2.3 changelog draft

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Alexinparis
Posts: 1630
Joined: Wed Jan 19, 2011 9:07 pm

2.3 changelog draft

Post by Alexinparis »

Hi,

This is the last chance to detect a serious bug ;) before the 2.3 release.
I put a last candidate here:
http://code.google.com/p/multiwii/downloads/list

Here is the changelog project

main changes 2.2 -> 2.3



***Control mode***

- main PITCH/ROLL/YAW PID modification (r1474)
- the sticks scaling is no more affected by PID coefficients
- yaw rate (to the right of the PIDs in GUI) now works as stick scaling
- default yaw rate is increased (with yaw rate at 0)
- yaw PID principle is now different from PITCH&ROLL PID:
- yaw ITerm windup is very high, allowing an 'elastic' direction return after a manual perturbation
- yaw ITerm is also constrained with a windup independent limit
- yaw PTerm is constrained in order to counter the yaw jump effect.
use yaw DTerm to increase this constrain (r1573)
- yaw ITerm is canceled if the yaw stick is not centered

- Throttle angle correction (r1374)

- Advanced Headfree mode added (see config.h for instructions) (r1374)

- DYNBALANCE option, individual motor can be controled via GUI, to test individual vibration
viewtopic.php?f=7&t=3294

- better gyro & acc calibration accuracy (r1546)
viewtopic.php?f=7&t=3880

- cannot arm is baro mode is on (r1550)
viewtopic.php?f=8&t=3910
! baro mode should be activated only when the multi is nearly Z stable !
- only one baro mode : vario around a throttle deadband (r1554)

- magHold is reset when arm is switched on (r1553)
viewtopic.php?f=8&t=3910

- ONLYARMWHENFLAT option (r1587)
viewtopic.php?f=8&t=4077&hilit=coming&start=40#p41755



***receiver & UART***

- RCSERIAL is now deeply integrated. If a MSP_SET_RAW_RC comes, it will just override legacy RX data. (r1420)
as a consequence, RCSERIAL is no more an option

- no RC averaging for Spektrum & SBUS (r1545)

- SBUS center define (r1568)
viewtopic.php?f=8&t=3957

- FAILSAFE_DETECT_TRESHOLD configurable



***GPS***

- Enables sonar altitude from i2c-gps-nav board (1424)

- navigation code will follow after 2.3



***GUI***

- Gui with Servosettings. (r1441 & r1450)
All models with servo included.

- GUI globalsettings (for some settings previously only in config.h)

- do not display /dev/cu.* devices but only corresponding /dev/tty.* (r1442)

- GUI baudrate as configurable setting



***LCD***

- lcd.telemtry: show max ground speed from gps data (r1398)

- lcd.telemetry: allow separate suppression of aux2 configuration (r1456)

- new display support 1.3" i2c OLED from digole.com (r1413)

- config.menu: when abort, revert all values back to last saved state

- visual feedback from servos during midpoint trim via LCD



***IMU and baro***

- correct GYRO_SCALE for all gyro (r1428)

- no more small angles while shaking the board (r1579)
viewtopic.php?f=8&t=4112

- baro Alt based on ground temp compensation (r1570)
viewtopic.php?f=8&t=4059

- not I reset for FIWEDWING (r1590)
viewtopic.php?f=7&t=2456&start=330#p42355

- add 6DOF LSM330 sensor (r1571)

- add ACC BMA280 sensor (r1600)



*** SERVO management ***

- add a generic way to configure servo settings : conf struct + MSP read/set messages (r1383)

- Added general servo handler (r1421 & r1429)
viewtopic.php?f=8&t=3498

- allow preset of some servo stuff from config.h (r1432)

- Gui with Servosettings. (r1441)

- add 8 hardware PWM's for servos on MEGA boards. Servo outputs are 44,45,46,11,12,6,7,8 (r1384)

- Allow any servo refresh rate from 20 to 400Hz on Mega hardware PWM servos. (r1386)

- Tri servo moved to SERVO4 (pin11) on mega boards with HW PWM's. (r1392)

- a32u4 (nanoWii, MicroWii etc) HW PWM for 4 servos; warning different pins!!
(with lots of info and help from ronco)
(r1464 & r1470)

- add gimbal servo stretcher usable with HW PWM's. (r1384)
We can get 180 degrees servo move without servo modification.
- note about gimbal: settings for neutral&endpoints are no more in config.h, but only in GUI

- do not update servos during unarmed calibration of sensors which are sensitive to vibration (r1408)

- MixTable for Heli 120 (r1461)



***internal improvements***

- migration to a cpp/h code structure (r1515 & r1516)
viewtopic.php?f=8&t=3773
viewtopic.php?f=8&t=2931

- huge flash size optimization (around 1k)
thanks to fine struct definitions + serialization over MSP (r1369)

- make powermeter computation time based (again) to reduce config hassle and increase accuracy (r1375)

- read at most one analog channel per MWii main loop cycle (r1375)

- smoothing of RX_RSSI (r1379)

- make faster analog reads an option with default off to increase accuracy (r1375)

- detangle vbat & buzzer dependancy (r1375)

- optimization : small approximation bit shift used instead of * or / number
for TPA, rates, dynP, dynD and expo curb (r1376)

- Added checking for flash content change, and reload config parameters in this case. (r1389)

- split Serial into Serial(core UART management) & Protocol (r1548)

- loop is globally faster



***add-ons***

- option to suppress defaults in mwc sketch and load via gui from file instead (r1365)

- add OVERRIDE_PSENSORPIN option (r1375)

- manual for using Multiwii in Eclipse environment
http://www.multiwii.com/wiki/index.php? ... in_Eclipse

- add amperage to MSP_ANALOG (r1542)

- MY_PRIVATE_DEFAULTS (r1559)
viewtopic.php?f=8&t=3987

- no more than one MSP per port and per cycle
should smooth the delay while requesting MSP, especially for USB port on micro

Johnnynunes
Posts: 35
Joined: Wed Aug 28, 2013 2:38 pm

Re: 2.3 changelog draft

Post by Johnnynunes »

sorry for the noob question, but does this means that I can use a src04 sonar for low altitude accuracy?

***GPS***

- Enables sonar altitude from i2c-gps-nav board (1424)

Tks ;)

User avatar
Hamburger
Posts: 2578
Joined: Tue Mar 01, 2011 2:14 pm
Location: air
Contact:

Re: 2.3 changelog draft

Post by Hamburger »

Heli120 mix is not really new - can be removed from list

Please add warning to release notes and changes.list
The pins for coptertypes with servos have been changed. Attaching a servo to a motor pin can quickly destroy your servo. All connection diagrams out there from v2.2 or older are no longer valid for v2.3 with servos.

Deet
Posts: 129
Joined: Sun Jul 08, 2012 1:54 am

Re: 2.3 changelog draft

Post by Deet »

Are there new servo diagrams available?

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Hamburger
Posts: 2578
Joined: Tue Mar 01, 2011 2:14 pm
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Contact:

Re: 2.3 changelog draft

Post by Hamburger »

Not that I know of.
I have put the pin numbers together with servo numbers in the wiki.

Alexinparis
Posts: 1630
Joined: Wed Jan 19, 2011 9:07 pm

Re: 2.3 changelog draft

Post by Alexinparis »

Johnnynunes wrote:sorry for the noob question, but does this means that I can use a src04 sonar for low altitude accuracy?

***GPS***

- Enables sonar altitude from i2c-gps-nav board (1424)

Tks ;)


no, currently, it's only for a more accurate altitude display

Alexinparis
Posts: 1630
Joined: Wed Jan 19, 2011 9:07 pm

Re: 2.3 changelog draft

Post by Alexinparis »

Deet wrote:Are there new servo diagrams available?


there is currently no diagrams.
only description

for pro mini boards: no modification

for mega boards:

/*********************** HW PWM Servos ***********************/
// HW PWM Servo outputs for Arduino Mega.. moves:
pin D44 (Pitch)
pin D45 (Roll)
pin D46 (CamTrig)
pin D11 (aileron left for fixed wing or TRI YAW SERVO)
pin D12 (aileron right for fixed wing)
pin D6 (rudder for fixed wing)
pin D7 (elevator for fixed wing)
pin D8 (motor for fixed wing)


// Without MEGA_HW_PWM_SERVOS enabled
Pin D34 & Pin D44 (Pitch)
Pin D35 & Pin D45 (Roll)
Pin D33 & Pin D46 (CamTrig)
Pin D37 (aileron left for fixed wing or TRI YAW SERVO)
Pin D6 (aileron right for fixed wing)
Pin D2 (rudder for fixed wing)
Pin D5 (elevator for fixed wing)
Pin D3 (motor for fixed wing)


for pro micro boards
/* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
* one of the 3 fixed servo.refresh.rates *
* Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
* motor[0] = motor = pin 6
* servo[3] = nick servo = pin 11
* servo[4] = left servo = pin 10
* servo[5] = yaw servo = pin 5
* servo[6] = right servo= pin 9
*/


+ wiki info
http://www.multiwii.com/wiki/index.php? ... figuration

-ralf-
Posts: 215
Joined: Mon Dec 03, 2012 7:08 pm

Re: 2.3 changelog draft

Post by -ralf- »

There is no word about the AlexK-Mod in the description.
Can you please add this and describe how to use PID_CONTROLLER 2.


For example:
First press RESET in the GUI to load the AlexK-defaults
Gyro-PIDS are always active
Only Level_P is used for ACC; Level_I is HORIZON; Level_D is unused

Alexinparis
Posts: 1630
Joined: Wed Jan 19, 2011 9:07 pm

Re: 2.3 changelog draft

Post by Alexinparis »

-ralf- wrote:There is no word about the AlexK-Mod in the description.
Can you please add this and describe how to use PID_CONTROLLER 2.


For example:
First press RESET in the GUI to load the AlexK-defaults
Gyro-PIDS are always active
Only Level_P is used for ACC; Level_I is HORIZON; Level_D is unused


Is there any support you are aware of for this pid controller ? where is AlexK ?
It's very experimental, and without more support and replies to negative feedbacks I prefer to mute it in the chanlog

felixrising
Posts: 244
Joined: Sat Mar 23, 2013 12:34 am
Location: Australia

Re: 2.3 changelog draft

Post by felixrising »

I use alexk pid almost exclusively. It's cleaner than default but yes, needs a bit of documentation in config.h and wiki.. and ideally breakout in GUI (perhaps publish to GUI via MSP feature to advertise settings).

-ralf-
Posts: 215
Joined: Mon Dec 03, 2012 7:08 pm

Re: 2.3 changelog draft

Post by -ralf- »

felixrising wrote:I use alexk pid almost exclusively. It's cleaner than default but yes, needs a bit of documentation in config.h and wiki.. and ideally breakout in GUI (perhaps publish to GUI via MSP feature to advertise settings).

+1

A lot of guys registered at the german rclineforum.de use AlexK. It works fine for me (AP Hexcopter)

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