Leo wrote:I had some fun testing various items like NAV settings and quality of my FPV hardware:
Leo
Leon11t wrote:Mission data stored in EEPROM?
I nead mission correction in flaight. Is there possible to implement this function?
Leo wrote:I've been doing more or less tests to see that mission navigation is working properly.
I did change baro calculation from float to integer on this flight in preparation for optimizations in smoothing out the readings. I will continue when 2.4 is officially out.
Am I the only one flying missions? I almost get the feeling that I'm talking to myself!
Leo
joebob85 wrote:Proabably a dumb question - I am attempting GPS nav with my QC, however i cant seem to figure out if these flights shows are full uav or first person controlled. Does WinGUI 2.3 support full uav? Can i just upload my route, then flip a switch a have it "start" the defined WP route? any info is appreciated!
Matt
Leo wrote:I've been doing more or less tests to see that mission navigation is working properly.
I did change baro calculation from float to integer on this flight in preparation for optimizations in smoothing out the readings. I will continue when 2.4 is officially out.
Am I the only one flying missions? I almost get the feeling that I'm talking to myself!
Leo
EOSBandi wrote:Not really a leftovers....
I think MultiWii has reached it's final form, there will be one more formal release but that will be the final one... the exciting things are happening on 32bit platforms, for example Cleanflight....
Regarding to the anomaly, it is hard to tell without telemetry or onboard log...
marcdornan wrote:EOSBandi wrote:Not really a leftovers....
I think MultiWii has reached it's final form, there will be one more formal release but that will be the final one... the exciting things are happening on 32bit platforms, for example Cleanflight....
Regarding to the anomaly, it is hard to tell without telemetry or onboard log...
EOSBandi - are you going to be lending your considerable talents to the Cleanflight project? Is anyone currently working on waypoint navigation for that? Is your work portable to 32 bit?
Leo wrote:Here a video I put together showing 2 identical navigation missions flown 15 minutes apart.
I have made comments in the video where I thought there are some anomalies (nothing serious)
I do would like to know what the causes could have been. Maybe small glitches in the nav code?
Enjoy
Leo
elf128 wrote:Hi EOSBandi,
Sorry for jumping into conversation in a such way, I have to abmit, I didn't have enough courage to read all 19 pages, so maybe I'm dubling someones question.
Currently, navigation is tailored specifically for multirotors and doesn't work with fixed wings or hybrids. I was trying to piggyback on your code outside of GPS.cpp but I've got to conclusion that this is bad idea. Mostly because correction of heading using back&yank has delay and lead to heading oscillations. ( No surprises so far ).
So, here is my question. Do you think it would be better to refactor GPS_calc_nav_rate and GPS_calc_poshold to support flying wing but that mean I'll introduce heading dependency and extra unnecessary complexity or it would be better to make an external PID controller for heading in wing-mode and add simple passthrough mode to GPS_calc_nav_rate and GPS_calc_poshold when they will just pass targerSpeed into nav[] without PID to avoid double PID.
The question is more about following merging I case if this part will be functional.
Thanks.
EOSBandi wrote:There is a fixed wing navigation fork of the MultiWii... waypoint navigation is recently ported into that tree.. check the code repository....
PatrikE wrote:Info here:
http://fotoflygarn.blogspot.com/2012/03 ... -same.html
http://fotoflygarn.blogspot.com/2014/04 ... plane.html
code here:
https://code.google.com/p/multiwii/sour ... ingNav_Dev
The forum thread: (only 14 pages...)
viewtopic.php?f=7&t=2456
PatrikE wrote:Feel free to improve.
It would be nice with fresh eyes on the code.
It's easy to be blind after a while.
ezio wrote:Leon11t wrote:Mission data stored in EEPROM?
I nead mission correction in flaight. Is there possible to implement this function?
Yes mission is stored in eeprom. So modifying it may/will cause glitches.
In my opinion mission should be stored in eeprom then copy to RAM while arming and if the FC is armed FC should allow to modify waypoints in RAM only.
Bart
cassiusfxg wrote:I not found in the site nav firmware b7 . Can someone please pass ?
Leo wrote:cassiusfxg wrote:I not found in the site nav firmware b7 . Can someone please pass ?
http://eosbandi.com/downloads/
cassiusfxg wrote:Leo wrote:cassiusfxg wrote:I not found in the site nav firmware b7 . Can someone please pass ?
http://eosbandi.com/downloads/
Thanks, but the site can only download the wingui B7 .
the firmware of this board not available.
cassiusfxg wrote:Leo wrote:cassiusfxg wrote:I not found in the site nav firmware b7 . Can someone please pass ?
http://eosbandi.com/downloads/
Thanks, but the site can only download the wingui B7 .
the firmware of this board not available.
Leo wrote:Ooops...
Here is what you are looking for : https://code.google.com/p/mw-wingui/downloads/list
float abs_flt(float x)
{
uint32_t i = (*(uint32_t*) &x) & 0x7FFFFFFF;
return *(float*) &i;
}
float sinFAST(float x) // MUST BE IN RANGE OF -PI ... +PI
{
uint32_t absconv = (*(uint32_t*) &x) & 0x7FFFFFFF;
float absresult = *(float*) &absconv;
float result = x * (1.27323954f - 0.405284735f * absresult); // 1.27323954f= 4/pi, 0.405284735f = 4/(pi*pi)
absconv = (*(uint32_t*) &result) & 0x7FFFFFFF;
absresult = *(float*) &absconv;
return 0.225f * (result * absresult - result) + result;
}
float cosFAST(float x)
{
x += 1.57079632f;
if (x > 3.14159265f) x -= 6.28318531f;
return sinFAST(x);
}
float sinFAST(float x)
{
while (x > 3.14159265f) x -= 6.28318531f; // always wrap input angle to -PI..PI
while (x < -3.14159265f) x += 6.28318531f;
uint32_t absconv = (*(uint32_t*) &x) & 0x7FFFFFFF;
float absresult = *(float*) &absconv;
float result = x * (1.27323954f - 0.405284735f * absresult); // 1.27323954f= 4/pi, 0.405284735f = 4/(pi*pi)
absconv = (*(uint32_t*) &result) & 0x7FFFFFFF;
absresult = *(float*) &absconv;
return 0.225f * (result * absresult - result) + result;
}
float cosFAST(float x)
{
return sinFAST(x + 1.57079632f);
}
EOSBandi wrote:elf128 wrote:Hi EOSBandi,
Can you please help.
What is the reason that all of the Navigation settings in MultiWiiWinGUI 2.3> flight tuning are grayed?
I also can't upload any mission.
I am running Multiwii 2.4 firmware on Crius AIO V2.
The GPS functions well and recognize 9 satellites while it is set 38400, it is important to set it to any specific rate, such as 115200?
Can you estimate any other reasons?
Thanks.
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