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change.txt
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***documentation***
===============================================================
Documentation for releases should be in the official wiki at
http://www.multiwii.com/wiki
stable and development versions can be found here:
https://code.google.com/p/multiwii/
For development versions you are on your own - good luck.
Don't try any development version if you don't follow dev evolution.
Don't forget a multirotor is something that can be dangerous.
For discussion and questions the official forum is at
http://www.multiwii.com/forum
Evolution of the code can be followed here:
http://code.google.com/p/multiwii/source/list
MultiWii is not a product, nor a plug and play solution.
It is basically an open source project.
Don't expect to buy a compatible board and run it without a minimum knowledge.
main changes 2.3 -> 2.4
***GPS***
The main change in this version is for sure the code brought by EOSBandi regarding navigation (supported long time as a standolone MultiWii 2.3navi B7) .
Thanks to this major contribution, MultiWii can now navigate trought multiple WPs in an autonomous way.
The documentation about all define option can be found in this post:
http://www.multiwii.com/forum/viewtopic.php?viewtopic.php?f=8&t=3989
For the moment, only some GUIs can support this code to program a mission:
- WinGui from EOSBandi (http://eosbandi.com/downloads )
- EZ-GUI from Ezio (in google play apps https://play.google.com/store/apps/details?id=com.ezio.multiwii)
- mwp mission planner from stronnag (https://github.com/stronnag/mwptools)
tmp note for WinGui:
in order to work with current dev WinGUI, the version number should be switched back to 230.
otherwise an error message will occur.
in MultiWii.h , line: #define VERSION 230
will be soon supported with a new WinGui release
No support in java GUI MultiWiiConf.
Do not forget to activate #define USE_MSP_WP to be able to use waypoints.
The overall code without GPS is much shorter. However due to the change on GPS code, it is no more compatible with a 32u4 proc.
The GPS code without nav might still work on 328p proc.
A mega proc is mandatory to benefit from all the GPS functionalities.
internal code modification:
- dissociate frame parsing & frame computation
- I2C GPS is no more used as an extension with nav computation. It is now supported as a simple GPS device, and all computations stay in the FC, exactly like Serial GPS device.
- GPS Serial frame parsing is now part of generic Serial decoding code
- UBLOX GPS frame parsing improvement
***IMU computation***
- mostly optimization on computation time not visible for end users: less float and more 16bit integer where it's possible / some specific avr asm multiplication.
- better accuracy InvSqrt
- heading is computed even with no mag
- hungry tasks has been reduced or divided in order to minimize the jitter of loop time.
With this improvement, a constant loop time is set a little bit higher than the average and default to 2.8ms.
***ACC***
- Nunchuk is no more suported
***Baro MS561101***
- a little bit paradoxal regarding other portion of code approach in multiwii, but float computation tooked from APM appears to be shorter and faster with a minimal approximation.
- computation time smoothed thanks to a task split
- #define ALTITUDE_RESET_ON_ARM option is added
note the baro is still always reset when doing a gyro calibration
***I2C***
- no more speed change on the fly: all sensors are default to 400kHz.
- The only exception is when a legacy WMP is still used with a 100kHz speed. So no need to bother any longer about this speed if you don't own a genuine WMP.
- In case of I2C errors at the init stage, initialization occurs up to 5 times. This should prevent some remaining I2C errors.
***Brushed motor option***
- brushed motors option on 32u4 proc at 8/16/32 kHz
- brushed motors option on 328p proc at 1/4/32 kHz
http://www.multiwii.com/forum/viewtopic.php?viewtopic.php?f=8&t=3635&p=36883#p36877
***RX receiver***
- SUMD RX type introduction
- SBUS improvement / SBUS signal scaling to match other receiver range
- code factorization for all Serial type RX (Spektrum/SUMD/SBUS)
- adjustable averaging sample (AVERAGING_ARRAY_LENGTH) for non Serial RX. For Serial RX, the averaging code is removed because the signal is already natively digital.
- Serial RX should now be usable with no glitch during LCD conf
- RSSI injection on a rc channel
***MSP***
- new MSP message for ACC TRIM (not used in java MultiWiiConf)
- new MSP message for cells voltage
- new MSP messages for GPS navigation
- remove MSP ack for MSP_SET_RAW_RC, and only for this message
***Sonar***
- fix Devantech SRFxx code that was broken some time ago. But still no code integrated for alt lock using sonar.
***Heli***
- experimental : heli yaw precomp dependant on collective pitch
- experimental : better tail lock tacking intoo account collective pitch
***Voltage***
- compute watts
- experimental : individual cells voltage monitoring (alarm portion undone yet)
***LCD***
- LCD.lcd03 over serial support added
*****reference version to compile sketch*****
- MultiWii sketch : windows version of Arduino IDE 1.6.1
- MultiWiiConf : processing 1.5.1 with modified verison of ControlP5 to remove blue triangles in value box
main changes 2.2 -> 2.3
***Control mode***
- main PITCH/ROLL/YAW PID modification (r1474)
- the sticks scaling is no more affected by PID coefficients
- yaw rate (to the right of the PIDs in GUI) now works as stick scaling
- default yaw rate is increased (with yaw rate at 0)
- yaw PID principle is now different from PITCH&ROLL PID:
- yaw ITerm windup is very high, allowing an 'elastic' direction return after a manual perturbation
- yaw ITerm is also constrained with a windup independent limit
- yaw PTerm is constrained in order to counter the yaw jump effect.
use yaw DTerm to increase this constrain (r1573)
- yaw ITerm is canceled if the yaw stick is not centered
- Throttle angle correction (r1374)
- Advanced Headfree mode added (see config.h for instructions) (r1374)
- DYNBALANCE option, individual motor can be controled via GUI, to test individual vibration
http://www.multiwii.com/forum/viewtopic.php?f=7&t=3294
- better gyro & acc calibration accuracy (r1546)
http://www.multiwii.com/forum/viewtopic.php?f=7&t=3880
- cannot arm is baro mode is on (r1550)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=3910
! baro mode should be activated only when the multi is nearly Z stable !
- only one baro mode : vario around a throttle deadband (r1554)
- magHold is reset when arm is switched on (r1553)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=3910
- ONLYARMWHENFLAT option (r1587)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=4077&hilit=coming&start=40#p41755
***receiver & UART***
- RCSERIAL is now deeply integrated. If a MSP_SET_RAW_RC comes, it will just override legacy RX data. (r1420)
as a consequence, RCSERIAL is no more an option
- no RC averaging for Spektrum & SBUS (r1545)
- SBUS center define (r1568)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=3957
- FAILSAFE_DETECT_TRESHOLD configurable
***GPS***
- Enables sonar altitude from i2c-gps-nav board (1424)
- navigation code will follow after 2.3
***GUI***
- Gui with Servosettings. (r1441 & r1450)
All models with servo included.
- GUI globalsettings (for some settings previously only in config.h)
- do not display /dev/cu.* devices but only corresponding /dev/tty.* (r1442)
- GUI baudrate as configurable setting
***LCD***
- lcd.telemtry: show max ground speed from gps data (r1398)
- lcd.telemetry: allow separate suppression of aux2 configuration (r1456)
- new display support 1.3" i2c OLED from digole.com (r1413)
- config.menu: when abort, revert all values back to last saved state
- visual feedback from servos during midpoint trim via LCD
***IMU and baro***
- correct GYRO_SCALE for all gyro (r1428)
- no more small angles while shaking the board (r1579)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=4112
- baro Alt based on ground temp compensation (r1570)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=4059
- not I reset for FIWEDWING (r1590)
http://www.multiwii.com/forum/viewtopic.php?f=7&t=2456&start=330#p42355
- add 6DOF LSM330 sensor (r1571)
- add ACC BMA280 sensor (r1600)
*** SERVO management ***
warning:
The pins for coptertypes with servos have been changed.
Attaching a servo to a motor pin can quickly destroy your servo.
All connection diagrams out there from v2.2 or older are no longer valid for v2.3 with servos using hardware PWM.
http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
- add 8 hardware PWM's for servos on MEGA boards. Servo outputs are 44,45,46,11,12,6,7,8 (r1384)
- Allow any servo refresh rate from 20 to 400Hz on Mega hardware PWM servos. (r1386)
- Tri servo moved to SERVO4 (pin11) on mega boards with HW PWM's. (r1392)
- a32u4 (nanoWii, MicroWii etc) HW PWM for 4 servos; warning different pins!!
(with lots of info and help from ronco)
(r1464 & r1470)
- add a generic way to configure servo settings : conf struct + MSP read/set messages (r1383)
- Added general servo handler (r1421 & r1429)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=3498
- allow preset of some servo stuff from config.h (r1432)
- Gui with Servosettings. (r1441)
- add gimbal servo stretcher usable with HW PWM's. (r1384)
We can get 180 degrees servo move without servo modification.
- note about gimbal: settings for neutral&endpoints are no more in config.h, but only in GUI
- do not update servos during unarmed calibration of sensors which are sensitive to vibration (r1408)
***internal improvements***
- migration to a cpp/h code structure (r1515 & r1516)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=3773
http://www.multiwii.com/forum/viewtopic.php?f=8&t=2931
- huge flash size optimization (around 1k)
thanks to fine struct definitions + serialization over MSP (r1369)
- make powermeter computation time based (again) to reduce config hassle and increase accuracy (r1375)
- read at most one analog channel per MWii main loop cycle (r1375)
- smoothing of RX_RSSI (r1379)
- make faster analog reads an option with default off to increase accuracy (r1375)
- detangle vbat & buzzer dependancy (r1375)
- optimization : small approximation bit shift used instead of * or / number
for TPA, rates, dynP, dynD and expo curb (r1376)
- Added checking for flash content change, and reload config parameters in this case. (r1389)
- split Serial into Serial(core UART management) & Protocol (r1548)
- loop is globally faster
***add-ons***
- option to suppress defaults in mwc sketch and load via gui from file instead (r1365)
- add OVERRIDE_PSENSORPIN option (r1375)
- manual for using Multiwii in Eclipse environment
http://www.multiwii.com/wiki/index.php?title=Developing_in_Eclipse
- add amperage to MSP_ANALOG (r1542)
- MY_PRIVATE_DEFAULTS (r1559)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=3987
- no more than one MSP per port and per cycle
should smooth the delay while requesting MSP, especially for USB port on micro
2.1 -> 2.2
***Control mode***
- introduction of HORIZON MODE.
We have now 3 modes:
ACRO mode.
This is the default one when none of the ANGLE & HORIZON BOX is activated.
The copter will continue rotating in the direction in which you tilt sticks.
When you let go of sticks it will maintain that angle and not return to level
ANGLE mode
The position of the stick indicates the angle at which the copter tries to maintain. Sticks off = level.
Full sticks in any direction and it will tilt at around 50 degrees. It's proportional in-between.
It maintains the angle set by the stick. Let go of sticks and it returns to level
HORIZON mode <- new
It's a proportional mix of the two. Sticks off = level. Full deflection = ACRO.
In between it gradually mixes from LEVEL mode to ACRO.
It's a fine mix to be able to do some ACRO with the safety of ANGLE mode when you release the sticks.
It allows also a more natural way of flying as the multi seems less constrained.
- failsafe code is more strict. (thanks to MIS)
If activated, it takes into account all the main channels and it's important to stay strictly inside the [1000-2000] range.
For instance a throttle of 995 will activate the failsafe
failsafe is optional and can be activated via #define FAILSAFE
- Acrotrainer mode introduced by PatrikE
a kind of non proportional horizon mode
more info here: http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944
- SERVO_TILT_MIX
introduced by Bledi and Gary
http://youtu.be/zKGr6iR54vM
corrected after to support optionally up to 2 AUX channels superposition to control the gimbal
- CAM STAB: (thanks to Gary and suggested or Arne)
Ability to define Cam Stab control channels used
Ability to turn off
Fix for AUX3 + 4 affecting tilt/roll with camstab enabled
***add-ons***
- pilotlamp integration (thanks to mr.rc-cam, jevermeister, doughboy )
via #define PILOTLAMP
http://code.google.com/p/multiwii/wiki/Documentation_Pilotlamp
- LEDRING pattern was refined thanks to shikra
instructions here: http://code.google.com/p/multiwii/source/browse/trunk/LEDRing/README.txt
- variometer introduced by Hamburger
enable to get audio feedback upon rising/falling copter/plane
via #define VARIOMETER
***receiver & UART***
- option to use throttle PIN as the PPM PIN on mega boards thanks to MIS
this way you can use the UART 1 for other purpose
via #define PPM_ON_THROTTLE
- every UART port on MEGA boards can be used at the same time with different baud configuration.
ie, you can connect up to 4 GUI or OSD or anything using MSP simultaneously
- the second UART port on promicro boards can be used at the same time with different baud configuration.
- spektrum (thanks to Danal)
- spektrum satellite up to 12 channels, even if only 8 are usable in multiwii
- spektrum satellite BIND button, to associate a satellite without the main receiver
***PIN mapping***
- possibility to override some PIN definition in config.h (thanks to Hamburger)
***GPS***
- UBLOX GPS: the baud configuration is autodetected and the UBLOX binary protocol is automaticly set (thanks to MIS & EOSBandi)
- MKT GPS can now be parsed in binary mode is possible thanks to EOSBandi
made for DIYDrones MTK firmware v1.6 and v1.9
- I2C GPS:
correct directionToHome (change it to the opposite direction)
there is still a problem remaining when your distance to home reaches 654m: it overflows.
a I2C code evolution is needed to correct this problem
- a forward predictive filter was ported from the Arducopter code by EOSBandi
optional and by default activated: #define GPS_LEAD_FILTER
- first implementation of MSP_SET_WP
with the help of Ezio app (EZ-GUI), we can now control the multi with a smartphone:
set a new position on a map / follow me / follow heading
see Multiwii EZ-GUI specific topic: http://www.multiwii.com/forum/viewtopic.php?f=8&t=2034
some video about this functionality:
http://www.youtube.com/watch?v=qpoPanmVa9Y
http://www.youtube.com/watch?v=hPj6WZex8j0
http://www.youtube.com/watch?v=nPICiiaDTnc
- AP_MODE introduced by PatrikE
used in GPS POS HOLD mode, outside the specified stick range the POS HOLD position is renew
***multiwii models***
- HELICOPTER and PLANE models was refined thanks to PatrickE and Hamburger
multiple helicopter type HELI_120_CCPM , HELI_90_DEG
servo configuration for plane, FLAP, FLAPPERON
- HEXH6 multicopter type added (thanks to shikra)
- Bi-Copter pitch direction setting
- USE_THROTTLESERVO (for airplanes), COLLECTIVE_RANGE changed (second value not offset anymore)
***GUI & OSD & LCD***
- a RECONNECT button was added by PatrickE
a file is now generated to indicate the last COM&Serial speed.
The serial speed can be edited in this file to change the UART speed of GUI.
- New MultiWiiConf GUI v2.2 with graphical improvements (thanks to Magnetron and doughboy)
cool things like virtual horizon
- optional 3 independent configurations, stick selectable settings in EEPROM (thanks to MIS)
can be activated via #define MULTIPLE_CONFIGURATION_PROFILES
- a RESET button was added in the GUI
if you encounter any EEPROM problem or if you want to restore the default values
***LCD***
- on mega boards, it's possible to define the LCD port for LCD supporting true UART.
- more parameters are tunable via LCD conf, all the one in config.h with a small (*) besides, thanks to Hamburger
those parameters will be moved in the GUI later in another step, once we find the good way to do it.
example: failsave.throttle , vbat tunable params , powermeter tunable params
- many telemetry and LCD config enhancements (thanks to hamburger)
telemetry page 3: use long boxnames
telemetry page 2: show numerical values for sensor data next to bar graphs
no user interaction necessary to run telemetry info upon start up
set individual board name string (currently used for display; no GUI representation yet)
- LCDconfig menu: with THROTTLE=High, increment is 10 times of normal
- servos are moved to neutral position during calibration and lcd.configuration
***OSD***
- RSSI PIN added for OSD use (thanks to Kataventos)
the RSSI output can be retrieved via a MSP message for OSD
- OSD BOX added for OSD activation (thanks to Itai)
- huge work made on an open source code OSD fully compatible with MultiWii (thanks to the team lead by Kataventos)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=2918
http://code.google.com/p/rush-osd-development/
***IMU and baro***
- gyro calibration could be held until the MWC stops moving
introduced by MIS, and made optional after via a specific define: #define GYROCALIBRATIONFAILSAFE
- mag gain calibration is improved thanks to EOSBandi
based on Fabio FreeIMU code. We won't forget you Fabio...
- perfect euler angle computation in case of 9DOF (better heading)
no more gimbal lock in GUI representation with a 9DOF sensor
- force sensors orientation to override board specific defaults
optional in config.h
- default ACC LPF factor reduced from 16 (2^4), and is share with ACC LPF for alt hold
- gyro/acc complementary filter value increased from 400 to 600
- gyro/mag complementary filter now set to 250 instead of 200
- gyro scale factor changed from 2380 to 2279
- accelerometer now used below 1.15G and above 0.85G instead of previous 1.4G/0.6G settings
- option: SENSORS_TILT_45DEG_LEFT/RIGHT to change X/P configuration without changing board orientation
- ALT HOLD is greatly improved thanks to the code of Mahowik, a little bit optimized since
improved baro hold (PID) algorithm that includes the accelerometer z-axis
its a real major improvement for multiwii
http://www.youtube.com/watch?v=T3htaJ53Z7E
- baro calibration and calculation is improved thanks to Sebbi
baro indicates now altitude 0 when it is powered. This is the reference altitude.
- calculation of barometric altitude changed to include temperature, faster update rate
- new FC boards: SIRIUSGPS, SIRIUS_AIR, SIRIUS_AIR_GPS, MICROWII, GY_521, MultiWiiMega, DESQUARED6DOFV2GO, DESQUARED6DOFV4, LADYBIRD, MEGAWAP_V2_STD, MEGAWAP_V2_ADV, HK_MultiWii_SE_V2, HK_MultiWii_328P, RCNet_FC, FLYDU_ULTRA
***internal improvements***
- some default PID were changed for optimization speed in PID copmputation.
The default PID should behave exactly as the previous ones.
To restore your old PID settings, just a proportion is needed.
- 5 hardware PWM servos avaliable with Mega boards on pins 44,45,46,11,12 (thanks to MIS)
- EEPROM settings secured by checksum (thanks to MIS)
- optional permanent logging to eeprom
setting: LOG_PERMANENT
- change LED blink frequency for acc-uncalibrated or tilt>25 from 50ms to 10ms
- rework of task scheduler code thanks to ideas from Sebbi
we have now a better computation time repartition
- optional fixate cycle time (by burning cpu time away)
- allow override of motor/servo mixing from config.h - no need to edit Output.ino
experimental
- faster cycle time than with v2.1
- many many hidden optimizations in the code
2.0 -> 2.1
Some things everyone should be aware before upgrading to this version.
WMP and NUNCHUCK are no longer auto recognized.
You must explicitly declare them (or just WMP) in config.h
Pullups are now undefined by default
(think about activating it if you use a WMP only conf)
LCD is not activated by default
Failsafe is not activated by default
VBAT monitoring is not activted by default
There is no more .pde files
You must use Arduino 1.0 or greater to compile the sketch (and open Multiwii.ino)
If the GUI does not work on your setup,
try to deactivate hardware acceleration for your display board
or use an alternative GUI like WinGUI
MultiWii is not a product, nor a plug and play solution.
Don't expect to buy a compatible board and run it without a minimum knowledge.
Receiver part
OpenLRS Multi board support done
This is a board including an OpenLRS receiver where the atmel
is used also to run multiwii code.
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1438
Multiwii Serial Protocol
It's a new protocol to communicate with the FC
It was introduced by me and tuned by Tommie
It's a huge change, but it should ensure a generic way to communicate with the FC
which is less dependant to version evolutions.
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1516
Now, there is no mod to multiwii code if we want to add a GUI/OSD/conf tool/...
Compatible GUI:
open source code, compatible with the new serial protocol:
WinGUI from EOSBandi, which is fully equivalent with the original one,
with a better look
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1229
mwGui from kos
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1791
Android ones via serial bluetooth:
- adding a bluetooth module to multiwii
more info here: http://www.multiwii.com/forum/viewtopic.php?f=6&t=133
compatible apps:
https://play.google.com/store/apps/details?id=net.xrotor.andmultiwiiconf
https://play.google.com/store/apps/details?id=net.loide.games.bicopter
https://play.google.com/store/apps/details?id=com.naze32.configurator
Compatible OSD:
open source code, compatible with the new serial protocol
Rushduino:
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=922
mobiDrone:
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1498
LCD config
OLED display
thanks to contributions of howardhb and Hamburger
more info here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
VT100 terminal type addition
thanks to contribution of Hamburger
more info here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=1096
A multiline option is added to allow the configuration on more than 2 lines
useful for displays like OLED or VT100
We have now a lot of possibilities regarding LCD:
SERIAL3W : original 2x16 line from Sparkfun
TEXTSTAR : Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02
VT100 : vt100 compatible terminal
ETPP : Eagle Tree Power Panel LCD
LCD03 : an i2c LCD
OLED_I2C_128x64
New proc: ATmega32U4
Thanks to the work from ronco.
This proc can be found in the Arduino pro micro board, or Teensy 2.0
The Pro Micro is similar in size to the Pro Mini except it has a ATmega32U4 on board.
The USB transceiver inside the 32U4 allows us to add USB connectivity on-board.
ronco also designed a custom board named nanowii.
One of the smallest 6DOF Multiwii board with usb, which can be now purchased.
more info here: http://www.multiwii.com/forum/viewtopic.php?f=6&t=1337
Servo:
Higher refresh rate:
Some servo (mostly digital ones) can work with a higher frequency than 50Hz.
The benefit to use a higher refresh rate is a sharper response.
ronco adapted the code to make this frequency configurable
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1644
Hardware PWM output:
On MEGA boards, it's now possible to drive the gimbal servos with
a 11-bit PWM servo resolution. Thanks to ronco.
The hardware PWM output ensures a jitter free response.
LED flasher
A way to set a flash LED sequence from Tommie
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1505
Throttle expo
There is now another curve in the GUI to configure the Throttle expo.
It's a way to smooth the throttle stick response around the hover point.
In order to help the setting, there is a small cursor in the graph to show
where is the current throttle input.
ACC LEVEL improvement
The LEVE mode is improved since 2.0 thanks to new choice of
other complementary filter coefficients and a floating point low pass filter
Headfree checkbox:
It's possible to reset the headfree direction while flying via a checkbox.
thanks to Tommie
Sensor:
MPU6050: there was a bug which prevents using the gyro LPF. correted now.
SONAR: I2C sonar SRF0x code was added but is not currently used.
HMC5883 axis calibration factor was added
NUNCHUK is fusioned with ACC in GUI
many new boards was also added in config.h file
Internal code:
- the Serial part uses now less RAM (thanks to Tommie first mod)
RX/TX buffers are smaller than before.
- EEPROM parameters are stored in a struct, and are written in the
EEPROM in a single step.
- MAG declination was added by EOSBandi, to have more accurate orientation.
In some countries, it's really mandatory to set this variable right,
otherwise it's impossible to use GPS.
- Flag var was introduced for global boolean type variables.
- Hamburger introduced some "copter exemple" in order to check
if compilation is ok. (should be a way to remove some trivial bugs)
- code style (indentation, variable naming convention etc.) started
- GUI requires new ControlP5 library to compile
- interval variable activate[] is now 16 bit long
- new config.h structure
GUI:
- thanks to Danal, there is now the PIN number and the propeller direction
drawed in the graph representation
- thanks to kos, we can now load and save parameters into a file
- there is now a reset button to set all parameters to default
- there is now a GUI visual feedback on all states (checkbox items)
GPS code:
Thanks to the work of EOSBandi, we have now a working GPS code !
The navigational routines are based on the works of Jason Short
and the Arducopter team (another great open source project).
EOSBandi adapted it to multiwii.
basically, there are 2 main options for GPS: SERIAL option and I2C option.
- If you have a spare serial port AND an AtMega1280 or 2560 microcontroller
based FC, you can connect your GPS to that port and enable the serial GPS
code in the code.
Patrick introduced a way to switch automaticly between GUI message parsing
or NMEA message parsing on the same Serial port
(useful for promini because you can use the same port for GUI and GPS
in an exclusive mode)
- You can use an I2C_GPS board, which contains a secondary AtMega328 processor
with a serial GPS and runs the GPS parsing and navigational computations.
This board communicates with the FC via the I2C bus.
more info here: http://code.google.com/p/i2c-gps-nav/downloads/list
and here in this huge post: http://www.multiwii.com/forum/viewtopic.php?f=8&t=649
There is also a specific GPS_FROM_OSD option:
it's a way to use the GPS device of OSD to feed Multiwii with GPS data
MIS OSD uses this functionality
ESC calibration
experimental
It's a special #define which allows to calibrate all ESCs with exaclty
the same signal.
more info here: http://www.multiwii.com/forum/viewtopic.php?f=13&t=1517
Telemetry
new telemetry manual stepping mode
Arming option
configurable TX stick combos for arm/disarm
this way, it's possible to arm/disarm the multi via:
- one AUX switch like before
- YAW stick and/or ROLL stick
AIRPLANE mode
experimental, more info here:
http://www.multiwii.com/forum/viewtopic.php?f=8&t=364
https://code.google.com/p/multiwii/wiki/MWiiAirplane
HELICOPTER mode
experimental
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1562
Dual & Single copter
experimental
more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1882
VTAIL mode
motor rotation has changed:
Front Left & Rear Right: CCW, Front Right & Rear Left: CW , YAW_DIRECTION=1
An attempt to improve the documentation via wiki
wiki from googlecode:
https://code.google.com/p/multiwii/w/list
wiki from multiwii.com
http://www.multiwii.com/wiki/index.php?title=Main_Page
We all know the overall documentation is still to improve :)
1.9 -> 2.0
***you need at least Arduino 1.0 IDE to open the .ino file***
Board and sensors:
New sensor:
ACC MMA7544 Accelerometer.
MAG MAG3110
New boards:
CRIUS_SE
CRIUS_LIGHT
MONGOOSE
CHERRY6DOFv1_0
DROTEK_6DOF_MPU
A new processor
Coded by ronco based on ATMega 32U4, which can be seen
as an intermediate proc between 328 and 2560, allowing
many improvements over the 328 with nearly the same size.
http://www.multiwii.com/forum/viewtopic.php?f=8&t=1145
STM32 port
A nice initiative from dongs to port multiwii to a 32bit processor.
This code allows also to reuse some cheap FC boards and replace the
firmware by a multiwii one. (boards like FreeFlight FC that can be
found on goodluckbuy site, or specific boards designed by dongs like AfroFlight32)
http://www.multiwii.com/forum/viewtopic.php?f=8&t=1193
http://code.google.com/p/afrodevices/
Stable mode
BMA180 and BMA020 settings are now set to 8G.
The settings were formerly 2G. We noticed vibrations could cause ACC saturation
http://www.multiwii.com/forum/viewtopic.php?f=8&t=849
, causing a wrong ACC measurement, and causing a wrong PITCH/ROLL angle deduction.
This problem was probably the main cause of the level drift problem.
=> level mode should be much better now with those sensors.
One consequence: TRUSTED ACC is now enabled by default and will probably
be removed in future versions.
The term D of the PID LEVEL settings is now used to limit the effect
of the level correction thanks to the suggestion of Shikra
(see http://www.multiwii.com/forum/viewtopic.php?f=7&t=905 ).
By default (D=100), the behaviour of the stable mode is unchanged.
With a lower D, effects are:
- a smoothing level change
- should prevent some wobbles of death
Altitude hold mode:
There was a lot of hit and miss about this functionality.
http://www.multiwii.com/forum/viewtopic.php?f=8&t=562
http://www.multiwii.com/forum/viewtopic.php?f=7&t=363
Things are not perfect, but thanks to Marcin we can see a huge
improvement and a working alt hold with default settings *on most setups*
There are still some oddities to solve.
***Velocity PID is not currently used in the code***
GPS mode:
http://www.multiwii.com/forum/viewtopic.php?f=8&t=649
There are now 2 GPS devices supported:
Serial GPS
which should be connected on a free Serial port of the FC (MEGA boards needed)
Must be defined in config.h
#define GPS_SERIAL 2 < - a free serial port
#define GPS_BAUD 115200
GPS POSITION HOLD and GPS RETURN to HOME are both implemented with the Serial GPS option.
I2C Serial boards
EOSBandi did some code to add a specific arduino + a Serial GPS which
communicates with multiwii via I2C.
http://code.google.com/p/i2c-gps-nav/
Must be defined in config.h
#define I2C_GPS
Position of the Home is defined once the GPS receives at least 4 satellites.
Then there are 2 GPS mode:
-ReturnToHome: when activated, the multi will go back to the GPS Home GPS coordinates.
-PositionHold: when activated, the multi will stay at its position.
The GPS mode needs:
-a very well calibrated MAG which is not disturbed by running motors.
(no current of magnetic fields influence on the MAG, otherwise,
the GPS wont work fine)
-an ACC correctly tuned for level stabilization
The principle is very simple for the moment: multiwii tries to lean
the multi in the direction of the target point, with an angle which
is proportional to the distance.
A PID setting was added in the GUI:
P = angle inclination proportional to target distance
with P=5.0 in the GUI , 1 meter = 0.5deg inclination
I is currently not used
D = max angle inclination due to the GPS correction (15 is fine to begin)
Nice vids with first working GPS here:
EOSBandi: http://www.youtube.com/watch?v=pJJKG6uWqv4
nhadrian: http://www.youtube.com/watch?v=YcLJfC4h90M
More motors/more servos/better output accuracy:
Thanks to ronco, the output.pde part was nearly rewritten from scratch.
We have now new possible combinations that were impossible before.
Better efficiency for hardware pwm: digitalWrite arduino function was
removed in order to address directly the output ports.
One consequence: motor order is no more easily configurable.
On MEGA boards: the first 6 motors are now driven by timers configured
in a 16 bit mode.
The difference is noticeable in flight for a quad.
It's a really nice improvement for MEGA boards running a quad for instance.
Extended motor range option (for use with wii-ESC; resolution 250 steps vs. 125 steps std.)
see http://www.multiwii.com/forum/viewtopic.php?f=13&t=516 for more info
On 328p based board (promini): we can now have the following configurations:
HEX (FLAT X, FLAT +, or Y6)
- with a standard receiver: in this case the 2 last motors are
on PIN A0/A1 instead of D5&D6
- or still with a PPM SUM receiver
- with 2 servos for a GIMBAL mode + 1 servo for CAM TRIG:
- with a PPM sum receiver: in this case, the 2 last motors are
on PIN D5&D6 and the servos are on PIN A0/A1/A2
- with a standard receiver: in this case, the 2 last motors are
on PIN A0/A1 and the servos are on PIN A2/D12 (no CAM trig here)
OCTO config (FLAT X, FLAT +, X8):
- with or without a standard receiver: on PINs 3,9,10,11,A0,A1,A2,12
- no servos
Config schemes are documented here:
http://www.multiwii.com/connecting-elements
New config:
- Flying wing was introduced as beta, and is now successfully tested:
http://www.multiwii.com/forum/viewtopic.php?f=8&t=594
- VTAIL
LCD
The current supported LCD are now:
- LCD_SERIAL_3W: Alex' initial variant with 3 wires serial
LCD from Sparkfun, using rx-pin for transmission @9600 baud fixed
- LCD_TEXTSTAR: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02
(Which has 4 input keys for selecting menus)
- LCD_VT100: vt100 compatible terminal emulation (blueterm, putty, etc.)
alternate GUI to any (vt-100 aware) terminal program (optionally over BT),
works for most tablets, smartphones, etc.
http://www.multiwii.com/forum/viewtopic.php?f=7&t=1096
- LCD_ETPP: Eagle Tree Power Panel LCD, which is a i2c device (not serial)
- LCD_LCD03: LCD03, which is a i2c device
http://www.multiwii.com/forum/viewtopic.php?f=8&t=1094