA

because you have a I2C GPS and not a serial one

ok.then in the config. active these things:

#define QUADX
#define I2C_SPEED 400000L
#define FREEIMUv043

//#define GPS_BAUD 115200

#define I2C_GPS
#define MAG_DECLINIATION 0.0f I post my

//#define GPS_LEAD_FILTER This command should be active or can I disable???? in 2.2 is enabled by default
//#define GPS_FILTERING

Is that right?????

OK sir..... We have three Problems! (32U4)

1. When i undefine LEDFlasher the function from the LED to calibrate the MAG (Blinking led) is not available. Also the function from the led to indicate the Stable Copter (When turn the copter to the Side the LED lights on). When i define the LEDFlasher the function of the LEDs are OK. when i read the code right, i think when the ledflasher is active also the led flasher takes over the function from the LED Mag Calibration (Calibrate_mag) and the stable led function. But it dosent work.

2. When i called the Setup 1, with the Stickcommand, the Buzzertone is called one beep. The Setup in the GUI is named "0" not 1! When i called the Setup2 the Buzzertone is three beep and so on. Can we rename the Setups from 1-3 and not from 0-2?
When i called a Setup with the Stickcommand the GUI dosent reload the display. Only the Number from the setup updatet. You must click "READ" to update the display. It is better when an update passed by load the Setup. Like a click on the "Start" button.

3. The "ARM" config option is in the GUI moved to the TOP of the config. Direct over the "ANGEL" Option. I startet the Copter in the last 30min. three times on the Table. Why? I clicked in the config on ARM-HIGH and then "WRITE". THE MOTOR STARTED!!!! Without calibrate the Gyros!!! But i dont wont to push the AMR-HIGH. I wont push the ANGEL-HIGH button! The ARM button is on the old ANGEL Position....

Alex, can you take a look to the Point 1 and 2? The Point 3 is practice but very dangerous.

@Stars112

you are absolute right with Point3:
setting the box for ARM into the former box of STABLE was DANGEROUS.

It happend to me when I testet one of the first 2.2dev version, this feature was introduced.
The copter started unexpected and flew off the table. Two broken props, connection between copter and PC cut off.
Rescue of this uncontrolled moving monster leads additional to some cuts at my hand.

Because I normaly fly in STABLE mode and now the meaning of the first box changed its mind to ARM and
this mayor change in software was not visible to me and therefore not posible to avoid an accident.

Beside of this I am still very happy with the software.
73, Olaf

Alexinparis wrote:MultiWii 2.2 is released and is available here:
Many thanks for all of the contributors and for all of those using it and sharing their passion.
I hope again this version will animate a lot of flying models around the world.

And a big thank you to Alex for his continued organization and management of the code, no mean feat.

John

Cheers for getting the 2.2 out of the door!
Just a short note for the MTK 3329 guys running 3drobotics 1.9 FW (yes, i mean all three of you ).
According to this thread (i post some interesting links here):
http://diydrones.com/xn/detail/705844:Comment:1129213
http://diydrones.com/xn/detail/705844:Comment:1131611
http://diydrones.com/xn/detail/705844:Comment:1137087
http://diydrones.com/xn/detail/705844:Comment:1138102
It might be beneficial to disable the "#define GPS_LEAD_FILTER" in config.h or set it at least to #define GPS_LAG 0.5f in gps.ino. Reading between the lines of the apm thread the gps leadfilter seems to be mainly designed for ubloxes. I am not able to check this anymore because i ditched mtk in favor of ublox. But maybe it is something worth to try out.
Greetings
Rob

fully agree with you
thank alexinparis and hamburger for you great organization(and all thanks for all developpers)
this project become more and more solid thanks to REAL improvement after each version..there are no bugs and a really pleasure to follow this forum
own if it s 8bits processor,for me there are no difference during flyhing

so 2.2 comes now, Thank all the developers!

Crashpilot1000 wrote:Cheers for getting the 2.2 out of the door!
Just a short note for the MTK 3329 guys running 3drobotics 1.9 FW (yes, i mean all three of you ).
According to this thread (i post some interesting links here):
http://diydrones.com/xn/detail/705844:Comment:1129213
http://diydrones.com/xn/detail/705844:Comment:1131611
http://diydrones.com/xn/detail/705844:Comment:1137087
http://diydrones.com/xn/detail/705844:Comment:1138102
It might be beneficial to disable the "#define GPS_LEAD_FILTER" in config.h or set it at least to #define GPS_LAG 0.5f in gps.ino. Reading between the lines of the apm thread the gps leadfilter seems to be mainly designed for ubloxes. I am not able to check this anymore because i ditched mtk in favor of ublox. But maybe it is something worth to try out.
Greetings
Rob

Yes MTK3329 with 1.9FW, GPS Lead Filter commented out leads to more precise GPS Hold.
Actually all GPS Filters turned off

Tried latest 2.2 posted today, works AWESOME!

Bowing down to Dev team!

Sorry if this is the wrong place for this. I am new and just got the HK 328P ftdi board. I selected
#define HK_MultiWii_328P // Also labeled "Hobbybro" on the back. ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)

Ok got 2.2 uploaded to the board by using Arduino 1.4 but now the GUI has an issue. The graphs move like they should but none of the "instruments" are not working . The artificial horizon , compass... none of the GUI are changing only the chart recorders move. When I go back to 2.1 the Gui is functional. Any ideas?

Alexinparis wrote:

scrat wrote:

Hamburger wrote:No. It is correct3d in r1362.

Could someone be so kind and post corrected 2.2 stable release as .zip?

I will transparently replace the file tonight.
note the impact is limited to telemetry and not dangerous.

I have just replaced file config.h from r1362 with one from stable 2.2. I think it's ok.

I succesfully tested 2.2 in helicopter mode. But I had to decrease the P-values around 20% on all axes. Because I had oscillations.

Is this normal behavior when updating from 2.1 to 2.2?

yes, actually it is supposed to be a factor 33/40

Thought I posted this earlier, now cannot find it.
With 2.2 config.h is missing
#define LCD_CONF

All the other pieces are there below for LCD Type ect.

about line 762 in config.h you should find LCD_CONF.

I changed the order; first comes type of display, followed by uses lcd.conf and lcd.telemetry. Maybe that is what threw you off.

Hamburger wrote:about line 762 in config.h you should find LCD_CONF.

I changed the order; first comes type of display, followed by uses lcd.conf and lcd.telemetry. Maybe that is what threw you off.

Oops. Sorry missed it

scrat wrote:

Alexinparis wrote:

Hamburger wrote:No. It is correct3d in r1362.

I will transparently replace the file tonight.
note the impact is limited to telemetry and not dangerous.

I have just replaced file config.h from r1362 with one from stable 2.2. I think it's ok.

Is this ok?

yes. that's ok

did you take a look at the diff? only the closed comment and some cosmetics.

telemetry works as it should. i am happy

mbrak wrote:telemetry works as it should. i am happy

glad you have working oled with gps info now!

I've tried v2.2 on my flying wing and noticed high rates,
found incorrect mixing, servo[0] and servo[1] missing /2

mbrak wrote:yes. that's ok

did you take a look at the diff? only the closed comment and some cosmetics.

telemetry works as it should. i am happy

Thanks. I've looked at the diff about closed comment in it is ok.

Now quad flyes better with v2.2 then before with dev r_1342. I think quad flyes better because of faster cycle time.

Thanks to all coders!

nice to hear about that scrat! just cant wait to try with my y6. I read that 2.2 has new angle calculation, hope that horizon mode will be better than before.

I also thought that it flies a little better with teh new algo / faster loop times - wasn't sure if that was real on my part

If you fly FPV in horizon mode try the stock code then try again with:

adding this into config.h
#define GYR_CMPF_FACTOR 2000
Reducing level D - reduce to around 55

for me, it improved it significantly. best level mode flying by far. Lazy flying - perfect for AP. An dbest of all, drift issues completely eliminated...

G

Wow thank you Shikra! I always fly FPV in horizon mode. What I expect is that the copter will not/less drift/be pulled back after a forward flight.

I used to fly with 80 level D. Yes I'll try your method.

Yes - that horrible thing in long translations where you have to push the stick more and more until it will not go further... And then when you stop it pulls right back....
It was gone for me when I tested!

I think it only shows up FPV, but maybe also becoming important for RTH users

The default gyro cmpf is fine for normal RC etc, but for me I found that after maybe 100m in a turn, the leveling becomes a bit ineffective.
Bumping up to a value between 1-2000 solved that.

The lower D might just makes the return to level more a more natural feeling rather than the sharp return of default. It's more of value for the guys who like to fly in horizon / angle mode.


Try first the without gyro_cmpf 2000 (defaults to 600) and let us know how it works for you.

Hi,
I hope this is the right place to report errors for the V2.2 code. Please forgive me if it's not.

While trying V2.2 on my Crius AIOP V1.1 board I noticed that the 3 stage VBAT function is not working properly.
When the Lipo voltage goes below the setpoint of 10,7V the buzzer output is going directly to the second battery alarm stage.
So it looks like the buzzer output skips battery alarm stage 1.

The original V2.2 code in the Alarms.ino looks like this:



To get the 3 battery alarm stages working properly I've changed the code to:



Altough it seems to work correct now, I'm not a programmer so if someone could confirm that this is right, please do!

Marc