GPS NAV

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lfield22
Posts: 1
Joined: Tue Apr 15, 2014 5:30 pm

Re: GPS NAV

Post by lfield22 »

When I try to compile any of the MultiWiiNAV2_3 b5-b7 files, I receive a "Too Big" error ( without even making any changes to the files). What can I do to make the files smaller?

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EOSBandi
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Location: Budapest, Hungary
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Re: GPS NAV

Post by EOSBandi »

lfield22 wrote:When I try to compile any of the MultiWiiNAV2_3 b5-b7 files, I receive a "Too Big" error ( without even making any changes to the files). What can I do to make the files smaller?

noting, get an atmega2560 board, navi is not supported on mega328 boards

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ezio
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Re: GPS NAV

Post by ezio »

I have tested missions a lot and it works perfectly.
But autolanding doesn't turn off the motors when copter lands. I have waited more the 5 minutes with the copter on the ground and motors were still running with almost the hovering speed. How the multiwii detects landing ? Ki value in PI loop must reach some value?

Also POI doesn't work for me. But I haven't tried it with MAG enabled.

Bart

wilco1967
Posts: 156
Joined: Thu Aug 18, 2011 6:04 pm
Location: Winterswijk, Netherlands

Re: GPS NAV

Post by wilco1967 »

Hello,

Been flying with NAV version B7 on both a quad and a tri almost since it came out.
Seems to be working really well.

However, I'm not 100% sure what happened exactely, but today I had again an issue with the quad where automatic throttle (baro) would not disengaged even though all aux switches were deactivated (should have gone to plain simple acro mode, but baro seemed to stay on). I had that once or twice before, but after some frantic mode switching, it was gone, without me knowing what caused it, or what cleared it.

The copter was manouverable, however it would not respond to throttle. It would maintain alt no matter how hard I tried...
(option: ignore throttle in RTH, mission is set to on).

Only after (I think) a RTH command, and then release back to Acro, could I regain full control, and I could land it safely. I'm sure I had every aux switch off (-> acro).
Tried many things, like mission, PH, level in short succesion, but I think it was activating and then releasing RTH which cleared it. My RTH is set as level + RTH + baro + mag. Deactivating all is plain acro.

This problem might have occured together with a loss of GPS... my GPS receiver seems to have devellopped an intermittend fault (loss of GPS lock). Probably a cracked solder joint somewhere, that I still need to find and repair.

If it happens again, I'll try to be a bit more systematic (provided I'm not running out of battery at the same time), and try to see step by step what causes this.

GPS = ublox, board = readytoflyquads multiwii pro 2.0 board.

-------EDIT---------

i've fixed my GPS problems (broken solder joint on GPS coax cable), and have flown 8 packs yesterday, without any problem....
No guarantee it will not happen again, but it seems fine so far. 8-)
Last edited by wilco1967 on Tue Apr 22, 2014 9:47 pm, edited 1 time in total.

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Gartenflieger
Posts: 65
Joined: Sat Oct 01, 2011 10:07 pm
Location: Dortmund, Germany

Re: GPS NAV

Post by Gartenflieger »

Hi all,
I have reassembled my copter after a while of abstinence. I downloaded the latest soft from EOSBandi, ans it flies fust fine. PosHold ans RTH work fine.
However, when I ena le one of those modes, it is not shown in either Ezios app nor in The Wingui as active.
Any ideas what could ne wrong?

regards
Christoph

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ezio
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Re: GPS NAV

Post by ezio »

Gartenflieger wrote:Hi all,
I have reassembled my copter after a while of abstinence. I downloaded the latest soft from EOSBandi, ans it flies fust fine. PosHold ans RTH work fine.
However, when I ena le one of those modes, it is not shown in either Ezios app nor in The Wingui as active.
Any ideas what could ne wrong?

regards
Christoph

They are only showed when the copter is ARMed. I don't know why.

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Gartenflieger
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Joined: Sat Oct 01, 2011 10:07 pm
Location: Dortmund, Germany

Re: GPS NAV

Post by Gartenflieger »

ezio wrote:They are only showed when the copter is ARMed. I don't know why.


I see, is that behaviour in the MWii or in the GUI software?

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ezio
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Re: GPS NAV

Post by ezio »

Gartenflieger wrote:
ezio wrote:They are only showed when the copter is ARMed. I don't know why.


I see, is that behaviour in the MWii or in the GUI software?

It comes from MultiWii and it is only in Nav

mike105105
Posts: 38
Joined: Tue Apr 22, 2014 8:20 pm

Re: GPS NAV

Post by mike105105 »

So I had my first software caused crash today. Been running fine with witespy's 2.3ver on my pro ez3, downloaded the beta Nav version and I'm pretty sure I got all of the config.h matched up on the important stuff. Saved my fc configs in multiwiiconf and the new and old versions of the gui. I cleared the eeprom, uploaded the new sketch, and loaded my settings back in. Re-calibrated everything and took it out for a fly. The gps hold wasn't working, it kept flying off, so I just disabled everything except angle and compass to fly around a bit. It had one or 2 weird twitches then after I flew out and was bringing it back tail first fairly fast it just lost it's mind and started tumbling down from around 30m. Also noticed ez-gui from ezio wouldn't show my nav settings.

Any thoughts?


Thanks,
Mike

mike105105
Posts: 38
Joined: Tue Apr 22, 2014 8:20 pm

Re: GPS NAV

Post by mike105105 »

Ok, just realized I needed to comment out this line in def.h for the external compass...but could it have caused the crash when flying in angle mode(I don't remember if the compass was active btw).


#if defined(FREEIMUv043) || defined(MICROWII)
#define MPU6050
#define HMC5883
#define MS561101BA
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = X; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;}
//#define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050
#undef INTERNAL_I2C_PULLUPS
#endif

Thanks,
Mike

Joachim
Posts: 6
Joined: Mon Apr 21, 2014 6:34 am

Re: GPS NAV

Post by Joachim »

Hello.
I am from Germany. Please My English is not so good. :oops:
I signed up here in the Forum because I have a problem.
I want to try the MultiWii2_3-navi-b7 with Sonar (SRF08).
If I MultiWii2_3-navi-b7 with Arduino in the standard configuration
that comes from EOSBandi Verify everything works
But as soon as I only the function # define SRF08
I get This error message. What am I doing wrong here. :?:

Sensors.cpp: In function 'uint16_t i2c_readReg16(int8_t, int8_t)':
Sensors.cpp:1664: error: cannot convert 'uint8_t (*)[2]' to 'uint8_t*' for argument '3' to 'void i2c_read_reg_to_buf(uint8_t, uint8_t, uint8_t*, uint8_t)'



Best Regards Joachim

Pat1300
Posts: 12
Joined: Fri Aug 03, 2012 11:31 am
Location: Wavre - BELGIUM

Re: GPS NAV

Post by Pat1300 »

Hi Joachim,
Please look at:
http://www.multiwii.com/forum/viewtopic.php?f=8&p=48843#p48843
Patrick - Belgium

KC_703
Posts: 58
Joined: Thu Nov 07, 2013 5:29 am

Re: GPS NAV

Post by KC_703 »

Hello. I'm not sure this is the correct thread to determine this information, so forgive me if its not.

I have a ublox-6m, based on logged telemetry it looks as through the GPS lon/lat are expressed in Decimal degrees (DDD). Is there a way to have this parsed as Degree Decimal Minutes (DMM) within Multiwii? Reading through the ublox protocol specs, it seems as though it should be passing DMM by default.

Thanks in advance for any information.
Ken

Joachim
Posts: 6
Joined: Mon Apr 21, 2014 6:34 am

Re: GPS NAV

Post by Joachim »

@Pat1300
The Verifying with Arduino works
also the Upload to the CRIUS AIO pro.
But my I2c SRF08 not working.
I have the SRF08 connected to the I2c port.
what's the problem here.

Joachim

Joachim
Posts: 6
Joined: Mon Apr 21, 2014 6:34 am

Re: GPS NAV

Post by Joachim »

Hello
Has nobody here the version MultiWii 2.3navi B7 (2014/02/16) with the SRF08 sonar in operation.
Was it already tested. :?:

Joachim

Hypermobile
Posts: 94
Joined: Mon Jan 13, 2014 8:53 pm

Re: GPS NAV

Post by Hypermobile »

I've got the same Configuration.

It does compile after a small change (earlier this topic).
But i don't see any measurements...

Maybe if you use, Flight Logging....on EZ Gui or WinGUI..maybe you get some numbers back.

But there is no Follow Terrain function working or something like that.

MikeD
Posts: 2
Joined: Mon Apr 28, 2014 1:11 pm

GPS NAV

Post by MikeD »

Greetings all

Has anyone seen this?

Image

If you cannot see the image. It says "unhandled exception occurred in your application..."
Details of the exception are included below.

I was entering waypoints on the mission tab and I think I was trying to clear the mission.
The message now pops up anytime I try to connect and only allows me to "Quit". "Continue" just give the same warning again.

I have tried deleting the entire wingui directory and restarting. I have cleared the eeprom and reloaded the firmware.

I was soooo close to getting it to work. If I was guessing, something in the registry that Wingui reads when connecting or a file that is created somewhere else on the computer. ???
Before this warning popped up I was able to use the rest of Wingui tabs, I calibrated acc and mag, assigned switches for the radio. save and load to the firmware. GPS was working with 8 satellites.

Flight board. HK Multiwii pro red board
Windows XP64
Latest Firmware and Wingui from the eosbandi download page. downloaded on April 27,2014.

This is the details of exception
////////
See the end of this message for details on invoking
just-in-time (JIT) debugging instead of this dialog box.

************** Exception Text **************
System.ArgumentOutOfRangeException: Value of '0' is not valid for 'Value'. 'Value' should be between 'Minimum' and 'Maximum'.
Parameter name: Value
at System.Windows.Forms.NumericUpDown.set_Value(Decimal value)
at MultiWiiWinGUI.mainGUI.update_gui() in z:\VS-projects\mw-wingui\MultiWiiWinGUI\mainGUI.cs:line 2177
at MultiWiiWinGUI.mainGUI.b_connect_Click(Object sender, EventArgs e) in z:\VS-projects\mw-wingui\MultiWiiWinGUI\communication.cs:line 240
at System.Windows.Forms.ToolStripItem.RaiseEvent(Object key, EventArgs e)
at System.Windows.Forms.ToolStripButton.OnClick(EventArgs e)
at System.Windows.Forms.ToolStripItem.HandleClick(EventArgs e)
at System.Windows.Forms.ToolStripItem.HandleMouseUp(MouseEventArgs e)
at System.Windows.Forms.ToolStripItem.FireEventInteractive(EventArgs e, ToolStripItemEventType met)
at System.Windows.Forms.ToolStripItem.FireEvent(EventArgs e, ToolStripItemEventType met)
at System.Windows.Forms.ToolStrip.OnMouseUp(MouseEventArgs mea)
at System.Windows.Forms.Control.WmMouseUp(Message& m, MouseButtons button, Int32 clicks)
at System.Windows.Forms.Control.WndProc(Message& m)
at System.Windows.Forms.ScrollableControl.WndProc(Message& m)
at System.Windows.Forms.ToolStrip.WndProc(Message& m)
at System.Windows.Forms.Control.ControlNativeWindow.OnMessage(Message& m)
at System.Windows.Forms.Control.ControlNativeWindow.WndProc(Message& m)
at System.Windows.Forms.NativeWindow.Callback(IntPtr hWnd, Int32 msg, IntPtr wparam, IntPtr lparam)


************** Loaded Assemblies **************
mscorlib
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1022 (RTMGDR.030319-1000)
CodeBase: file:///C:/WINDOWS/Microsoft.NET/Framework/v4.0.30319/mscorlib.dll
----------------------------------------
MultiWiiWinGUI
Assembly Version: 2.3.5160.23771
Win32 Version: 2.3.0.0
CodeBase: file:///E:/temp/WinGUI_2.3pre10(b7)/MultiWiiWinGUI.exe
----------------------------------------
System.Windows.Forms
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1002 built by: RTMGDR
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System.Windows.Forms/v4.0_4.0.0.0__b77a5c561934e089/System.Windows.Forms.dll
----------------------------------------
System.Drawing
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1001 built by: RTMGDR
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System.Drawing/v4.0_4.0.0.0__b03f5f7f11d50a3a/System.Drawing.dll
----------------------------------------
System
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1001 built by: RTMGDR
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System/v4.0_4.0.0.0__b77a5c561934e089/System.dll
----------------------------------------
GMap.NET.Core
Assembly Version: 1.7.0.0
Win32 Version: 1.7
CodeBase: file:///E:/temp/WinGUI_2.3pre10(b7)/GMap.NET.Core.DLL
----------------------------------------
GMap.NET.WindowsForms
Assembly Version: 1.7.0.0
Win32 Version: 1.7
CodeBase: file:///E:/temp/WinGUI_2.3pre10(b7)/GMap.NET.WindowsForms.DLL
----------------------------------------
ZedGraph
Assembly Version: 5.1.2.878
Win32 Version: 5.1.2.878
CodeBase: file:///E:/temp/WinGUI_2.3pre10(b7)/ZedGraph.DLL
----------------------------------------
AForge.Controls
Assembly Version: 2.2.3.0
Win32 Version: 2.2.3.0
CodeBase: file:///E:/temp/WinGUI_2.3pre10(b7)/AForge.Controls.DLL
----------------------------------------
AForge.Video
Assembly Version: 2.2.3.0
Win32 Version: 2.2.3.0
CodeBase: file:///E:/temp/WinGUI_2.3pre10(b7)/AForge.Video.DLL
----------------------------------------
System.Configuration
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1015 (RTMGDR.030319-1000)
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System.Configuration/v4.0_4.0.0.0__b03f5f7f11d50a3a/System.Configuration.dll
----------------------------------------
System.Xml
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1015 built by: RTMGDR
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System.Xml/v4.0_4.0.0.0__b77a5c561934e089/System.Xml.dll
----------------------------------------
System.Data.SQLite
Assembly Version: 1.0.84.0
Win32 Version: 1.0.84.0
CodeBase: file:///C:/Documents%20and%20Settings/Administrator/Local%20Settings/Application%20Data/GMap.NET/DllCache/SQLite_v84_NET4_x86/System.Data.SQLite.DLL
----------------------------------------
System.Data
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1 (RTMRel.030319-0100)
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_32/System.Data/v4.0_4.0.0.0__b77a5c561934e089/System.Data.dll
----------------------------------------
System.Core
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1 built by: RTMRel
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System.Core/v4.0_4.0.0.0__b77a5c561934e089/System.Core.dll
----------------------------------------
System.Transactions
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1 (RTMRel.030319-0100)
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_32/System.Transactions/v4.0_4.0.0.0__b77a5c561934e089/System.Transactions.dll
----------------------------------------
AForge.Video.DirectShow
Assembly Version: 2.2.3.0
Win32 Version: 2.2.3.0
CodeBase: file:///E:/temp/WinGUI_2.3pre10(b7)/AForge.Video.DirectShow.DLL
----------------------------------------
System.Speech
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1 built by: RTMRel
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_MSIL/System.Speech/v4.0_4.0.0.0__31bf3856ad364e35/System.Speech.dll
----------------------------------------
System.EnterpriseServices
Assembly Version: 4.0.0.0
Win32 Version: 4.0.30319.1 (RTMRel.030319-0100)
CodeBase: file:///C:/WINDOWS/Microsoft.Net/assembly/GAC_32/System.EnterpriseServices/v4.0_4.0.0.0__b03f5f7f11d50a3a/System.EnterpriseServices.dll
----------------------------------------

************** JIT Debugging **************
To enable just-in-time (JIT) debugging, the .config file for this
application or computer (machine.config) must have the
jitDebugging value set in the system.windows.forms section.
The application must also be compiled with debugging
enabled.

For example:

<configuration>
<system.windows.forms jitDebugging="true" />
</configuration>

When JIT debugging is enabled, any unhandled exception
will be sent to the JIT debugger registered on the computer
rather than be handled by this dialog box.
Last edited by MikeD on Tue Apr 29, 2014 4:13 pm, edited 1 time in total.

Joachim
Posts: 6
Joined: Mon Apr 21, 2014 6:34 am

Re: GPS NAV

Post by Joachim »

I have compiled the software.
but on the SRF08 the Red led goes on only briefly.
the buzzy LED shows but no contact.

Joachim

PatrikE
Posts: 1957
Joined: Tue Apr 12, 2011 6:35 pm
Location: Sweden
Contact:

Re: GPS NAV

Post by PatrikE »

MickeD.
Uncomment
#define USE_MSP_WP

MikeD
Posts: 2
Joined: Mon Apr 28, 2014 1:11 pm

Re: GPS NAV

Post by MikeD »

PatrikE wrote:MickeD.
Uncomment
#define USE_MSP_WP



It worked!!!!

Thanks PatrikE

PatrikE
Posts: 1957
Joined: Tue Apr 12, 2011 6:35 pm
Location: Sweden
Contact:

Re: GPS NAV

Post by PatrikE »

I merged the FixedWing code with Eos B7 code.
Made first testflights today and it works fine for RTH & PosHold.
Behaves as expected.

But when i programmed a simple mission A 5 point 100m circle.
Wp in shape of Pentagon.
You would expect it to fly from point to point in kind of a modified circle.
But this is how it did fly.
Image
My guess is it have something to do with Crosstrack error.

It hits the waypoints perfectly but takes a unexpected route there.
How can i disable Crosstrack error?
Can i simply set Crosstrack Gain to zero?

I will do more tests in both CW & CCW circle and check if the behaviour is persistent.

Besides from that i can offer a testversion if anyone is interested of WP Nav with FixedWing.

Note!
The code Don't fit in anything smaller than a Mega!

PatrikE
Attachments
Crosstrack.png
(204.75 KiB) Not downloaded yet

e_lm_70
Posts: 297
Joined: Fri Aug 09, 2013 8:35 pm

Re: GPS NAV

Post by e_lm_70 »

Nice job PatrikE

I guess you use a Atmega2560 board. Right ?

PatrikE
Posts: 1957
Joined: Tue Apr 12, 2011 6:35 pm
Location: Sweden
Contact:

Re: GPS NAV

Post by PatrikE »

Yepp...
Atmega1280 or 2560.

Atmega328 & leonardo is too small!

e_lm_70
Posts: 297
Joined: Fri Aug 09, 2013 8:35 pm

Re: GPS NAV

Post by e_lm_70 »

PatrikE wrote:Yepp...
Atmega1280 or 2560.

Atmega328 & leonardo is too small!


Does the follow me function of Ezio is working on this version too ?

Can you stick a GPS to a car, and let the Airplane to follow you ?

PatrikE
Posts: 1957
Joined: Tue Apr 12, 2011 6:35 pm
Location: Sweden
Contact:

Re: GPS NAV

Post by PatrikE »

If it works on EOS B7 code it should work on this one too.

I only have Bluetooth in my plane and haven't tested it.
I get ~100m range on it.

crashlander
Posts: 506
Joined: Thu May 05, 2011 8:13 am
Location: Slovenia

Re: GPS NAV

Post by crashlander »

Patrik please share your code!

Regards
Andrej

PatrikE
Posts: 1957
Joined: Tue Apr 12, 2011 6:35 pm
Location: Sweden
Contact:

Re: GPS NAV

Post by PatrikE »

I will clean out some of my debug functions first.
I have experimented a bit with other things in it too.

scrat
Posts: 925
Joined: Mon Oct 15, 2012 9:47 am
Location: Slovenia

Re: GPS NAV

Post by scrat »

mike105105 wrote:Ok, just realized I needed to comment out this line in def.h for the external compass...but could it have caused the crash when flying in angle mode(I don't remember if the compass was active btw).


#if defined(FREEIMUv043) || defined(MICROWII)
#define MPU6050
#define HMC5883
#define MS561101BA
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -Y; imu.accADC[PITCH] = X; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = Y; imu.magADC[PITCH] = -X; imu.magADC[YAW] = -Z;}
//#define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050
#undef INTERNAL_I2C_PULLUPS
#endif

Thanks,
Mike



If you didn't see at your post before for enabled mag: "I just disabled everything except angle and compass to fly around a bit."

mike105105
Posts: 38
Joined: Tue Apr 22, 2014 8:20 pm

Re: GPS NAV

Post by mike105105 »

Yeah, stupid mistakes lol. Since changing the config everything is working great. The mission flights are awesome and scary, finger always hovering on the panic switch.

Just one question, the POI. When does it come into affect and when does it cancel out? Like if I have a timed pos-hold and the next command is the POI I am guessing it won't face the POI till the timed pos-hold expires. And then does the POI stay active till I set another no matter where I send the quad(other than heading adj of course)?


Thanks,
Mike

o_lampe
Posts: 117
Joined: Sat Nov 02, 2013 5:09 pm

Re: GPS NAV

Post by o_lampe »

mike105105 wrote:Yeah, stupid mistakes lol. Since changing the config everything is working great. The mission flights are awesome and scary, finger always hovering on the panic switch.

Just one question, the POI. When does it come into affect and when does it cancel out? Like if I have a timed pos-hold and the next command is the POI I am guessing it won't face the POI till the timed pos-hold expires. And then does the POI stay active till I set another no matter where I send the quad(other than heading adj of course)?


Thanks,
Mike

Good question,
the POI never worked the way I thought it should...
There might be a problem with POI and the other rule, where the copter always aims to the next waypoint. OTOH, when I uncheck the "Nav controls heading" box, neither of them works.

PatrikE
Posts: 1957
Joined: Tue Apr 12, 2011 6:35 pm
Location: Sweden
Contact:

Re: GPS NAV

Post by PatrikE »

Navigation for Fixedwing ready for testing.
https://multiwii.googlecode.com/svn/bra ... 140509.rar
Nav_settinns.png

I have used some of the new settings in Gui. Marked Yellow.
WP radius and RTH Altitude.

Safety zones is marked Blue.
Fence Will set the plane in RTH. Set to zero to disable.
Max alt limits altitude during navigation.

The Pid's need to be more aggressive for navigation.
My plane fly ok with this settings.
Image

I did a 30 min test flying the circle.
Adjusting Pid's in Air takes some Ice in the stomach.. :o

/Patrik
Attachments
PIDs.png
(10.05 KiB) Not downloaded yet

msev
Posts: 186
Joined: Thu Apr 14, 2011 11:49 am

Re: GPS NAV

Post by msev »

PatrikE is the plane now approaching the waypoint more in a straight line then before, if so what did you adjust?

PatrikE
Posts: 1957
Joined: Tue Apr 12, 2011 6:35 pm
Location: Sweden
Contact:

Re: GPS NAV

Post by PatrikE »

With the higher Pids it looks better.
The distance between wp in a 100m circle is short.
When distance is longer it's not so noticeable.
It's simply overshooting the direction on short distance.

Gimbal
Posts: 146
Joined: Tue Jul 24, 2012 7:14 pm
Location: Sweden

Re: GPS NAV

Post by Gimbal »

Hi maybe i'm stupid or something but my HD crashed and i had to make a new Win install with that followed every thing else :cry:
Howe ever i have a problem with compiling nav7 and get this error:
" types.h:4: error: expected constructor, destructor, or type conversion before 'enum'
I do not get this error with nav5 ?
pls help

Anders
FIXED downloaded a new copy :D
Last edited by Gimbal on Tue May 13, 2014 6:26 am, edited 1 time in total.

ferni
Posts: 2
Joined: Fri May 09, 2014 9:56 am

Re: GPS NAV

Post by ferni »

hi,
I would like to make modiffication to NAV7, I want's to enable RTH in case of failsafe ...
Is it possible ?

Metori
Posts: 18
Joined: Thu Jan 16, 2014 1:04 pm
Location: Russia, Vladivostok

Re: GPS NAV

Post by Metori »

Hi. I crashed my QuadX yesterday and now want to determine what happened.
My start sequence: power up, initialize, switch AUX to ANGLE, MAG, LED_FLASHER ON, take off... then I lost throttle response, copter start to increasing alt fast and I pushed the disarm switch.

I didn't enable any GPS aux, nor Mission or RTH.

Can anyone explain that? I think this is a bug with LED_FLASHER that causing to enable Mission, because Android EZ-GUI says that navi engine activated when I switch my LED_FLASHER Aux.

Metori
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Location: Russia, Vladivostok

Re: GPS NAV

Post by Metori »

Updating my problem...
This is really bug in MultiWii 2.3 Navi b7. When I enable my navigation leds with aux switch (#define LED_FLASHER) then copter start doing a mission (or something that forces it to climb up).
Config: ublox protocol, extended aux, LED_FLASHER, BUZZER, VBAT, current sensor.

I will try to test this bug with another config and will try to dig into code.

Update: It seems that Extended AUX feature is not working properly. There is a bug that forces to activate one option when I turn on another. EOSBandi, Can you look at this problem?
Last edited by Metori on Wed May 14, 2014 1:04 pm, edited 1 time in total.

bajacondor
Posts: 13
Joined: Sun May 11, 2014 10:18 pm

Re: GPS NAV

Post by bajacondor »

Hello,
I'm new to this so please bear with me. Had some problems with navi b7. I'm finding that changing YAW_DIRECTION has no effect on which way the tail servo in a tri-copter corrects an induced yaw. Always it goes opposite... Which doesn't work for me.

Back in 2.2 changing the YAW_DIRECTION define would change the direction the servo moved to correct yaw.

Any insights?

Thank you,
David

Callum
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Joined: Tue May 13, 2014 7:51 am

Re: GPS NAV

Post by Callum »

PatrikE wrote:Navigation for Fixedwing ready for testing.
/Patrik


Hello PatrikE I have been having a look at your fixed wing navigation code and would like to help test it out and develop more navigation functions.

I have been flying my two custom built hexacopters using Ardupilot 2.5 as a flight controller for quite some time but now I would like to focus more on fixed wing aircraft using the MultiWii platform.

I have a (Bixler 2) and a (Phantom FPV Flying Wing). I would like to focus more on the Flying Wing ultimately I would like to be able to fly auto pilot missions using the way-points created in WinGUI and have RTL and auto-land features. I would also like to work on a guided mode where you simply click on the GUI's map and the Flying wing will head to the destination, and it would be good to have features such as Change Altitude and speed, that can be changed while flying from the WinGUI app.

At the moment I am just using an Arduino 2560 that was lying around and luckily I had the BMP085 and The HMC5883 and some old 9dof accelerometer that I used in a old project so I was able to have a look at MultiWii. It seems that MultiWii is still very much in development but like I said I mainly just want to focus on the Flying Wing aircraft and get that flying autonomously.

I will probably purchase the MultiWii Pro board soon so I can use that for testing the GPS navigation on the Flying Wing.

Goetz
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Re: GPS NAV

Post by Goetz »

YAW-Direction is not longer handled in Config.h, you have to switch it in the gui.

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Gartenflieger
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Location: Dortmund, Germany

Re: GPS NAV

Post by Gartenflieger »

Goetz wrote:YAW-Direction is not longer handled in Config.h, you have to switch it in the gui.


I think that is true for an increasing number of features/parameters. Guess how I found out.
It is an improvement as it reduces the number of times you have to reflash the firmware.

Maybe it would be agood idea to remove or at least mark those items in the config.h .

txpatrol
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Joined: Sun Feb 09, 2014 3:24 pm

Re: GPS NAV

Post by txpatrol »

I started a thread in another section before I saw this one....and my other thread seems be getting ignored so I'll try here!

I have a Witespy Mega EZ 3.0 black board with a ublox 6H w/mag.

I finished assembly last week and did my first test flights on Saturday. All functions seemed to be working great, including GPS hold, RTH and mission. I tried several missions and all seemed to work perfectly.

Fast forward to Sunday, I reloaded a my sketch with a few changes and since then I have not been able to activate Mission at all. I've tried wiping eeprom, flashing several different sketches all with no luck.

The version I'm using is called "MultiWii2_3-navi-b7".

I have mission attached to Aux. 4 on a toggle switch. I can verify that the switch is functioning via the gui/android app. I can see the aux. values go from low to high, but it doesn't activate mission. (Copter is armed when I try.)

Summary:
Pos. hold works
RTH works
Mission will not activate. (But did a before a sketch reload a couple days ago).


What would cause it to not let me activate mission? Is there something in the sketch that I could have screwed up? I'm really baffled. When it was working, it was awesome and want it baaaaack!

PatrikE
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Re: GPS NAV

Post by PatrikE »

I reloaded a my sketch with a few changes and since then I have not been able to activate Mission at all.

Revert to latest known configuration and add features one by one.
Then you should find out what breaks the function.

Mission have a low priority in Nav Modes.
It will be overridden by RTH & PosHold etc....
Failsafe, Fence, SafeWP distance.......
Lots of options.

o_lampe
Posts: 117
Joined: Sat Nov 02, 2013 5:09 pm

Re: GPS NAV

Post by o_lampe »

txpatrol,
you need a lot of satellites to start the Mission. More than for RTH GPS hold anyways.
So, before you change your whole sketch, check your GPS fix.

txpatrol
Posts: 6
Joined: Sun Feb 09, 2014 3:24 pm

Re: GPS NAV

Post by txpatrol »

PatrikE wrote:
I reloaded a my sketch with a few changes and since then I have not been able to activate Mission at all.

Revert to latest known configuration and add features one by one.
Then you should find out what breaks the function.

Mission have a low priority in Nav Modes.
It will be overridden by RTH & PosHold etc....
Failsafe, Fence, SafeWP distance.......
Lots of options.


I finally got it to work doing exactly that. Although I had a bunch of other unrelated issues with my first board frying and then the IDE giving me hell, eventually I started enabling "extra" features one by one and a finally ended up with everything I want....working!


o_lampe wrote:txpatrol,
you need a lot of satellites to start the Mission. More than for RTH GPS hold anyways.
So, before you change your whole sketch, check your GPS fix.


I consistently get 8+ satellites with the 6H. My 6M was noticeably worse. Even with bad GPS fix, I believe it should try to activate mission and then give you an error about GPS lock and mission is off. (With the android app.)





On another note, I think I may have discovered a little bug while I was doing my testing. If you insert a land function after a RTH in your mission it will do some strange and possibly dangerous stuff at the end of the mission. Yes, I know there is no reason to have a land after RTH, but I was missing the land option on the RTH waypoint so I was trying to make it land after it got home. Basically what I found when you do this is it will come home and then seem to be in a landing function but without GPS hold and will start to drift. I had all of my Aux. channels off and was able to control the direction of the copter but could not control throttle. I had to just manually hold a location while it slowly landed.


Another thing I found, at least on the android app. was that after you insert an RTH line in the mission you can still keep tapping on the map and it will add more POI waypoints in to the mission sequence but they will not show up on the map. If you go and look at the lines in the mission you'll see that there are now several more POI's after the RTH line. I didn't fly one like this so I don't know what it will do if you run a mission like that, but I don't believe the software should even let you do it. I'm guessing this is more of an issue with the app.

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stronnag
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Re: GPS NAV

Post by stronnag »

First Missions

Flew my first -nav missions today (HK Mega2560 FC, planned and tracked by mwptools:). Some thoughts:

@EOSBandi: Please can we have the FC beep on upload of a mission (as for other parameter changes).

In general. Working mag is critical. A week ago the mag wasn't working well due to EMI from the powertrain. Rebuilt the copter to provide separation and a working mag; absolutely essential. Flying the first missions is so, so scary. Setting nav max speed to walking pace (so one can walk along side one's autonomous copter) is reassuring; it always looks further away than it is.

In summary: Utterly brilliant, can't express highly enough my admiration for EOSBandi's work.

-jh

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shikra
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Joined: Wed Mar 30, 2011 7:58 pm

Re: GPS NAV

Post by shikra »

stronnag wrote:In summary: Utterly brilliant, can't express highly enough my admiration for EOSBandi's work.


+1


Is this now close to making the main trunk ??

Magik30
Posts: 30
Joined: Sun Sep 29, 2013 4:19 pm

Re: GPS NAV

Post by Magik30 »

hi all

Can you tell me, for LAND and RTH works well, should I turn on MAG and BARO together ?, or just baro ?
Please give me an example RC control Settings
I can not find a tutorial how to use.

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stronnag
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Re: GPS NAV

Post by stronnag »

MAG, BARO and a stabilised flight mode works for me http://seyrsnys.myzen.co.uk/quads/mwnav-2014-05-30.png. Too damn cool.

Magik30
Posts: 30
Joined: Sun Sep 29, 2013 4:19 pm

Re: GPS NAV

Post by Magik30 »

hi

I understand for the return home, just turn MAG, réal or false ?

please
give more detail in RCcontrol Setting WinGuy.
I check (GPS HOME) - BARO - MAG ?
I check (LAND)-BARO-MAG ?

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