Difference between revisions of "Extra features"

Revision as of 05:42, 1 August 2012

Camera trigger output

a servo output can be dedicated to trigger a camera button. A servo travel pattern is defined in this case , see Config.h

Camera Stabilisation

ESCsCalibration

Introduction

If the ESCs of the copter need calibration, a special version of MultiWii? can be built, that does nothing but trying to calibrate all attached ESCs. This may come in handy when plugging/unplugging of the cables is undesirable or near impossible (soldered cables)

How To

* remove props or tie copter down.
* setup all options in config.h to whatever suits your copter
* activate the define ESC_CALIB_CANNOT_FLY, possibly set high and low values for ESC calibration, if you know what you are doing
* compile, upload, run --- cannot fly and will use Buzzer/LEDs to indicate finished calibration (after approx 10 seconds)
* comment the define again, compile, upload
* test carefully with your ESCs calibrated, fly and have fun 

Details

If neccessary, the low and high values for the ESCs can be tweaked by changing the values for the defines of ESC_CALIB_LOW and ESC_CALIB_HIGH 2000

Warning

Remove propellers or tie your copter down. Seriously. If for whatever reason this firmware would not make the ESCs enter calibration mode, it would nevertheless send 'full throttle' signals to the ESCs for some time. This is guaranteed to be dangerous.

Buzzer

Introduction

The buzzer is used to give the pilot some feedback of the functions and errors of the MultiWii system.

Table of contents

1. Hardware setup
2. Software setup
3. How it works

Hardware

You need to connect a piezo buzzer or a pilotlamp to the dedicated buzzer port of you FC.

Software

In config.h you need to alter one of the following lines:

#define BUZZER

#define PILOTLAMP

to enable the buzzer.

How it works

There are several mandatory and optional beeping patterns to indicate the different states of the MultWii system. The patternn consist of 3 beeps followed by a pause. The length of the beeps and pauses are defined as follows:

• N: None (0ms)
• S: Short (50ms)
• L: Long (200ms)
• D: Double (2000ms)

The beeps are priority driven, the first entry has the highest priority:

1. Failsafe find me signal: LNN,D (repeat)
2. Failsafe landing active: SLL,S (repeat)
3. GPS RTH/ PH activated without fix: SSN,S (repeat)
4. Beeper: SSS,S (repeat)
5. Runtime Warning: SSS,N (repeat) (#define ARMEDTIMEWARNING)
6. Battery voltage warning level 3: SLL,D (repeat)
7. Battery voltage warning level 2: SSL,D (repeat)
8. Battery voltage warning level 1: SLN,D (repeat)
9. RCoptions Toggle: S (#define RCOPTIONSBEEP)

Additional beeps

• Inflight ACC calibration activated: SS (#define INFLIGHT_ACC_CALIBRATION)
• Inflight ACC calibration deactivated: SSS
• Gyro calibration done: SSS
• ACC calibration done: L
• LCD Configuration step: S

Pilot Lamp

Introduction

The PilotLampis used to give the pilot even more feedback of the functions and errors of the MultiWii system than the buzzer alone.

Table of contents

1. Hardware setup
2. Software setup
3. How it works

Hardware

You need to connect the pilotlamp to the dedicated buzzer port of your FC and to 5V and ground.

Software

In config.h you need to alter the following line:

#define PILOTLAMP

to enable the pilot lamp.

How it works

LEDs

There are three different colors on the pilot light:red, green and blue.

• Red: error indicator
• Green: Flight mode indicator
• GPS function indicator

Green LED

• Armed, acro mode: medium blinking
• Armed, stable mode: slow blinking

Blue LED

• GPS present: No GPS fix: fast blinking
• GPS present: Valid Fix: slow short blinking
• GPS present: RTH/PH active: slow long blinking

Red LED

• Failsafe landing active: fast blinking
• Failsafe find me: slow blinking

Beeper

• LED Sequence RED->BLUE->GREEN (repeat)

Buzzer

See Buzzer

Failsafe

Introduction

The most important part of a RC flying object is the failsafe routine. Never, I repeat NEVER take off without a working failsafe routine. If you do not know how to setup the failsafe or what your copter does if it looses tx signal - DO NOT FLY. Nothing is more dangerous that an out of control multirotor. You have spinning blades that can hurt people.

The failsafe routine of multiwii determines what is happening if the connection between RX and TX is lost.

Beware: Some RX have a built in Failsafe routine, that prevent the FC to recognize a signal loss. Be sure to check the behaviour of you RX system BEFORE first take off.

Details

If a loss of TX Signal is detected the copter enters stable mode after a guard time if an ACC is present and applies a configured throttle for a given time before it shuts down the motors.

There are different options that control the behavior of the multirotor after loss of TX signal:

#define FAILSAFE Failsafe function activated if TX signal loss found.

#define FAILSAFE_PIN On which pin should the FC check for a signal loss

#define FAILSAVE_DELAY How long does the copter need to notice a loss of TX signal.

#define FAILSAVE_OFF_DELAY How long does the copter try to land before switching off the motors. If you set this value to 0 the copter will shut down immediately - sometimes the savest solution. Be aware, that the copter may drift and crash into anything while trying to land.

#define FAILSAVE_THROTTLE How much throttle is applied while trying to land. This value is dependent on the weight of your copter, the strenght of your motors and on the size of your propellers. You need to test, which value is right to enter a descending movement.

Features to come

• Failsafe position hold and land
• Failsafe return home
• Failsafe baro landing
• Failsafe ultrasonic landing

Telemetry