Flying Wing - development done?

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Flying Wing - development done?

Postby Hamburger » Tue Aug 09, 2011 10:04 pm

Hi,
I want to use the flying wing mode for my small 50cm (20") wing.
Not sure if I should use MWii with a gyro only or with gyro+acc?

I intend to
- add passthrough mode accessible via aux1/aux2 switching (like sensors)
- add throttle-in and throttle out (basic passthrough at the moment)

want to use LCDconfig for config as always.

Any and all pointers welcome on what suitable PID values might be.
Thanks, Hamburger

Update 01.2012 read latest posts for my thoughts on having reached the goals and thedevelopment being complete./Update
Last edited by Hamburger on Tue Jan 03, 2012 7:17 pm, edited 3 times in total.
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Thu Aug 11, 2011 11:25 am

When I get back home from my vacation I will get a Swift for FPV use and I will try this with the Flying Wing mode.
I will also try the airplane mode in my Skywalker and see what happens

//UndCon
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Re: Flying Wing - anyone using it and how?

Postby cob » Sun Aug 14, 2011 12:52 am

Hi Hamburger,
please have a look at this thread:
viewtopic.php?f=8&t=364&start=50
There is all the data you may need including a modified version of MWII done by PatrcikE especially for planes.
I've build a VTOL using TRI mode and FlyingWing mode of Multiwii. I'm using a Falcon Flying wing (hobbyking) three motors like a Tricopter and AUX2 to switch horizontally the two front motors.
MWII works wonderfully and quite easy to modify according to the needs you may have.
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Re: Flying Wing - anyone using it and how?

Postby Hamburger » Sun Aug 14, 2011 5:09 pm

cob wrote:please have a look at this thread:


cob, thanks for the hint. I had been following that thread and found it inspiring.
I want to progress a little different though. I think having passtrhough as an item one can asign to aux1/aux2 like mag/baro/level/etc. is a more general approach and not too difficult to code.
motor passthrough is merely convenient to use arm/disarm in order to avoid havoc while doing stick-configuring.
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Re: Flying Wing - anyone using it and how?

Postby PatrikE » Sun Aug 14, 2011 5:59 pm

Hi Hamburger,

I think this will work fine for you...
Code: Select all
#ifdef FLYING_WING
if(abs(rcData[AUX1])>1500)   {  //Use aux1 to activate Passthru or MWii mode

int RX_ROLL   = 1500-rcData[ROLL];
int RX_PITCH  = 1500-rcData[PITCH];
     //Passthru
    servo[1]  = constrain(1500 - RX_PITCH + RX_ROLL, 1020, 2000); //LEFT the direction of the 2 servo can be changed here: invert the sign before axisPID
    servo[2]  = constrain(1500 - RX_PITCH - RX_ROLL, 1020, 2000); //RIGHT
     }else{   
//MultiWii
   servo[1]  = constrain(1500 + axisPID[PITCH] - axisPID[ROLL], 1020, 2000); //LEFT the direction of the 2 servo can be changed here: invert the sign before axisPID
   servo[2]  = constrain(1500 + axisPID[PITCH] + axisPID[ROLL], 1020, 2000); //RIGHT
     }
  #endif


AUX1 to switch between Passthru and MWii mode.
Aux2 is free to activate things in GUI.

If you have more cannels on your radio it's possible to use CAMPITCH or CAMROLL instead of AUX1.
Leaving AUX1 free for GUI.


/Patrik
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Re: Flying Wing - anyone using it and how?

Postby Hamburger » Wed Aug 17, 2011 9:51 am

here is the first step towards Flying Wing setup.
done (MWii):
- added passthrough variant (still does mixing of pitch and roll sticks)
- activate passthrough with aux1=low (<1300) to honor the 3-way switching methodology
- added 4 defines for 2 servos 2 directions for pitch and roll (no need to swap servo cables at rx with dx6i)
- added defines for min/mid/max values for servo travels and trim

to do:
- GUI: add checkboxes to asign passthrough dynamically to aux1/aux2 states
- GUI: display current mode (passthrough activated or off)
- MWii: honor checkboxes' settings for passthrough asignment
- MWii: transmit passtrough mode to GUI
- MWii: add variant with one motor (basically 1:1 from rxData)

Hamburger
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r227-flyingwing.diff.zip
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Sat Aug 20, 2011 11:44 pm

Cool - a MSComposit Swift II is heading my way.

I will try the new code as well...
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Re: Flying Wing - anyone using it and how?

Postby msev » Sat Sep 03, 2011 7:43 pm

So there wasn't some flying wing code already present in the multiwii code, before this new code? Can you explain to me in novice terms this passthrough function?
Is it possible to also have autolevel with the use of bma020? Thanks!
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Re: Flying Wing - anyone using it and how?

Postby PatrikE » Sat Sep 03, 2011 10:26 pm

Passthru is a way to disable Mwii an just send the RX-signals direct to the servos.
A handlaunch can be a little wiolent and the gyros will overreact.

Autolevel can be used in Flying wing mode.

/Patrik
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Re: Flying Wing - anyone using it and how?

Postby msev » Sat Sep 03, 2011 10:47 pm

Great so for launch one switches off, and then switches stabilization on in flight :D..Great,...Have you seen fmkit's videos of wii stabilization (although he seems to use different code and platform),..will that kind of stabilization also be possible with multiwii code :D... I'll try to make a depron zephyr for testing, but first have to make my exams :D
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Mon Sep 05, 2011 2:04 pm

My wing is maidened and ready to fly

This wing will be equipped with FPV gear when I get my camera but until then I can play with some MultiWii on board.
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Re: Flying Wing - anyone using it and how?

Postby msev » Mon Sep 05, 2011 3:52 pm

Hope you make some video so we see the stabilization in action :D
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Mon Sep 05, 2011 6:53 pm

I tried to connect the board and servos went crazy :D

A few things comes to my mind...

There is no motor support in flying wing code. Does all channels still have to go into the Arduino?
Rudder is needed to start. ailerons/elevators is needed to steer the wing. I also want Auto level ON/OFF on my gear channel (mode) so its 4ch in?

But - motor also needs to be connected or you cannot calibrate sensors - I cannot have my ESC connected while this is performed or I give WOT!
Y-cable does not work= WOT on ESC!

How do I calibrate sensors?

I had to solder a bunch of male->male servo cables to connect this one...
I will keep testing today.
Might need a new RX so I can configure a separate memory in the radio...need 125% on all channels to get full PPM.

//UndCon
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Mon Sep 05, 2011 8:13 pm

In my test on the desk it seems like YAW and PITCH are swapped in code (unmodified 1.8)

ELEVATOR

When I pull up YAW value goes down
When I pull stick forward YAW goes back up

RUDDER
left turn = PITCH value goes UP as well as LEFT & RIGHT servo bars
right turn = PITCH value goes down as well as LEFT & RIGHT servo bars

using a MODE2 radio...

And I think values has to be toned down a bit to get a smooth ride...
1 more thought about this...Motor should be added to compensate for climbs/descends - but that will solve itself once wing is stable in air


UPDATE
New test
In RX I modified 1st line to this
static uint8_t pinRcChannel[8] = {ROLLPIN, YAWPIN, PITCHPIN, THROTTLEPIN, AUX1PIN,AUX2PIN,CAM1PIN,CAM2PIN};

(yaw before pitch)

This solved stick input vs meter movement in GUI.
I know this is not the right way to solve this...a static should not be changed - must be changed in code elsewhere

Next issue is the fact that servos increase a bit when I apply throttle
Some calculations seems off...

Another issue:

When giving full ailerons(roll) servo goes to full travel.
This cannot be combined with full elevator
Some travel limitations is needed or you end up flying funny cork-screws.

//UndCon
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Re: Flying Wing - anyone using it and how?

Postby Hamburger » Mon Sep 05, 2011 11:31 pm

UndCon,

which software version did you test with?
I addressed some of the points you mention in an earlier post - still need some coding to do.
You can find my latest open code in the branches tree of the MWi google rep.

Hamburger
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Mon Sep 05, 2011 11:35 pm

HI Hamburger!

I used a fresh copy of 1.8 - Ill see if I can find your modified code.
If I only knew how to get the files...do I really have to download them 1 by 1?

//UndCon
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Re: Flying Wing - anyone using it and how?

Postby Hamburger » Tue Sep 06, 2011 1:04 am

get an svn / subversion client for your OS. That makes dealing with such compilations a breeze.
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Tue Sep 06, 2011 7:35 am

I think I have turtoise svn - at least I used to...

http://tortoisesvn.net/
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Re: Flying Wing - anyone using it and how?

Postby PatrikE » Tue Sep 06, 2011 9:55 am

@UndCon
Try to limit the throws per channel.
Code: Select all


  #ifdef FLYING_WING

   // Limit throw per cannel.
   int PichCommand = map(axisPID[PITCH], 1020, 2000, 1200, 1800)
   int RollCommand = map(axisPID[ROLL],   1020, 2000, 1200, 1800)

    servo[1]  = constrain(1500 + PichCommand  - RollCommand , 1020, 2000); //LEFT the direction of the 2 servo can be changed here: invert the sign before axisPID
    servo[2]  = constrain(1500 + PichCommand  + RollCommand , 1020, 2000); //RIGHT  Limit total servothrow.
  #endif



/Patrik
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Tue Sep 06, 2011 12:16 pm

Cool - I downloaded Hamburgers dev

Ill update Output.pde and try again

1st I must try Hamburgers code - then Ill continue to next part.
//UndCon
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Sun Sep 11, 2011 10:46 pm

Now I think my wing is ready for a test

Image

Small adjustments have been made and now I must get the code running properly, my test-rig only allows 5 channels
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Re: Flying Wing - anyone using it and how?

Postby darlofranco » Tue Sep 20, 2011 10:10 am

How did the test go?
Anybody have any success with this?
I am buiding a wing for AP and fpv and am hoping to stabilise it using MultiWii :D

Thanks..!!
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Wed Sep 21, 2011 8:53 am

HI!
I did not have time to test this yet'

//UndCon
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Re: Flying Wing - anyone using it and how?

Postby Gagarien » Tue Oct 04, 2011 8:08 pm

Hi first of all one great Arduino project well done to all!! So my small bit of input to flying wings. I did a flight on Sunday using my Maxi Swift wing and code 1.8 patch 2 with MP only and I can report It's working but I could not test in in full.

Hamburger I'm with you on passthrough and all the other functionality's of current code is what I would like to see remain.
OUTPUT CHANNELS:
A0 & A1 for pitch and roll if I ever add a camera I will try something like Y lead mmmm wonder if that will go down well with mixing?
Motor on D9 had to define number motor from 0 to 1 like this :
#if defined(GIMBAL) || defined(FLYING_WING)
#define NUMBER_MOTOR 1

INPUT
six channels from RX this to have full functions from code: Pitch, Roll ,Yaw, Throttle & Aux1 on my RX used 5 on toggle switch for passthru.
I used a serial LCD (LCD117) that was lying around and it worked good for me

I added mainly this code to OUTPUT tab from every one's input here thanks people:
Code: Select all
 #ifdef FLYING_WING
    if(abs(rcData[AUX1])>1300) { //Use aux1 to activate Passthru or MWii mode
   
    int RX_ROLL  = 1500-rcData[ROLL];  // Analog  pin 1 output
    int RX_PITCH = 1500-rcData[PITCH]; // Analog  pin 0 output
    int RX_YAW   = 1500-rcData[YAW];   // Digital pin 3 output
    //Passthru
    servo[0]  = constrain(1500 - RX_YAW, 1020, 2000); //YAW the direction of the servo can be changed here: invert the sign before RX_YAW
    servo[1]  = constrain(1500 + RX_PITCH - RX_ROLL, 1020, 2000); //LEFT the direction of the 2 servo can be changed here: invert the sign before RX_PITCH
    servo[2]  = constrain(1500 - RX_PITCH - RX_ROLL, 1020, 2000); //RIGHT
    motor[0]  = constrain( rcData[THROTTLE], 1020,2000); //MOTOR on pin 9 490hz ESC
    }else{
    //MultiWii
    servo[0]  = constrain(1500 - axisPID[YAW], 1020, 2000); //YAW the direction of the servo can be changed here: invert the sign before axisPID
    servo[1]  = constrain(1500 - axisPID[PITCH] + axisPID[ROLL], 1020, 2000); //LEFT the direction of the 2 servo can be changed here: invert the sign before axisPID
    servo[2]  = constrain(1500 + axisPID[PITCH] + axisPID[ROLL], 1020, 2000); //RIGHT
    motor[0]  = constrain( rcData[THROTTLE], 1020,2000); //MOTOR on pin 9 490hz ESC
    }
  #endif

and some others small changes please see file attached sorry but I can't recall what I did in detail but think was general changes to CONFIG.H .
MultiWii_1_8_2Flyingwing.zip
(38.88 KiB) Downloaded 160 times


Warning I have not tested yaw servo on D3 at all. O and I made a video where can I post it?

Greetings
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Re: Flying Wing - anyone using it and how?

Postby Gagarien » Tue Oct 04, 2011 9:06 pm

Video http://www.youtube.com/watch?v=AO_6NAbVUDw. Not much but the idea was to adjust PID's at the field with LCD but engine mount problems after first flight put a halt to the day's flying.

One more note: I had problems on the bench were elavons would move up as throttle was increased to full and got it sorted by setting all the PIDS to 0 with only Roll & Pitch P=3 , Level P=7 and RC RATE = 1. expo and others = 0 from here I'll adjust it to suit. Still need to investigate the culprit as I get time.
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Re: Flying Wing - anyone using it and how?

Postby dramida » Tue Oct 04, 2011 10:28 pm

Good job! I am planning to mount a diy board with atmega and WMP on my easy glider.
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Wed Oct 05, 2011 6:57 am

Cool - I have not had the time to tinker with my Swift II so much as I would like.

I did some tests and it seemed to act as supposed to, but I think it was very sensitive to inputs making servos work a lot (over reacting)

//UndCon
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Re: Flying Wing - anyone using it and how?

Postby PatrikE » Wed Oct 05, 2011 9:29 am

I tested on a funflymodel once and there is a lot of adjusting on the PID.s
It overcompensated massively.
P must be lowered quite much.
I plan to test on my EZ Hawk but haven't done it yet.
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Re: Flying Wing - anyone using it and how?

Postby UndCon » Wed Oct 05, 2011 12:45 pm

PatrikE wrote:I tested on a funflymodel once and there is a lot of adjusting on the PID.s
It overcompensated massively.
P must be lowered quite much.
I plan to test on my EZ Hawk but haven't done it yet.


That most likely explains what mine did...servos was twitching a lot
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Re: Flying Wing - anyone using it and how?

Postby Hamburger » Thu Oct 06, 2011 4:26 pm

Gagerien,
thanks for the feedback. Glad it works for you. Would you care to post your PID settings?
I will continue with code and my wing later this month after return to desk. Alex did not integrate my latest patch yet, not sure why.
Cheers, Hamburger
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Re: Flying Wing - anyone using it and how?

Postby Gagarien » Thu Oct 06, 2011 8:47 pm

Hamburger I only had these PID's and wanted to adjust the rest at the field but my engine mount had other ideas:

One more note: I had problems on the bench were elavons would move up as throttle was increased to full and got it sorted by setting all the PIDS to 0 with only Roll & Pitch P=3 , Level P=7 and RC RATE = 1. expo and others = 0 from here I'll adjust it to suit. Still need to investigate the culprit as I get time.Gagarien

What I'm going to do (or thats my under standing of adjusting PID's) is to adjust Roll & Pitch P intill it starts to oscillate in flight then back a touch followed by I and then D same method and then increase P again. I recon because rc aircraft differ much more in design they fly differently more than quad's and thus more teadious adjusting of PID's.

UndCon is right the servo's is very active and I started with these PID's on the bench tunning it down so my motor and prop does not have such a aggresive input on the MP I did wrap it in foam though but would seem to be a different beast while flying.

I will post more results after this comming weekend.

Cheers
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Re: Flying Wing - anyone using it and how?

Postby Hamburger » Fri Oct 21, 2011 8:10 pm

Hi,
I uploaded my working setup to the google repository here http://code.google.com/p/multiwii/source/browse/#svn%2Fbranches%2FHamburger%2Fr252_FlyingWing.

base: r252 (v1.8p1 with some extra features)
added flying wing:
- one motor on pin 9 (optional) with support in GUI
- working mixing options for typical 2 servo mirrored setup (configurable)
- no need to swap servo connectors (as with dumb dx6i elevon mixing)
- servos: mid- and endpoints configurable
- working passthrough option with aux1<1300 - no visual feedback in GUI yet
- works (but difficult to tune PID parameters)

My settings are in wing500.h. Make your changes here or (in config.h and remove include of wing500.h in multiwii.pde). This file layout is my way to safely deal with Alex' changing defaults in development versions.

Cheers, Hamburger
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Re: Flying Wing - anyone using it and how? - slow progress

Postby darlofranco » Tue Nov 01, 2011 10:31 pm

Hi Guys
I'm still a bit of a newbie at this ... :oops:
Need a little help please, I am trying to download code using Tortoise svn and keep getting the following error -

Checkout from http://code.google.com/p/multiwii/sourc ... 253Dclosed, revision HEAD, Fully recursive, Externals included
Unable to connect to a repository at URL
'http://code.google.com/p/multiwii/source/browse/%23svn/branches/Hamburger/r252_FlyingWing/MultiWiiConf_1_8_patch1%253Fstate%253Dclosed'
Server sent unexpected return value (405 Method Not Allowed) in response to
OPTIONS request for
'http://code.google.com/p/multiwii/source/browse/%23svn/branches/Hamburger/r252_FlyingWing/MultiWiiConf_1_8_patch1%253Fstate%253Dclosed'

Can someone point me in the right direction to download the code please?

Fran
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Hamburger » Wed Nov 02, 2011 9:24 am

is the link you posted the one you use for checkout? does not look correct. But I do not use nor know the win* GUI.
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Re: Flying Wing - anyone using it and how? - slow progress

Postby darlofranco » Wed Nov 02, 2011 2:40 pm

Thanks, I'll try it soon

Frank
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Gagarien » Wed Nov 02, 2011 5:28 pm

http://www.youtube.com/watch?v=4aP1kXDGEow
Hi guys did some flights on Sunday with a friend, again you can look at the video sorry for the quality but I reduced to 10mb. I have more video’s but need to edit them and I’m like UndCon just running short of time always but at least you can get the idea.

Summary: M+ & NK very windy day I recon at least 25kt gusting , take off in pass thru (Although I will test launch with gyro’s next) switched to gyro’s did a couple of circuits then switched to stable mode more circuits and landed like that. Adjusted the PID’s and more flights in that order. I will post PID settings later. To do = adjust PID to my final liking.

But at least good results there was a circuit in pass through that had me on my toes at all times battling to maintain a constant altitude and directional position but work load gets dramatically reduced to almost just navigation with MultiWii. I cannot compare this to anything else on the market simple reason being that I have only flown with FMA co-pilot’s before.

Couple of notes that spring to mind:
1.In stable mode I cannot get the swift to loop or roll I wanted to see how it would recover from such attitudes maybe in later test = fly in pass thru then activate stable from awkward position. Simulating it on the ground I get confused to how it will recover actually.
2.On my friends wing with digital servo’s I had random servo movements but cannot report anything now as I need to investigate this before I can make an conclusion.
3.In my first reply here I saw elavon movements with throttle input but I could not replicate it again (also did not try hard enough).
4.Now I might get this wrong I and will need to sit down and explain this again with everything on the bench but essentially what happens during PID settings is when Level P, Roll P and PITCH P( I will confirm in what order) is adjusted there is an offset position on the servo’s selecting from Pass thru to Gyro and Stable, playing around with the settings I manage then get stable elavon movements during selection. What will happen is in flight when selecting Gyro etc. The A/C will say roll a bit or pitch up or down if not setup correctly.
5. Gyro’s once again needs to be tune down quite a bit otherwise the servos work hard mainly due to induced vibrations on my wing setup and at half throttle it is the worst that can be seen on the bench and even with motor not running the elevons can induce a negatively unstable scenario just statically starting from a little bump. Initial set up was adjusting only P’s so that there is little movement from the servo’s with engines running at half power.
6. SOMETHING ELSE VERY IMPORTANT During calibration of sensors ensure to compensate for angle of attack, if you place the acc tru to the cord line you will have to trim up allot.
Other than that Bestbuy BT works great with an Parani SD100 on the receiving end I think +/- 40 meters maybe more. Parani is very expensive for the range and is on loan only to me the APC220 would be a better buy.

Cheers
Last edited by Gagarien on Thu Nov 03, 2011 4:54 pm, edited 1 time in total.
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Re: Flying Wing - anyone using it and how? - slow progress

Postby UndCon » Wed Nov 02, 2011 10:53 pm

I saw your flights - they are cool!

And yes - Its very annoying not having the time for this hobby - this week I have been at home with sick kids...trying to sort out my Quadcopter problems meanwhile...
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Hamburger » Wed Nov 02, 2011 11:08 pm

Hi Gagarien,
flight is looking good. From my experience pusher wings tend to have lots of vibration (and noise).

It was not possible for me to identify from your video which version/variant/implementation of multiwii for flying wing are you using?
From your experience any ideas on what feature/functionality should be implemented?

Currently I am not sure if we might need separate min/max values for left/right aileron/elevator each? As of now, we can only limit the maximum servo travels (min/mid/max) separately. But have no means to e.g. set travel adjust for elevon to +100/-50 and aileron to +200/-150 as would be possible if we used the delta mixing of modern TXs.
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Re: Flying Wing - anyone using it and how? - slow progress

Postby UndCon » Thu Nov 03, 2011 9:41 am

If I get you right Hamburger you want more mixes added into the software?
(more tweaking/fine tuning parameters)

If we take a look at the camera gimbal setup - can we use similar approach?

//UndCon
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Hamburger » Thu Nov 03, 2011 10:26 am

UndCon wrote:If I get you right Hamburger you want more mixes added into the software?
(more tweaking/fine tuning parameters)
If we take a look at the camera gimbal setup - can we use similar approach?
//UndCon

if you look at my current implementation the two are already similar.
I am not sure whether we need more mixing, but adding separate limits for two axis inputs would get us closer to what people have come to know from their computer radio mixing (though dx6i leaves a lot to be desired on that part).
Basically I consider something like
Code: Select all
 servo[1]  = constrain( // LEFT SERVO
                 WING_LEFT_MID 
               + PITCH_DIRECTION_L * constrain(axisPID[PITCH],WING_LEFT_PITCH_MIN,WING_LEFT_PITCH_MAX)
               + ROLL_DIRECTION_L * constrain(axisPID[ROLL],,WING_LEFT_ROLL_MIN,WING_LEFT_ROLL_MAX),
                        WING_LEFT_MIN,  WING_LEFT_MAX); // physical or aero absolute limits for combined inputs

for now these MID/MIN/MAX values would be #defines but could be converted to parameters to be set via GUI/LCD to equal TX capabilities.
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Gagarien » Thu Nov 03, 2011 4:48 pm

Hi Hamburger/UndCon
Thanks, As per my first post here I used again the same 1.8p2 with modified output tab and Config1.8p2 see my file attached there.

My approach here was to use the standard code from PatrikE and modify it as little as possible hoping that other advancements made like GPS, Sensors etc. can be retained easily for aircraft use and thus having a all-rounder. For myself I doubt using it for any other aircraft plat forms.

Other implementations would be the yaw servo for people with 3 axis aircraft and I’m sure I will come up with other nice to have as I progress.

As to your min/max values ranges and not sure if it needs to be implemented or not I would like to make an suggestion from what I understand U are saying, why not using your code as is for now and look at it at a later stage when the need arises from flying issues? It would sure be handy if you have a complicated aircraft that needs special control throws in roll or pitch or whatever.
I can set the sensitivity to roll and pitch separate in the GUI as my wing respond deferent in R & P to the amount of control input and of course I can program that in my radio for manual flying. But this is not your issue here and from the bit of flying I’ve done I don’t think I need separate servo min/max as the aircraft stabilize nicely to horizontal from say 70 deg bank without any pitching or so.

Regards
Last edited by Gagarien on Sun Nov 06, 2011 8:40 am, edited 1 time in total.
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Hamburger » Sat Nov 05, 2011 2:57 pm

ported and submitted to trunk/*_shared in google rep.
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Gagarien » Sat Nov 12, 2011 6:23 pm

Some more flights eventually between everything else and some thoughts:

When adjusting I on Roll Pitch and Level results in elevon movement with throttle input so I left it at 0 again D seems no problem as with P.
If Level P above 7 elevons move up when selecting Level.

Acc position relative to angle of attack is important if aircraft is level when calibrating it will result in a pitch down condition when it is selected so you need to calibrate it with angle of attack so it will fly level in that attitude. Maybe # define angle of attack 12 // degrees in the code so you can calibrate the aircraft level.

Jerky servo problem was resolved by a faulty speed controller it would work flawlessly with Futaba receiver but when you plug it in to Multiwii board the servos go crazy. It tryed all the filtering tricks and no luck.

I am still planning to give your code a go Hamburger hopefully before Christmas, UndCon any progress?
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Hamburger » Tue Nov 15, 2011 10:52 pm

next step is accomplished - passThru mode is user configurable in GUI.

turn passthrough mode into a checkboxes item so user can asign to preferred aux1/aux2 low/mid/high state(s).
Currently in use for Flying Wing. Aiplane should adapt easily. Status: done.

Example: Wing with gyro and acc
in GUI turn checkboxes on for Level - high and PassThru - low, both for aux1
This yields ->
aux1=low : no multiwii sensors interference, only delta mixing
aux1=mid: gyro only acro mode
aux1=high: gyro+acc level mode

Please, test and enjoy. Hamburger
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Re: Flying Wing - anyone using it and how? - slow progress

Postby darlofranco » Wed Nov 16, 2011 5:00 pm

Hi Hamburger

I think the work you and others are doing is fantastic, I appreciate it very much - thanks to you all :)

I have a small problem, how can I download the code? EDIT - Figured it out now :D
Thanks
Frank
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Hamburger » Thu Nov 17, 2011 6:42 pm

turn servos' midpoints into LCD configurable items for trim (needed because the TX trims are occupied (together with TX subtrim) to center stick outputs to 1500 for multiwii); save in eeprom [status: done]

caveat: in my case the eeprom cells used for the storing the servo trim values was preset with some rubbish, so after loading sketch first time the midpoints were set to nonsense values. This required to use the LCD once and set meaningful values (1500 for me). In a release version this problem did not happen because Alex would/could increment the version number and force writing a complete set of sensible presets.
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Re: Flying Wing - anyone using it and how? - slow progress

Postby Hamburger » Tue Jan 03, 2012 11:46 am

Flying Wing is working for me for some time now after I removed a faulty nunchuk (only 2 axes working, no roll axis values).
I could successfully fly my 50cm (20") wing in pretty strong winds with nasty gusts. Eventually I crashed the wing when I switched to passthru mode to test my limits of flying skills - found those all right. Had to add some more glue to the foamie. :)

For me the endevour of development of Flying Wing is feature complete (for the time being), so:
I would like to hear other success stories and possibly what features you consider missing.
Anyone using the servos' midpoint trim via LCD already?
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Re: Flying Wing - anyone using it and how? - slow progress

Postby UndCon » Tue Jan 03, 2012 12:22 pm

Now that I have enabled night-mode on mine I can continue testing...

http://www.youtube.com/watch?v=-DNV0TeYFtU


I need to cut up a PET bottle or similar for protection of the electronics...
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Re: Flying Wing - development done?

Postby Hamburger » Tue Feb 21, 2012 10:27 pm

I did add 3 axis Gyro Smoothing for my FlyingWing (wmp+bma020) with [10, 10, 3] and it seems to really help.
The Wing is smallish 50cm wingspan foamie pusher, so sensors see a lot of noise. Now can raise roll/pitch P from 1.8 to default 4.

PatrikE described the Smoothing and code in the CP Heli thread viewtopic.php?f=7&t=611&start=30#p9056.
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