Here is the smoothing code I'm currently using. It has some int32 (provided by timecop of rcgroups) stuff added to avoid numeric overflow. The red shows the changes I've made to the IMU tab of the code.
static int16_t gyroYawSmooth = 0;
static int16_t gyroRollSmooth = 0;
static int16_t gyroPitchSmooth = 0;
#if defined(TRI) || defined(VTOL_TAIL)
#define gyrorRollSmooth
#define gyrorPitchSmooth
// gyroData[YAW] = (gyroYawSmooth*2+gyroData[YAW]+1)/3;
gyroData[YAW] = (int16_t) ( ( (int32_t)((int32_t)gyroYawSmooth * 6)+gyroData[YAW]+1 ) / 7);
gyroYawSmooth = gyroData[YAW];
//gyroData[ROLL] = (gyroRollSmooth*59+gyroData[ROLL]+1)/60;
gyroData[ROLL] = (int16_t) ( ( (int32_t)((int32_t)gyroRollSmooth * 60)+gyroData[ROLL]+1 ) / 61);
gyroRollSmooth = gyroData[ROLL];
//gyroData[PITCH] = (gyroPitchSmooth*59+gyroData[PITCH]+1)/60;
gyroData[PITCH] = (int16_t) ( ( (int32_t)((int32_t)gyroPitchSmooth * 60)+gyroData[PITCH]+1 ) / 61);
gyroPitchSmooth = gyroData[PITCH];
#endif
MultiWii as CP Helicopter FBL (or just stabilization)?
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- Posts: 7
- Joined: Sat Feb 19, 2011 2:42 pm
Re: MultiWii as CP Helicopter FBL (or just stabilization)?
I have made a few cahanges in the HeliMode.
The servosettings in made same way as for Airplane in config.h.
But is using Max and Min for servotravel.
The servosettings in made same way as for Airplane in config.h.
But is using Max and Min for servotravel.
Re: MultiWii as CP Helicopter FBL (or just stabilization)?
is this code mature enough for me to use the MultiWii controller on a Blade 400 3D with a flybarless head conversion? I am hoping for auto level capabilities as well from the accelerometers.
Re: MultiWii as CP Helicopter FBL (or just stabilization)?
It's fully flyable.
Yaw gyro have been reported to be unprecise.
But otherwise there's no strange behaviors as i know.
Hamburger have made some testflights with a converted 450.
Yaw gyro have been reported to be unprecise.
But otherwise there's no strange behaviors as i know.
Hamburger have made some testflights with a converted 450.
Re: MultiWii as CP Helicopter FBL (or just stabilization)?
can i expect a level of stability and features comparable to a multirotor?
Re: MultiWii as CP Helicopter FBL (or just stabilization)?
There's another thread about Helickoter integration with more info.
viewtopic.php?f=8&t=1562&start=40
viewtopic.php?f=8&t=1562&start=40
Re: MultiWii as CP Helicopter FBL (or just stabilization)?
caall99 wrote:is this code mature enough for me to use the MultiWii controller on a Blade 400 3D with a flybarless head conversion?
That is something no one can answer but you.
I am hoping for auto level capabilities as well from the accelerometers.
it works for fbl heli for my two 325mm helis and yes, it gives level cap and whatever else MWii supplies (possibly no RTH with gps yet).
Follow Patrik's advice and link