dev MultiWii_dev_20120203 test

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marbalon
Posts: 107
Joined: Thu Aug 18, 2011 10:59 am

dev MultiWii_dev_20120203 test

Post by marbalon »

Hi,
I've jsut uploaded new verwon to my quad and found some problems.

1. There is a little mistake for people with EXT_MOTOR_RANGE

Lines like this:
((motor[0]>>2) - 250) + 2)

should looks like this (missing ; and ) ):

(((motor[3]>>2) - 250) + 2);

But this is smal problem.

2. I've just tested new level mode and it is not usable for me. Level correction is to slow. In old version I need to decrease P for level to 7 (It flyies with 9 but it is to aggressive). Now I have default settings but looks like in old version with about P = 4. I can increase P more then 9 now because get fast oscillations. Just copy old method to this dev and everything works fine.

3. Altitude mode is not working for me with MS5611. Looks better when I increase P to 6, but after hover for a while it drops down and can't enough power to climb to start position.

I have on request for new version. Could you include i2c GPS support. I think this solution will be popular for many people.

Regards,
Marcin.

Magnetron
Posts: 124
Joined: Tue Jul 05, 2011 4:32 pm

Re: dev MultiWii_dev_20120203 test

Post by Magnetron »

I am your some configuration with FreeIMU v0.3.5_MS with MS5611BA barometer. I had tryed v1.9 also with TRUSTED_ACCZ option activated and moving average calculation (that I had implemented) on baro, gyros and accelerometers. The overall stability is improved due to moving average but the altitude hold was poor... I would to try the last dev version like this 20120203.
Could you post you configuration and your gui settings? Many thanks.

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Hamburger
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Re: dev MultiWii_dev_20120203 test

Post by Hamburger »

marbalon wrote:1. There is a little mistake for people with EXT_MOTOR_RANGE


corrected in _shared.

TheX
Posts: 14
Joined: Fri Dec 30, 2011 2:28 am

Re: dev MultiWii_dev_20120203 test

Post by TheX »

I can't get the 64 bit Windows version of conf to run. 32 bit starts fine but even trying to run the 64 bit version as administrator does nothing (I do say yes to the UAC prompt) . No errors in the event viewer, nothing in task manager.

timecop
Posts: 1880
Joined: Fri Sep 02, 2011 4:48 pm

Re: dev MultiWii_dev_20120203 test

Post by timecop »

You need to install 64bit version of Java. (ugh).

nhadrian
Posts: 421
Joined: Tue Oct 25, 2011 9:25 am

Re: dev MultiWii_dev_20120203 test

Post by nhadrian »

Could anybody explain what has been changed in this dev?
I think for good altitude-hold settings we definitelly need the VEL parameters, that is my experience.

LuFa
Posts: 160
Joined: Fri Jan 27, 2012 7:56 pm

Re: dev MultiWii_dev_20120203 test

Post by LuFa »

what is chanche in the newest dev =?

timecop
Posts: 1880
Joined: Fri Sep 02, 2011 4:48 pm

Re: dev MultiWii_dev_20120203 test

Post by timecop »

protip:
make a diff between old dev and new dev.
look at generated patch file.
find out what changed.

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

Re: dev MultiWii_dev_20120203 test

Post by Alexinparis »

as I said here:
viewtopic.php?f=8&t=562&start=50#p8508

I released this dev snapshot mainly to have feedbacks on the ALT HOLD feature.

All the changes can be followed here, but it's not summarized:
http://code.google.com/p/multiwii/source/list
As it's a dev version, don't expect to have a full documentation ;)

nhadrian
Posts: 421
Joined: Tue Oct 25, 2011 9:25 am

Re: dev MultiWii_dev_20120203 test

Post by nhadrian »

Oh, sorry, your post was on the bottom of the actual page so I missed it... ! Sorry again!

TheX
Posts: 14
Joined: Fri Dec 30, 2011 2:28 am

Re: dev MultiWii_dev_20120203 test

Post by TheX »

dongs wrote:You need to install 64bit version of Java. (ugh).


I have it, I use this machine for everything I do.

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shikra
Posts: 783
Joined: Wed Mar 30, 2011 7:58 pm

Re: dev MultiWii_dev_20120203 test

Post by shikra »

Raise Level D until you get the max speed you like.
Putting Level D = 500 will effectively make it same as before.

Not so nice for flying angle mode, but faster snap to level. You have the choice now!

marbalon wrote:
2. I've just tested new level mode and it is not usable for me. Level correction is to slow. In old version I need to decrease P for level to 7 (It flyies with 9 but it is to aggressive). Now I have default settings but looks like in old version with about P = 4. I can increase P more then 9 now because get fast oscillations. Just copy old method to this dev and everything works fine.


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Bledi
Posts: 187
Joined: Sat Sep 10, 2011 6:36 pm

Re: dev MultiWii_dev_20120203 test

Post by Bledi »

I have installed the new version + R526 to help PatrickE to integrate I2C-GPS and a version simple version of the gimbal.
I find something stange (but I am not a specialist):
- The output.ino in rev r526 is not correct beacause the declaration of number of motors is missing
- The HMC5883 is looking to be inverted (no problem in the dev version of december)
- The servo outputs for gimbal are not working (no problem in the dev version of december).
- in config.h the #define VTAIL is not present and when you had it you have some simples errors. GUI is not still using this define

ronco
Posts: 317
Joined: Thu Aug 18, 2011 2:58 pm

Re: dev MultiWii_dev_20120203 test

Post by ronco »

Bledi wrote:I have installed the new version + R526 to help PatrickE to integrate I2C-GPS and a version simple version of the gimbal.
I find something stange (but I am not a specialist):
- The output.ino in rev r526 is not correct beacause the declaration of number of motors is missing
- The HMC5883 is looking to be inverted (no problem in the dev version of december)
- The servo outputs for gimbal are not working (no problem in the dev version of december).
- in config.h the #define VTAIL is not present and when you had it you have some simples errors. GUI is not still using this define


output r526 misses the first 50 lines.. i fixed this now

regards

felix

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Bledi
Posts: 187
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Re: dev MultiWii_dev_20120203 test

Post by Bledi »

- The output.ino in rev r526 is not correct beacause the declaration of number of motors is missing => OK it's working
- The HMC5883 is looking to be inverted (no problem in the dev version of december)
- The servo outputs for gimbal are not working (no problem in the dev version of december). => OK it's working (problem of r526)
- in config.h the #define VTAIL is not present and when you had it you have some simples errors. GUI is not still using this define

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Bledi
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Re: dev MultiWii_dev_20120203 test

Post by Bledi »

It's confirmed, I tested the december version, HMC5883 is working fine. With le last version the north is not ok and the head is changing suddenly

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

Re: dev MultiWii_dev_20120203 test

Post by Alexinparis »

Bledi wrote:It's confirmed, I tested the december version, HMC5883 is working fine. With le last version the north is not ok and the head is changing suddenly

Hi,
Ok, I think I know why.
The code was a little bit changed to include a better mag calibration.

Code: Select all

    magCal[ROLL]  =  1000.0 / abs(magADC[ROLL]);
    magCal[PITCH] =  1000.0 / abs(magADC[PITCH]);
    magCal[YAW]   =  1000.0 / abs(magADC[YAW]);

just replace this part in the Sensors.pde file

nhadrian
Posts: 421
Joined: Tue Oct 25, 2011 9:25 am

Re: dev MultiWii_dev_20120203 test

Post by nhadrian »

I tested but level mode is not ok. It has serious drift to front-left, I couldn't take away with acc-calibration. In the gui the maximum level-D allowed is 100 so couldn't set up 500 instead.
Mag calibration with HMC5843 didn't worked,BTW the changing in prev. post would fix it.

Because of these I couldn't test the new alt hold method.
How could I copy this new alt hold into my dev20111220?

timecop
Posts: 1880
Joined: Fri Sep 02, 2011 4:48 pm

Re: dev MultiWii_dev_20120203 test

Post by timecop »

Alexinparis wrote:
Bledi wrote:It's confirmed, I tested the december version, HMC5883 is working fine. With le last version the north is not ok and the head is changing suddenly

Hi,
Ok, I think I know why.
The code was a little bit changed to include a better mag calibration.

Code: Select all

    magCal[ROLL]  =  1000.0 / abs(magADC[ROLL]);
    magCal[PITCH] =  1000.0 / abs(magADC[PITCH]);
    magCal[YAW]   =  1000.0 / abs(magADC[YAW]);

just replace this part in the Sensors.pde file


lol!! and I was wondering why the mag was crazy on my board.

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Bledi
Posts: 187
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Re: dev MultiWii_dev_20120203 test

Post by Bledi »

Alexinparis wrote:
Bledi wrote:It's confirmed, I tested the december version, HMC5883 is working fine. With le last version the north is not ok and the head is changing suddenly

Hi,
Ok, I think I know why.
The code was a little bit changed to include a better mag calibration.

Code: Select all

    magCal[ROLL]  =  1000.0 / abs(magADC[ROLL]);
    magCal[PITCH] =  1000.0 / abs(magADC[PITCH]);
    magCal[YAW]   =  1000.0 / abs(magADC[YAW]);

just replace this part in the Sensors.pde file



ok it's working very good.
I had work with Patrick and know he has post a new version with :
- I2C GPS
- The servo mixing for a simple GIMBAL
- The VTAIL

all is ok

crashlander
Posts: 506
Joined: Thu May 05, 2011 8:13 am
Location: Slovenia

Re: dev MultiWii_dev_20120203 test

Post by crashlander »

marbalon wrote:Hi,
I've jsut uploaded new verwon to my quad and found some problems.
1. There is a little mistake for people with EXT_MOTOR_RANGE


It seems that code for EXT_MOTOR_RANGE only exist for PROMINI and not for MEGA, Is that proper way to handle it:

Code: Select all

#if defined(MEGA)
    #if (NUMBER_MOTOR > 0)
    #ifndef EXT_MOTOR_RANGE
      OCR3C = motor[0]>>3; //  pin 3
      #else
        OCR3C = (((motor[0]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 1)
    #ifndef EXT_MOTOR_RANGE
      OCR3A = motor[1]>>3; //  pin 5
      #else
        OCR3A = (((motor[1]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 2)
    #ifndef EXT_MOTOR_RANGE
      OCR4A = motor[2]>>3; //  pin 6
      #else
        OCR4A = (((motor[1]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 3)
    #ifndef EXT_MOTOR_RANGE
      OCR3B = motor[3]>>3; //  pin 2
      #else
        OCR3B = (((motor[1]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 4)
    #ifndef EXT_MOTOR_RANGE
      OCR4B = motor[4]>>3; //  pin 7
      OCR4C = motor[5]>>3; //  pin 8
      #else
        OCR4B = (((motor[4]>>2) - 250) + 2);
        OCR4C = (((motor[5]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 6)
    #ifndef EXT_MOTOR_RANGE
      OCR2B = motor[6]>>3; //  pin 9
      OCR2A = motor[7]>>3; //  pin 10
      #else
        OCR2B = (((motor[6]>>2) - 250) + 2);
        OCR2A = (((motor[7]>>2) - 250) + 2);
      #endif
    #endif
  #endif

Regards
Andrej

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Hamburger
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Re: dev MultiWii_dev_20120203 test

Post by Hamburger »

ronco wrote:
Bledi wrote:I have installed the new version + R526 to help PatrickE to integrate I2C-GPS and a version simple version of the gimbal.
I find something stange (but I am not a specialist):
- The output.ino in rev r526 is not correct beacause the declaration of number of motors is missing


output r526 misses the first 50 lines.. i fixed this now

Bledi, Felix,

you shall not mix files from different revisions - that may work, or not.
The code you declare missing was moved for good reason from Output.pde to def.h, which is part of that same revision (r525).
If you check out all files from that revision (or a later one) all the code is there.

ronco
Posts: 317
Joined: Thu Aug 18, 2011 2:58 pm

Re: dev MultiWii_dev_20120203 test

Post by ronco »

Oh.. i see :(

sorry for that .. Bledi said its not working and i just checked the output -.-

regards felix

kataventos
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Re: dev MultiWii_dev_20120203 test

Post by kataventos »

Hi,

In this dev (jumped from 1.9) my ACC (Nunchuck) is present but not recognized, led is blinking after cal and no ACC values! My debug 4 is giving an error (never before), jumping random from 0 to -4. :|

Does anyone know what´s going on? Everything was working on 1.9.


UPDATE: found the "problem"... I change some things like low pass filter value, now it is not possible! why? changing from 4 to 8 or 16 til 64 was possible in 1.9.

Cheers,
Henrique

wilco1967
Posts: 156
Joined: Thu Aug 18, 2011 6:04 pm
Location: Winterswijk, Netherlands

Re: dev MultiWii_dev_20120203 test

Post by wilco1967 »

Can't get the tail servo to move on a Tri with MultiWii_dev_20120203 version.
With earlier software version all is working fine :?

Running a Flyduino MEGA.
Tail servo output seems to move correctly in the GUI, but no response from servo. The rest (motors, sensors) seems to work fine...

Wilco

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

Re: dev MultiWii_dev_20120203 test

Post by Alexinparis »

wilco1967 wrote:Can't get the tail servo to move on a Tri with MultiWii_dev_20120203 version.
With earlier software version all is working fine :?

Running a Flyduino MEGA.
Tail servo output seems to move correctly in the GUI, but no response from servo. The rest (motors, sensors) seems to work fine...

Wilco

Hi,
right, there is a bug in the servo assignment
a small fix:
replace
#define SERVO_5_PINMODE pinMode(6,OUTPUT);
#define SERVO_5_PIN_HIGH PORTH |= 1<<3;
#define SERVO_5_PIN_LOW PORTH &= ~(1<<3);


with
#define SERVO_5_PINMODE pinMode(2,OUTPUT);
#define SERVO_5_PIN_HIGH PORTE |= 1<<4;
#define SERVO_5_PIN_LOW PORTE &= ~(1<<4);

Alexinparis
Posts: 1630
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Re: dev MultiWii_dev_20120203 test

Post by Alexinparis »

crashlander wrote:
marbalon wrote:Hi,
I've jsut uploaded new verwon to my quad and found some problems.
1. There is a little mistake for people with EXT_MOTOR_RANGE


It seems that code for EXT_MOTOR_RANGE only exist for PROMINI and not for MEGA, Is that proper way to handle it:

Code: Select all

#if defined(MEGA)
    #if (NUMBER_MOTOR > 0)
    #ifndef EXT_MOTOR_RANGE
      OCR3C = motor[0]>>3; //  pin 3
      #else
        OCR3C = (((motor[0]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 1)
    #ifndef EXT_MOTOR_RANGE
      OCR3A = motor[1]>>3; //  pin 5
      #else
        OCR3A = (((motor[1]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 2)
    #ifndef EXT_MOTOR_RANGE
      OCR4A = motor[2]>>3; //  pin 6
      #else
        OCR4A = (((motor[1]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 3)
    #ifndef EXT_MOTOR_RANGE
      OCR3B = motor[3]>>3; //  pin 2
      #else
        OCR3B = (((motor[1]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 4)
    #ifndef EXT_MOTOR_RANGE
      OCR4B = motor[4]>>3; //  pin 7
      OCR4C = motor[5]>>3; //  pin 8
      #else
        OCR4B = (((motor[4]>>2) - 250) + 2);
        OCR4C = (((motor[5]>>2) - 250) + 2);
      #endif
    #endif
    #if (NUMBER_MOTOR > 6)
    #ifndef EXT_MOTOR_RANGE
      OCR2B = motor[6]>>3; //  pin 9
      OCR2A = motor[7]>>3; //  pin 10
      #else
        OCR2B = (((motor[6]>>2) - 250) + 2);
        OCR2A = (((motor[7]>>2) - 250) + 2);
      #endif
    #endif
  #endif

Regards
Andrej


yes, not everything is properly coded at the moment.
output code was changed and still needs some check

ronco
Posts: 317
Joined: Thu Aug 18, 2011 2:58 pm

Re: dev MultiWii_dev_20120203 test

Post by ronco »

Hi,

ther is a mistake in my motor soft PWM code .. at line 132

Code: Select all

for(uint8_t i=0;i<min(NUMBER_MOTOR,4);i++)

will set only the first 4 motor pins to output .. not motor 5-8

so is it ok if i change it to

Code: Select all

for(uint8_t i=0;i<NUMBER_MOTOR;i++)

?

regards

felix

crashlander
Posts: 506
Joined: Thu May 05, 2011 8:13 am
Location: Slovenia

Re: dev MultiWii_dev_20120203 test

Post by crashlander »

Alexinparis wrote:
crashlander wrote:
marbalon wrote:Hi,
I've jsut uploaded new verwon to my quad and found some problems.
1. There is a little mistake for people with EXT_MOTOR_RANGE


It seems that code for EXT_MOTOR_RANGE only exist for PROMINI and not for MEGA, Is that proper way to handle it:
...


yes, not everything is properly coded at the moment.
output code was changed and still needs some check

I made tipo in my first code correction (motors 2 and 3 were driven with motor 1 impulse) and is now corrected.

Code: Select all

#if defined(MEGA)
    #if (NUMBER_MOTOR > 2)
...
          #else
        OCR4A = (((motor[2]>>2) - 250) + 2);
 ...
    #if (NUMBER_MOTOR > 3)
 ...
      #else
        OCR3B = (((motor[3]>>2) - 250) + 2);
 ...
  #endif

But with that setup my servo on Three is not working (anymore), it worked with previous snapshots?!

Regards Andrej

neverfree
Posts: 2
Joined: Thu Feb 09, 2012 10:50 am

Re: dev MultiWii_dev_20120203 test

Post by neverfree »

hello
my tricopter flies very well with 1.8 patch2 except altotude hold i try to installe the 20120203 dev but i don't understand how to configure configurable parameters for my tricopter and what arduino or prrocessing version?
thank you for your answer

best regards

kataventos
Posts: 702
Joined: Sun Aug 28, 2011 8:14 pm
Contact:

Re: dev MultiWii_dev_20120203 test

Post by kataventos »

Hi,

OK, :) I tryed this dev without my changes to low pass filter etc, etc.
I´m just delighted! this is something a lot different, level Mode is perfect, what did I miss in the last month?
Just one question about something that bothers me almost from the beginning, at first the D value was negative and increase D was closer to zero, after the change from negative to positive, increasing is a lower value or higher? :oops:

I ask this because I see a D on level and it is 100 so, that means no D?
What are the random values on debug4?

Cheers,
Henrique

Update: Can anyone be so kind to answer this questions!
Last edited by kataventos on Thu Feb 16, 2012 10:49 pm, edited 2 times in total.

wilco1967
Posts: 156
Joined: Thu Aug 18, 2011 6:04 pm
Location: Winterswijk, Netherlands

R557 level fault ?

Post by wilco1967 »

Seems like something went wrong with the level mode in R557
It was working fine in dev20120203.

In R557, there is a slow oscillation (approx 3 seconds cycle), which does not disappear when I change the level PID parameters (just becomes more/less pronounced, but always remains present). It's a circular type of oscillation. It used to fly pretty good with default PID parameters on earlier revisions.

I'm no expert (far from that) :oops: ... just reporting what I see, but could there be a mixup between pitch and roll somewhere (that would be my gutt feeling based on how it is behaving) ?

this is on a Quad-X, promini, 9DOF Drotek IMU. Haven't tried the Tri yet....

BTW: the alt hold seems to work a lot better on dev20120203.... Not properly tuned yet, but definitely moving in the right direction. I only have a baro on the Tri, not for the quad.

--------
EDIT.

Seems like it is solved in R569..... With the addition of a new default level D setting of 100, it levels nice again..... If I put the D back to 0 (earlier standard), the problem is back....
Thanks !

KeesvR
Posts: 194
Joined: Fri May 27, 2011 6:51 pm
Location: The Netherlands

Re: dev MultiWii_dev_20120203 test

Post by KeesvR »

Today my T-Copter flipped 2 times with this version. The right motor stopped.
Gone back to Dev20111220 and I haven't seen it anymore.

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shikra
Posts: 783
Joined: Wed Mar 30, 2011 7:58 pm

Re: dev MultiWii_dev_20120203 test

Post by shikra »

To alex

If you decide to go with the LEvel D method, can you set default param in EEPROM checkfirst time ?
Also it would be real nice to have it on the LCD for tuning at the field ..... :P

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