new new relase lolll - MultiWii dev version r1240 (2012/10/31)

[secretman]

http://code.google.com/p/multiwii/downloads/detail?name=MultiWii_dev_r1240.zip&can=2&q=
better than the last one, need mor testing, but f*cking rain!!

[Gaza07]

What have they changed in this version from the last one 

[secretman]

baro Alt from mahowik (new functions to come, noted)
- baro calibration and some baro mods from Sebbi
- new task scheduler for a better computation time repartition
- better Ublox code detection
- HORIZON mode (mix between ACRO & ANGLE)
- ANGLE mode is the old LEVEL mode
- every UART for everything on MEGA
- cool GUI enhancement from magnetron
- spektrum bind button for spektrum receiver (Danal)
- telemetry cosmetic
- bug correction for servos on MEGA
- failsafe is more robust

[teslahed]

I';ve just tested the new release with the quadcopter sitting on my bed. I haven';t flown with it yet.

I';ve used these settings with my ublox v1 (from rctimer);

Code Select Expand

/**************************************************************************************/
  /***********************                  GPS                **************************/
  /**************************************************************************************/

    /* GPS using a SERIAL port
       only available on MEGA boards (this might be possible on 328 based boards in the future)
       if enabled, define here the Arduino Serial port number and the UART speed
       note: only the RX PIN is used, the GPS is not configured by multiwii
       the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
       at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
    #define GPS_SERIAL 2 // should be 2 for flyduino v2. It';s the serial port number on arduino MEGA
    #define GPS_BAUD   57600
    //#define GPS_BAUD   115200


    /* GPS protocol
       NMEA  - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
       UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
       With UBLOX you don';t have to use GPS_FILTERING in multiwii code !!! */
   
    //#define NMEA
    #define UBLOX

    //#define INIT_MTK_GPS        // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence

    //#define GPS_PROMINI_SERIAL    57600 // Will Autosense if GPS is connected when ardu boots
   
    /* I2C GPS device made with an independant arduino + GPS device
       including some navigation functions
       contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/
       You have to use at least I2CGpsNav code r33 */
    //#define I2C_GPS

    /* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
       optional sonar device.    https://github.com/wertarbyte/tiny-gps/ */
    /* get GPS data from Tiny-GPS */
    //#define TINY_GPS
    /* get sonar data from Tiny-GPS */
    //#define TINY_GPS_SONAR

    /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
    //#define GPS_FROM_OSD

    /* indicate a valid GPS fix with at least 5 satellites by flashing the LED  - Modified by MIS - Using stable LED (YELLOW on CRIUS AIO) led work as sat number indicator
      - No GPS FIX -> LED blink at speed of incoming GPS frames
      - Fix and sat no. bellow 5 -> LED off
      - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
    #define GPS_LED_INDICATOR

    //#define USE_MSP_WP                        //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions

    //#define DONT_RESET_HOME_AT_ARM             // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)

    /* GPS navigation can control the heading */
   
    #define NAV_CONTROLS_HEADING       true      // copter faces toward the navigation point, maghold must be enabled for it
    #define NAV_TAIL_FIRST             false     // true - copter comes in with tail first
    #define NAV_SET_TAKEOFF_HEADING    true      // true - when copter arrives to home position it rotates it';s head to takeoff direction
   
   
    /* Get your magnetic decliniation from here : http://magnetic-declination.com/
       Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
       Note the sign on declination it could be negative or positive (WEST or EAST) */
    //#define MAG_DECLINIATION  3.96f              //For Budapest Hungary.
    #define MAG_DECLINIATION  0.0f
   
    #define GPS_FILTERING                        // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
    #define GPS_LOW_SPEED_D_FILTER               // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise commnent out to disable
    #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
    #define NAV_SLEW_RATE              30        // Adds a rate control to nav output, will smoothen out nav angle spikes



And the quadcopter has connected with 4 satellites just sitting on my bed. The weather is bad and i live in a terraced house so i should hopefully get much better results outside later.

I';ve copied the whole GPS section from my multiwii config file there but the changes I';ve made in terms of commenting in the ublox lines and setting the speed to 57600 from 115200 are all in the top section of the code.

[neagron]

So Chris,this upgrade is a good one,what else has it addressed,yours,Marty. :scotland:

[Gaza07]

Hi Marty this release seems to be a big one as in the gps now works with out the fix for ublox modules, and the telemetry now works through any com port, I have connected to the gui on my pc and the android version on my phone with the blue tooth dongle connected to com 3 on the flight controller,
this has to be a huge step forwards for multi wii 

[teslahed]

I';ve just been out testing the new release with GPS position hold and return to home. Position hold worked to the nearest 4 meters (or there abouts) and return to home worked the first time i tested it and had to be aborted on the second attempt when it looked like some trees where going to get in the way.

When the weather is better i will have to do some more testing. This is with the old rctimer u-Blox V1 GPS so people with newer hardware may get better results.

[secretman]

gps work at 115200 too

[teslahed]

I will have to try it again at 115200. I was running it at 57600 same as before.

[neagron]

Thank you all for your replies,this is good news,multiwii is going forward,Marty. :scotland: :scotland:

[teslahed]

I';ve reuploaded the new code only with the GPS set to the higher speed;

Code Select Expand

#define GPS_BAUD   115200

and my ublox V1 GPS seems to be working fine. It';s detected 3 satellites after about 5 mins just sat on my bed inside where the GPS reception is quite poor. I haven';t been able to test it outside because the weather is too bad.

Edit - 10 mins in and I';m up to 5 satellites!

[neagron]

Thats good Chris,ile send you my Nav position,and you can fly me up a nice pint of John Smith';s bitter please,lol Marty, :scotland:

[Gaza07]

Thats good news then as the original fix only pushed the gps to 57600 

I';ve reuploaded the new code only with the GPS set to the higher speed;

Code Select Expand

#define GPS_BAUD   115200

and my ublox V1 GPS seems to be working fine. It';s detected 3 satellites after about 5 mins just sat on my bed inside where the GPS reception is quite poor. I haven';t been able to test it outside because the weather is too bad.

Edit - 10 mins in and I';m up to 5 satellites!

[secretman]

i luv that :)

[marckatzenmaier]

if i understand this correct, this is a new(er) version of multiwii, so i can replace this with my old version? and that the gps baudrate (from my rctimer gps v2) now doesn';t have to be changed ?

[Gaza07]

Hi Marc this is a beta test version and not a final release so your probably better off sticking with the release version you currently have, as the new version could have some nasty bugs,
Also the gps settings mentioned above are for serial gps users yours is a I2c gps and is setup differently,
The again if you really want to have a play with the beta firmware there is no reason you shouldn';t other than just being a bit cautious 

[marckatzenmaier]

aha, i';ll stick with the one i have then, just to be safe

[teslahed]

I';ve just been out testing the latest code with GPS - it was quite windy but it was holding to the nearest 4 meters and return to home was working impressively well.

The barometer seems to be working very well also.

I need to do some more testing and get my quadcopter flying a bit better but at the moment I';m pretty pleased.

[teslahed]

I got a video of me testing the GPS with the new code;

http://youtu.be/GJlIqdb7mak

Seems to work pretty well.

[Gaza07]

A very nice test flight there Chris very stable and the position hold looks good,the altitude hold works fine to even at the lower height, very well done you got to be pleased with those results