MultiWii does UAV , videos and full code

[e_lm_70]

Here are some video of my Hacked MultiWii 2.2

MultiWii and WayPoints navigation come together

http://youtu.be/FO98kWumnHI

http://youtu.be/N2u9Ol1OK_I

[tovrin]

very cool!

[e_lm_70]

One more video, this time showing the mode "ACTION"

http://youtu.be/Qy0kTAEHCQk

[thebgrian]

What changes have you made in the code?

[e_lm_70]

I have added two new mode: ACTION and NAVIGATION

Then in the GPS.ino I add some code that activate some different logic in GPS-HOLD and GPS-HOME mode

The changes are documented in the video and video description/links

What I can do , is to post my all MultiWii hacked code on top of 2.2 for 2560 mega boards
Inside I have a FrSky fail safe mode
FrSky telemetry
Navigation by Waipoints
Action mode (mainly for climb and make a 360 panorama)

Let me know if you are interested on it ...

I'm using a hacked HobbyKing Pro board (I add a ms5611 on i2c bus), but the code should work in any atmega2560, I will try on my AIO pro v2 once I finsih my never ending H4 quad

[copterrichie]

Nothing PERSONAL

they are asking for the code itself. What code modifications have you made.

[thebgrian]

Thank your for your reply e_lm_70
I have a tricopter with the same HobbyKing Pro board. I'm currently using the nhadrian ver of multiwii with improved althold, autolanding and failsafe with return to home. He unfortunately is not updating his code anymore, so I was looking for another branch implementing the same features. It looks like your modifications are in the same direction.
BTW why do you have the baro on i2c, isn't the magnetometer (no the baro) usually separated, away from interference?
If you don't mind posting your code, i'll give it a try

[e_lm_70]

Here is the code.

Keep in mind:
I use FrSky PPM
I use FrSky telemetry, inverting the signal using Serial 1 RX and TX pin as inverter from the Telemetry from Serial 2 TX
I did re-implement/hacked failsafe ... having the FrSky RX "muted" in case of signal loss. I did not like original failsafe, and it was not applicable for my usage.
I did hack some speed / and PID hardcoded limit for get more speed or less speed based on my need.

I have a ms5611 on i2c bus, since 085 on the board sucks ... and I want a reliable baro/altitude information.

My tricopter is far from vibration free ... but it is flying just fine with stock PID.

I would suggest for anybody interested to make a file comparison between my code and the original 2.2 , for understand each single change.

Per my experience, adding a new tabs : ACTION - NAVIGATION ... cause to get a reset of configuration in eeprom ... so ... after apply the new code, the configuration need to be redone.

Any further change ... like define a new waypoints navigation, new action altitude, etc ... it does not change the configuration stored in eeprom
So ... apply a new waypoint in the hardcode way, does not cause any booring work for reconfiguring the quad.

Tchuss

e_lm_70

[e_lm_70]

One more video, showing ACTION and then NAVIGATION

http://youtu.be/uBT-c-BTvx8

ps: I need to properly tune the PID, for make on board video more smooth ...

[e_lm_70]

KK2.0 does UAV too:

http://youtu.be/T2wpMEYAIZk

[mabaka]

Hi e_lm_70.

Please, confirm in OSD_FrSky.ino (confusing):

Code: Select all

ISR(INT2_vect)
{
  if (PIND & 4)
    PORTD=~8;   // D3->0; others->1 -- Shouldn't be PORTD&=~8; (D3->0; others unchanged)
  else
    PORTD|=8;
}

[e_lm_70]

Actually there is a minor bug there ... that does not look to have much effect on my case ... anyhow

Correct code is following

ISR(INT2_vect)
{
if (PIND & 4)
PORTD&=~8; // D3->0; others->1 -- Shouldn't be PORTD&=~8; (D3->0; others unchanged)
else
PORTD|=8;
}

It was missing a "&"

This part of the code is the serial inverter needed by FrSky ... it is needed to connect the :

Serial 3TX to Serial 1RX
Serial 1TX goes to FrSky RX