Airplane mode

PatrikE · Post by **PatrikE** » Fri Jun 01, 2012 6:32 am

Hi.
I can actually compile MultiWii_dev_20120528 in a Promini 5V/16Mhz

#define FLYING_WING
#define WMP
#define GYRO_SMOOTHING {20, 20, 3}    // separate averaging ranges for roll, pitch, yaw
#define SERIAL_SUM_PPM         ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4 //For Robe/Hitec/Futaba

And still have a few bytes in spare.

Maby it's time to upgrade to a 328 or a Mega!..

fallenangel3k · Post by **fallenangel3k** » Fri Jun 08, 2012 12:35 pm

hi there, I'm new to this forum and pretty excited about what's going on here... great work!

any chances that someone integrates the fixed wing navigation into the newest dev-build (20120606)? would be nice to be up to date.. ^^

creating a diff would be fine, too. it's hard to finde the differences between the original version and the one with the fixed wing navigation. if I would know what parts have to copied to the new file, to make it work there, I would do it myself.

best greets,

marcus

Hamburger · Post by **Hamburger** » Fri Jun 08, 2012 2:23 pm

if you want latest bang, grab the developers' tree - it is named _shared (under sources / trunk). Try at your own risk as always.

fallenangel3k · Post by **fallenangel3k** » Fri Jun 08, 2012 9:48 pm

thanks for the tipp! how do I contribute to the svn, how do I create my own branch?

I coded some lines to use the A2 pin as an additional servo-output to controll the landing-flaps on my FPV-raptor (of course only works when CAMTRIG is not defined!)

the original code in airplane mode was only for flaperons, flaps mixed to ailerons... I wanted more and it works like charme. also made selectable AUX channel for camera-pan/tilt (connected to A1, A0), so it now works with transmitters which dont support AUX3/AUX4, too.

back to my original question.... is the fixed wing navigation already included in the shared trunk? also why we cant simply use the standart gps function already included?

greets,

marcus

Hamburger · Post by **Hamburger** » Sat Jun 09, 2012 1:13 pm

marcus,
for svn write access you must contact Alex. Prior to that you might publish your diff here.

I do not use GPS, so Patrik will have to answer that.

fallenangel3k · Post by **fallenangel3k** » Sat Jun 09, 2012 5:15 pm

hi, thanks!

here you can find my diff:

diff for config.h --> http://diffchecker.com/krm8h0e4
diff for dev.h --> http://diffchecker.com/c90vdb3y
diff for output.ino --> http://diffchecker.com/71O60y0r

greets,

marcus

PatrikE · Post by **PatrikE** » Sat Jun 09, 2012 7:28 pm

I can add traditional flaps to the trunk.
Code is ready but I must check with servos first.

The Gps needs more tuning before i commit.

fallenangel3k · Post by **fallenangel3k** » Sat Jun 09, 2012 8:04 pm

yes, please do so

PatrikE · Post by **PatrikE** » Sat Jun 09, 2012 11:23 pm

I comitted Flaps to shared.
I have problem with the Gui But everyting works IRL.

/Patrik

fallenangel3k · Post by **fallenangel3k** » Tue Jun 12, 2012 2:21 am

thanks!

you also should include different endpoints for the traditional flaps and the flapperons, just as I did, too.. gives some more flexibility. I want the EP of my flapperons to be way less than the EP of my normal flaps.

regards

PatrikE · Post by **PatrikE** » Tue Jun 12, 2012 3:41 am

fallenangel3k wrote:thanks!
I want the EP of my flapperons to be way less than the EP of my normal flaps.

Ok ill fix that..
And maby possibility to slow down the flaps.
Looks nice if they move during 2 sec or so.. :idea:

msev · Post by **msev** » Tue Jun 12, 2012 8:25 am

So is atmega328 still enough for all the functions..for example lets say:
- wmp+adxl345
- autodetect gps or gui
-gps rth + pos hold
- option to trigger rth when failsafe (measuring voltage of receiver)
- flaps
-maybe i2c oled lcd for field pid adjustments, no big deal if its not enough room for this

Another thing if in the future waypoints would be added would that be over the top for atmega328?

Btw from where is the code for plane rth, pos hold..did you write from scratch?

PatrikE · Post by **PatrikE** » Tue Jun 12, 2012 2:15 pm

For a Basic setup like.
Gyro+Acc+Gps.
There will be lots of memory left for navigation.

The memory problem comes when you use a 10Dof sensorboard.
And in the ariplane you dont need all the sensors.

For example you can comment the Baro in the config for the board to save tons of memory.
The barocode is memory consuming.

I'm trying to use the exising gpsdata within the project and make the nav from scrach.

//Patrik

dramida · Post by **dramida** » Tue Jun 12, 2012 10:41 pm

You should have a look at ardupilot 1 legacy code for GPS nav functions on fixed wing and atmega328. It already has waypoint navigation, rth and circle.
Eos Bandi did the same for AC2 loiter code with great success.

PatrikE · Post by **PatrikE** » Wed Jun 13, 2012 5:38 pm

I have now added Separate endpoints for Flapperons and Flaps.
The servospeed is also configurable via define.
Changes is in _shared.

Kayle · Post by **Kayle** » Thu Jun 14, 2012 12:28 am

Hi,

i ask it some posts ago -> Can i use navigation and stabilisation with your Code on my Fixed Wing ? Only 2 Rudder ?

Kayle

copterrichie · Post by **copterrichie** » Thu Jun 14, 2012 1:45 am

Guys, I just did a search of this forum for "Flaperon", question is anyone doing them with the Airplane mode? If so, how do you have them configured?

Thank you.

PatrikE · Post by **PatrikE** » Thu Jun 14, 2012 3:22 am

Kayle wrote:Hi,
i ask it some posts ago -> Can i use navigation and stabilisation with your Code on my Fixed Wing ? Only 2 Rudder ?
Kayle

Sorry i missed the question Kayle.

It will be possible to select how you want to navigate.
The setting will look like this.

Code: Select all

    /** Invert the direction for gpsNAV { ROLL,RUDDER,ELEVATOR } **/
    #define GPS_DIRECTION               {  -1,    0,    1    }  /* Set zero to disable invert with -1. */

I'm not shure how stabilisation will work without ailerions...

But i think it may work. (Don't hit me if i'm wrong..)

PatrikE · Post by **PatrikE** » Thu Jun 14, 2012 3:42 am

copterrichie wrote:Guys, I just did a search of this forum for "Flaperon", question is anyone doing them with the Airplane mode? If so, how do you have them configured?
Thank you.

I use flapperons on my plane and it works really good.

Using a 2-Way Switch and send 1000-2000 to MWii on AUX4.
Setting up suitable endpoints in the config.
Change FLAP_INVERT so both ailerions move same direction when flaps is acivated.
Ailerions will still work same way as normal only the center is offset with flapAngel.

Code: Select all

     #define FLAP_CHANNEL     AUX4       // Define the Channel to controll Flaps with.If used.
     #define FLAP_EP      { 1500, 1650 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
     #define FLAP_INVERT    { 1, -1 }    // Change direction om flaps { Wing1, Wing2 }

When used it will bring down the stallspeed and create more lift on the wing.

In _shared the defines have been renamed to FLAPPERONS and Traditional FLAPS have been added.

copterrichie · Post by **copterrichie** » Thu Jun 14, 2012 3:48 am

Awe!!! Thank you.

dramida · Post by **dramida** » Sun Jun 17, 2012 4:55 pm

How in the world i reverse the giro corrections applied to servos for airplane? (MWC dev 6 iun 2012) In config.h i can only reverse the RC inputs... Where is the equivalent of Tricopter YAW DIRECTION?

LAtest edit: I was wrong , it changes also the giro corrections

penpen77 · Post by **penpen77** » Fri Jun 22, 2012 8:53 pm

i've tested airplane mode this afternoon on a bixler/skysurfer plane, gyro is ok, but i've got some issue on ACC/level mode.... it seems that stick combination for trimming ACC doesn't work.

I've tested on last version (22/06) with ITG3205+adxl345

any idea ? or which part of code is dedicated to specific airplane leveling ?

Edit: other weird part, the "D" value of Level in the GUI (any of them) is the rate of servo, 100 => 100% rate. Is it normal ? Is there other hidden parameters like this one ?

PatrikE · Post by **PatrikE** » Sat Jun 23, 2012 12:27 pm

Can your Radio reach.

Code: Select all

// ******************
// rc functions
// ******************
#define MINCHECK 1100
#define MAXCHECK 1900

Located in MultiWii Tab.

I use dualRates at 120% and 80%.
One for flying and one for stick combinations.

100 => 100% rate. It should be.
But Level "D" will also effect the rates D=9 is Equal to 100%. (@Hamburger discovered this.)
There's no MaxLimit for the rates in the code and you can go higher than 100% if you need.
Only other limit for the servos is 1020-2000 µs,

xuant9 · Post by **xuant9** » Sat Jun 23, 2012 12:44 pm

PatrikE wrote:Can your Radio reach.
Code: Select all
// ******************
// rc functions
// ******************
#define MINCHECK 1100
#define MAXCHECK 1900
Located in MultiWii Tab.

I use dualRates at 120% and 80%.
One for flying and one for stick combinations.

100 => 100% rate. It should be.
But Level "D" will also effect the rates D=9 is Equal to 100%. (@Hamburger discovered this.)
There's no MaxLimit for the rates in the code and you can go higher than 100% if you need.
Only other limit for the servos is 1020-2000 µs,

I come to support you, I now is your fans

PatrikE, it's wonderful

penpen77 · Post by **penpen77** » Sat Jun 23, 2012 3:49 pm

PatrikE wrote:Can your Radio reach.
Code: Select all
// ******************
// rc functions
// ******************
#define MINCHECK 1100
#define MAXCHECK 1900
Located in MultiWii Tab.

yep, no probs with that, led is blinking at each stick combo for acc trimming and it works fine when i compile for quad mode.

More generally, i thinks it should be great ti be able to see trimming value in GUI, even in quad mode, acc trimming is always painfull....

Just one thing to check, plane leveled, calibration is done. So i switch to acc/level mode, ail/elev perfectly "flat", i tilt a little (not to much, led doesn't blink) the plane,roll for example, aileron are moving and staying at a position which normaly should level the plane (to the difference of gyro mode which is just a correction, ail/elev/rudd doesn't keep the position). Anyway, by trimming ACC and keeping plane tilted(still a little bit), i should see ailerons decrease/increase their position, to correct the new attitude right ?

PatrikE · Post by **PatrikE** » Sat Jun 23, 2012 9:52 pm

To se the trim i the gui you can use debug function.

use this somewhere in the code. ex last in the loop.

Code: Select all

debug[3]=conf.angleTrim[0] for Roll
debug[4]=conf.angleTrim[1] for Nick

It will show in gui as debug 3 & 4.

penpen77 · Post by **penpen77** » Sat Jun 23, 2012 11:11 pm

ok, thanks, i see now the prob, the trimming increment is waaaaayyyy too low, +/-2, amplitude of my controle surface are ~500... so, it take eternity to reach a value which produce a real diff. I'll put a conditionnal behavior with AUX to change increment value like Fine/Exp/ExFine

Kayle · Post by **Kayle** » Mon Jun 25, 2012 10:41 pm

Hi PatrikE,

It was my fault. I don't mean 2 rudder. I have a flying wing and like to use your code for stabilize my wing and use the rth function.

Here is my flying wing:

Is it possible to use the rth with this wing or must i use a plan with elevator and rudder?

Kayle

Erazotropa · Post by **Erazotropa** » Fri Jun 29, 2012 10:13 pm

Hi all,

I was disassembling my quads today, and took out my Crius SE boards.
And wondered if they could be used for my FPV planes..
Then i came accros this topic,

Is this board compatible for the Airplane software?
And can i run a GPS with it with rth function?

These are the specs:
MultiWii SE Standard Edition Hardware configuration:
· ATMEGA328P microcontroller
· ITG3205 three-axis digital gyroscope
· BMA180 triaxial accelerometer
· BMP085 pressure sensor
· HMC5883L axis magnetoresistive sensor (electronic compass)

Many thanks in Advance.

Bjorn

PatrikE · Post by **PatrikE** » Fri Jun 29, 2012 10:28 pm

Your board will work fine.
The gps code for copters dont work for plane.

Im trying to fix a rth for fixed wing atm.
It will work on airplane and flying wings.(i hope...)

msev · Post by **msev** » Mon Jul 02, 2012 3:09 pm

Patrik do you have a 9x with its original module + receiver (8ch or 6 ch) at home? If you have maybe you could test some routine to enable failsafe (rth), when rc signal to receiver is lost?

Did you manage to get any improvement in altitude using just gps? Do you think it would be ok to use just gps or will we have to eventually use a baro?

hwurzburg · Post by **hwurzburg** » Fri Jul 06, 2012 10:48 pm

Well, I'm back playing with the MultiWii in a plane...a flying wing this time....
making code modifications....
1. Arm on powerup _ DONE
2. Changing the throttle attenuation curve to start at 1/4 throttle instead of 1/2 throttle....my wing cruises at 1/4 throttle and will oscillate at 1/2 throttle with the gains high like I like em

- DONE

Am going to start working on converting the BaroPID to controlling a small range of pitch instead of throttle...I need to smooth the altitude error out a lot more also...using the existing code, I get a lot of throttle variation....I might try lowering the P more too before giving up...

BUT my question is this: does anyone have a utility that can DIFF two sketches, either module by module or in its entirety? so that I can compare differences in the code?

thanks

Hamburger · Post by **Hamburger** » Fri Jul 06, 2012 10:52 pm

I use diff - on *ix or macosx

PatrikE · Post by **PatrikE** » Fri Jul 06, 2012 11:29 pm

I use Winmerge.

Tommie · Post by **Tommie** » Fri Jul 06, 2012 11:37 pm

Or use a sane versioning system (git/hg/...) whose distributed nature allows you to preserve your local changes and compare them to new upstream versions.

hwurzburg · Post by **hwurzburg** » Fri Jul 06, 2012 11:38 pm

thanks PartikE....loving WinMerga...just what I needed....

captaingeek · Post by **captaingeek** » Tue Jul 24, 2012 8:50 pm

hmmmm so how's this working so far? I got a new plane i'd like to test it on. using a 328 with a gyro and acc.

plane's elevon's only.

is it possible?

can you active / deactivate the mw through a tx switch?

kewl stuff guys way to go.

PatrikE · Post by **PatrikE** » Thu Jul 26, 2012 2:14 pm

elevon's only?
Wouldnt FlyingWing mix be great for that?
Otherwise its possible to change the Airplanemix to suit your setup.

You can use Passthru to disable mwc code.
Select a AUX in gui.

captaingeek · Post by **captaingeek** » Thu Jul 26, 2012 6:03 pm

Elevon's with rudder basically...

captaingeek · Post by **captaingeek** » Sat Jul 28, 2012 8:50 pm

which output's should i use for a wing? throttle d9, left wing 11, right wing 12?

captaingeek · Post by **captaingeek** » Sun Jul 29, 2012 4:42 am

Here's the plane I'm using it's called a peace drone. Can't wait to see what the video will look like with gyro and level mode active...

http://www.youtube.com/watch?v=488oom90 ... ata_player

captaingeek · Post by **captaingeek** » Sun Jul 29, 2012 4:44 am

Can anyone let me know which pins to use for a flying wing setup?

Hamburger · Post by **Hamburger** » Fri Aug 10, 2012 10:00 am

another setup guide for airplane - not flying wing - can be found here http://fpv-community.de/attachment.php? ... 1344329226

hakank · Post by **hakank** » Sat Aug 11, 2012 5:54 am

hwurzburg wrote:Well, I'm back playing with the MultiWii in a plane...a flying wing this time....
making code modifications....
1. Arm on powerup _ DONE
2. Changing the throttle attenuation curve to start at 1/4 throttle instead of 1/2 throttle....my wing cruises at 1/4 throttle and will oscillate at 1/2 throttle with the gains high like I like em - DONE

Am going to start working on converting the BaroPID to controlling a small range of pitch instead of throttle...I need to smooth the altitude error out a lot more also...using the existing code, I get a lot of throttle variation....I might try lowering the P more too before giving up...

BUT my question is this: does anyone have a utility that can DIFF two sketches, either module by module or in its entirety? so that I can compare differences in the code?

thanks

How did you change the throttle attenuation curve to start at 1/4 throttle instead of 1/2 throttle?

Thanks,

/Håkan

PatrikE · Post by **PatrikE** » Sat Aug 11, 2012 10:30 am

Look up this in MWii fle

Code: Select all

  #define BREAKPOINT 1500

Change to a value where you want TPA to start.

You will still have the issue if you throttle down and dive fast.
On a plane position of the throttleStick and speed can diff a lot!
Maby time to implement speed meassuring?

Kayle · Post by **Kayle** » Sat Aug 11, 2012 6:57 pm

Maby time to implement speed meassuring?

Yeah with GPS, RTH and Cycling Function in Airplane Mode :mrgreen:

Kay

copterrichie · Post by **copterrichie** » Tue Aug 14, 2012 2:28 pm

Hey Guys, I am trying to understand the logic of using Servo to drive the ESC for the Airplane mixing verse Motor when the Flying Wing uses Motor.

Thank you.

Flying Wing:

Code: Select all

#if defined(FLYING_WING)
    motor[0] = rcCommand[THROTTLE];

Airplane:

Code: Select all

if (!f.ARMED){ 
      servo[7] =  MINCOMMAND; // Kill throttle when disarmed
    } else {   
      servo[7] =  rcData[THROTTLE];
    }

PatrikE · Post by **PatrikE** » Tue Aug 14, 2012 5:42 pm

copterrichie wrote:Hey Guys, I am trying to understand the logic of using Servo to drive the ESC

There is still people in remote locations of the world who run methanolBurners.. :shock:

Cheeper analog sevos don't handle 490Hz that good.
But all esc can handle 50Hz.

Just for compabillity!

copterrichie · Post by **copterrichie** » Tue Aug 14, 2012 5:53 pm

Oh, so you are saying they use a servo to control the throttle? Ok, I get it now so I can change that to motor with little or no Impact using an ESC.

Thanks.

Hamburger · Post by **Hamburger** » Wed Aug 15, 2012 9:43 am

you can compare airplane against helicopter. Same issue.
I implemented a define to switch between servo[] and motor[] logic to control the motor.

One must use motor[] in order to make use of the powermeter feature.
One must use servo[] in order to drive an analog servo which floors the accelerator pedal.