Multiwii

編輯歷史

時間	作者	版本
2015-03-28 09:50	Yi-Fong Li	r2653
顯示 diff （diff 過大，略過）
2015-03-26 13:05	Yi-Fong Li	r2652
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2015-03-15 03:01 – 03:20	章國俊	r2619 – r2651
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2015-03-14 16:52 – 16:53	柏翰陳	r2598 – r2618
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2015-01-21 14:53 – 15:15	Frank C.S. Wang	r2417 – r2597
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2015-01-15 02:02 – 02:41	Frank C.S. Wang	r2254 – r2416
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2014-12-19 03:05 – 03:06	鄭鴻旗	r2242 – r2253
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2014-12-18 15:17 – 15:17	callmeericchen@gmail.com	r2235 – r2241
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2014-12-18 15:17	鄭鴻旗	r2234
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2014-12-18 15:16 – 15:17	callmeericchen@gmail.com	r2206 – r2233
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2014-12-18 13:43 – 13:43	callmeericchen@gmail.com	r2199 – r2205
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2014-12-18 13:43	(unknown)	r2198
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2014-12-18 13:35 – 13:43	callmeericchen@gmail.com	r2194 – r2197
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2014-12-18 05:16	(unknown)	r2193
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2014-12-18 05:16 – 05:16	章國俊	r2191 – r2192
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2014-12-18 02:32 – 02:32	鄭鴻旗	r2180 – r2190
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2014-12-18 01:14 – 01:30	Mach Ma	r1804 – r2179
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2014-12-18 01:05 – 01:06	Frank C.S. Wang	r1797 – r1803
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2014-12-17 14:48 – 15:03	Frank C.S. Wang	r1560 – r1796
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2014-12-17 12:59 – 13:01	鄭鴻旗	r1551 – r1559
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2014-12-12 05:03 – 05:03	Frank C.S. Wang	r1549 – r1550
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2014-12-11 15:51 – 16:04	Frank C.S. Wang	r1543 – r1548
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2014-12-11 10:21 – 10:21	Frank C.S. Wang	r1540 – r1542
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2014-12-11 10:16 – 10:21	Mach Ma	r1454 – r1539
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2014-12-11 08:43 – 08:43	Frank C.S. Wang	r1452 – r1453
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2014-12-11 05:28 – 05:33	章國俊	r1446 – r1451
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2014-12-11 02:10 – 02:22	Frank C.S. Wang	r1272 – r1445
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2014-12-11 02:10	竑傑丁	r1271
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2014-12-11 02:10 – 02:10	Frank C.S. Wang	r1262 – r1270
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2014-12-11 02:10	竑傑丁	r1261
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2014-12-11 02:10 – 02:10	Frank C.S. Wang	r1259 – r1260
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2014-12-11 02:09 – 02:10	竑傑丁	r1257 – r1258
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2014-12-11 02:09 – 02:09	Frank C.S. Wang	r1254 – r1256
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2014-12-11 02:09	竑傑丁	r1253
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2014-12-11 02:09 – 02:09	Frank C.S. Wang	r1247 – r1252
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2014-12-11 02:09	竑傑丁	r1246
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2014-12-11 02:09	Frank C.S. Wang	r1245
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2014-12-11 02:09	竑傑丁	r1244
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2014-12-11 02:08 – 02:09	Frank C.S. Wang	r1241 – r1243
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2014-12-11 02:08	竑傑丁	r1240
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2014-12-11 02:08	Frank C.S. Wang	r1239
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2014-12-11 02:08	竑傑丁	r1238
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2014-12-11 02:07 – 02:08	Frank C.S. Wang	r1230 – r1237
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2014-12-11 02:07	竑傑丁	r1229
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2014-12-11 01:53 – 02:07	Frank C.S. Wang	r1126 – r1228
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2014-12-11 01:53	(unknown)	r1125
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2014-12-11 01:53 – 01:53	Frank C.S. Wang	r1091 – r1124
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2014-12-10 15:02 – 15:05	Frank C.S. Wang	r1039 – r1090
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2014-12-10 08:12 – 08:40	Frank C.S. Wang	r1033 – r1038
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2014-12-10 08:04 – 08:06	有迪郭	r1026 – r1032
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2014-12-10 05:34 – 05:34	ken-yong18@outlook.com	r1021 – r1025
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2014-12-10 03:17 – 03:26	Frank C.S. Wang	r1005 – r1020
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2014-12-10 03:11	Mu-Hua Lin	r1004
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2014-10-22 04:43	Sola Lu	r1003
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2014-10-16 04:53 – 04:54	Mach Ma	r989 – r1002
顯示 diff （67 行未修改） https://github.com/multiwii/baseflight https://code.google.com/p/afrodevices/downloads/list + + + + MultiWii main version history + + V2.3 + *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 + - better gyro & acc calibration accuracy (r1546) + - cannot arm is baro mode is on (r1550) + - only one baro mode : vario around a throttle deadband (r1554) + - magHold is reset when arm is switched on + - ONLYARMWHENFLAT option (r1587) + *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) + - 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 + + + *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) + - not reset for FIXEDWING (r1590) + + * SERVO management * + + - add a generic way to configure servo settings : conf struct + MSP read/set messages (r1383) + - Added general servo handler (r1421 & r1429) + - allow preset of some servo stuff from config.h (r1432) + - Gui with Servosettings. (r1441) + We can get 180 degrees servo move without servo modification. + + *internal improvements* + - migration to a cpp/h code structure + - huge flash size optimization (around 1k) + - 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* + - no more than one MSP per port and per cycle + should smooth the delay while requesting MSP, especially for USB port on micro + + + + V2.1 + + *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. + 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 + a kind of non proportional horizon mode + more info here: http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944 + + *add-ons* + - pilotlamp integration + via #define PILOTLAMP + + - LEDRING pattern was refined + + - variometer introduced + enable to get audio feedback upon rising/falling copter/plane + via #define VARIOMETER + + + *GPS* + + - UBLOX GPS: the baud configuration is autodetected and the UBLOX binary protocol is automaticly set + - 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: + Multiwii main verion history + + V2.3 + + 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 + - better gyro & acc calibration accuracy (r1546) + - cannot arm is baro mode is on (r1550) + - only one baro mode : vario around a throttle deadband (r1554) + - magHold is reset when arm is switched on + - ONLYARMWHENFLAT option (r1587) + *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) + - 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 + + + *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) + - not reset for FIXEDWING (r1590) + + * SERVO management * + + - add a generic way to configure servo settings : conf struct + MSP read/set messages (r1383) + - Added general servo handler (r1421 & r1429) + - allow preset of some servo stuff from config.h (r1432) + - Gui with Servosettings. (r1441) + We can get 180 degrees servo move without servo modification. + + *internal improvements* + - migration to a cpp/h code structure + - huge flash size optimization (around 1k) + - 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* + - no more than one MSP per port and per cycle + should smooth the delay while requesting MSP, especially for USB port on micro + + + + V2.1 + + *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. + 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 + a kind of non proportional horizon mode + more info here: http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944 + + *add-ons* + - pilotlamp integration + via #define PILOTLAMP + + - LEDRING pattern was refined + + - variometer introduced + enable to get audio feedback upon rising/falling copter/plane + via #define VARIOMETER + + + *GPS* + + - UBLOX GPS: the baud configuration is autodetected and the UBLOX binary protocol is automaticly set + - 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 + + + *multiwii models* + + - USE_THROTTLESERVO (for airplanes), COLLECTIVE_RANGE changed (second value not offset anymore) + + *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 + + - baro calibration and calculation is improved + 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 + + + *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. + + - 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 + + - 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 + + + + + V2.0 (全面用新架構 .ino 拿掉 .pde) + 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 + + LCD is not activated by default + Failsafe is not activated by default + VBAT monitoring is not activted by default + + + Multiwii Serial Protocol + It's a new protocol to communicate with the FC + + 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 + + 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. + 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 + + 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) + + + 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 + + HELICOPTER mode + experimental + + Dual & Single copter + experimental + + VTAIL mode + motor rotation has changed: + Front Left & Rear Right: CCW, Front Right & Rear Left: CW , YAW_DIRECTION=1 + + + + V1.9 (進入穩定 1.0 IDE 環境) + + A new processor + Coded by ronco based on ATMega 32U4, which can be seen + as an intermediate proc between 328 and 2560 + + + STM32 porting + 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. + http://www.multiwii.com/forum/viewtopic.php?f=8&t=1193 + http://code.google.com/p/afrodevices/ + + + Stable mode + 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 + + HeadFree mode + Something similar to MK Carefree mode was added. + Firstly introduced by mahowik as a imple mode? + http://www.multiwii.com/forum/viewtopic.php?f=7&t=925 + A specific check box was added in the GUI to activate this mode via a switch. + You need to have a magnetometer and accelerometer on the board + Principle: The head/front will be remembered when you turn on the engines. + So it means that you can turn on/off the mode during the flight. + + + + Pass-through mode + It a checkbox in the GUI. + The purpose is to bypass the IMU for some configs like flying wings. + + + + Beeper mode + It a checkbox in the GUI. + The purpose is to activate a beeper in case you have a buzzer + installed and you lost your multi in high grass for instance. + + + + New stick combo + for magneto calibration (throttle=up yaw=right pitch=down) + + + Better magnetometer calibration + The calibration of the magnetometer is now more precise, + because it takes into account the relative strength of the magnitude + projection on each axis. + Based on a code suggested by EOSBandi: + http://www.multiwii.com/forum/viewtopic.php?f=8&t=1068 + + It should improve the GPS return to target point accuracy. + + + Gyro smoothing + There are 2 options to smooth the gyros: (mainly useful for fixed wings configs) + - per axis based on a LPF: #define GYRO_SMOOTHING {20, 20, 3} + // separate averaging ranges for roll, pitch, yaw + - for all axis, based on a moving average (from Magnetron) + #define MMGYRO + #define MMGYROVECTORLENGHT 10 + + Servo gimbal smoothing is also an option based on the same principle: + #define MMSERVOGIMBAL + #define MMSERVOGIMBALVECTORLENGHT 32 + + + + Inflight ACC-calibration: + It a way to calibrate the level via on flight tests. + Must be defined in config.h + + + Coding specific improvements: + Less RAM memory usage via the use of PROGMEM statement + + No more Arduino Serial function => the new serial communication is more efficient + + + V1.8 + - some factorizations between PPM sum receiver code & standard receiver code + - EXPERIMENTAL: integration of direct SBUS receiver thanks to the contribution of Captain IxI & Zaggo + - LEVEL drift problem: + the root of this problem was identified (at least partly). + Several options to try to solve it: + - adding a #define TRUSTED_ACCZ for those who have huge ACC Z variations when some throttle is applied + (it's a test you should do before tructing ACCZ) + //#define TRUSTED_ACCZ -> ACCZ is not taken into account in calculation for small angles + #define TRUSTED_ACCZ -> ACCZ is taken into account in calculation for small angles + - BMA180 init changes to another mode: should help to filter noisy setups + - adding a #define STAB_OLD_17 for those who still encounter problem with the stable code, + as the old 1.7 LEVEL code (less elaborated) doesn't seem to cause drift. + - some flying wing code upgrade (thanks to the suggestion of Hamburger) + - ACC added: LSM303DLx_ACC + + + MAIN SOFT: introduction of a deadband around the stick center + via a #define DEADBAND. (commented by default) + it might help to get some accuracy from RC TX with not accurate potentiometers + however, as it introduces a central deadband, the TX trims are not efficient as before. + + MAIN SOFT: new altitude hold + there is now a working implementation :) + thanks to ziss_dm, the estimation of the altitude is more precise. + the Z ACC is integrated in the alt hold estimation and helps a lot to estimate short term variation + how-to: + the multi must be nearly altitude stable before the activation of altitude hold. + a dead band is then created around the throttle value. + at every moment, it's possible to still control the trhottle power when the throttle goes out of the deadband + this is not the best implemetation as the multi needs to be quite static before the activation, but it's a good start. + + There are 2 PIDS which are separated ans which can be used separatly. + ALT PID: better results are obtained with a P only term (P=4.7 I=0 D=0 is the default value) + VEL PID: it stands for velocity PID, more info here: (P=I=D=0 is the default value) + it should help to smooth every altitude varation + http://www.multiwii.com/forum/viewtopic.php?f=7&t=363 + + GUI: altitude representation + there is an autoscale feature in the GUI to see better the altitude variation. + + + + GUI: introduction of MAG 3 axis raw values + + MAIN SOFT: the failsafe function of the PPM sum receiver was a little mofified and can handle better + unusual signal patterns with short pulses. + + + + V1.7 + + ALL: BARO is more precise, but still not perfect (1m to 2m amplitude). + Note it's a code issue, not a baro component issue. + + ALL: RC channels AUX2, CAM1 CAM2 added. only relevant for PPM SUM stream or MEGA boards. + On the 328p with a standard receiver, only the first 5 channels are recognized. + CAM1 and CAM2 controls are not yet implemented. + + ALL: AUX1 and AUX2 switches are fully customizable via a 3 state position. + We can activate/deactivate individually level mode (ACC), baro or compass (mag). + It's a generic approach which lets other possibilities to control things in the future. + With this principle, it's possible to activate permanently the options you want even if you have only 4 channels + (replace the FORCE LEVEL option) + + ALL: CAM triger option: + a servo can be connected on digital pin A2 (pro mini) to activate the trigger of a camera + the option can be activated or deactivated via the button configuration panel AUX1/AUX2 + #define CAM_SERVO_HIGH 2000 // the position of HIGH state servo + #define CAM_SERVO_LOW 1020 // the position of LOW state servo + #define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms + #define CAM_TIME_LOW 1000 // the duration of LOW state servo expressed in ms + the PIN on arduino mega is also A2, but this is not the final PIN mapping + + ALL CAM stab (servo tilt) button option: + the servo tilt option can be activated or deactivated via the button configuration panel AUX1/AUX2 + + ALL: BI COPTER is now a avatar style implementation. + on a pro mini: 9 motor left, 10 motor right, 11 servo left, 3 servo right + on mega: 3 motor left, 5 motor right, 6 servo left, 2 servo right + + ALL: addition of Y4 (not tested) + on a pro mini: motors 9,10,11,3 + on mega: motors 3,5,6,2 + REAR1 , FRONT R , REAR2 , FRONT L + + ALL: addition of HEX6X (not tested) + on a pro mini: motors 9,10,11,3,6,5 + on mega: motors 3,5,6,2,7,8 + REAR_R , FRONT_R , REAR_L , FRONT_L , RIGHT , LEFT + + ALL: new level mode + The level mode is completely redesigned with a coherent independent trim + There a now a PI control loop for level mode based on angle estimation. + The old auto level strength value was a sort of P only control loop. + With the new code, the I term allows to refine the remaining angular error for a better angle positioning accuracy. + With an RC rate = 1, the angle at full stick is around 45deg => a flip should never happen in this mode. + + MAIN SOFT: software trim for stable mode + It is now possible to adjust the trim of the level mode to match the same TX trim used for the acro mode. + 1) disarm the motors + 2) full throttle (must be >1900) + 3) full PITCH forward/backward and full ROLL left/right (2 axis possibilities) will trim the level mode according to + the neutral angle you want to change. The status LED will blink to confirm each ticks. + + MAIN SOFT: new calibration procedure + The ACC calibration differs now from the gyro calibration. + gyro calibration: it's still done at each power on. It's also possible manually as before: min throttle+full pitch + backward+full yaw left. + acc calibration: motor disarmed, full throttle up, full pitch backward+full yaw left. + + MAIN SOFT: it was in 1.6 but not mentioned. it's possible to arm/disarm motors + either via min throttle + full yaw stick or full roll stick. + + MAIN SOFT: anti yaw jump modification for multi with 4 motors or more + + MAIN SOFT: servo range for tricopter + #define TRI_YAW_CONSTRAINT_MIN 1020 + #define TRI_YAW_CONSTRAINT_MAX 2000 + + MAIN SOFT: compass lock now works + the option can be activated or deactivated via the button configuration panel AUX1/AUX2 + the lock is activated 1s after the stick release + the lock is maintained only if the YAW stick in centred +/- 50 + In some case, especially with the 5883, the mag must be calibrated otherwise, the direction is not good. + The calibration procedure is not yet implemented. + + GUI: 3D copter attitude visualization + + GUI: ACC calibration. there is now a calibrate button to calibrate the ACC directly from the GUI + (it resets the soft trim) + + GUI: thanks to Eberhard, better display of serial ports on Mac OS X and Linux + + GUI: the memory leak bug GUI is corrected + + GUI and LCD: D is now positive (to avoid confusion in explanations) + + + V1.6 + + PPM_SUM 19 (now separated from RC_THROTTLE assignment) + RC_THROTTLE 62 (=A8) + RC_ROLL 63 (=A9) + RC_PITCH 64 (=A10) + RC_YAW 65 (=A11) + RC_MODE 66 (=A12) + RC_AUX(not used) 67 (=A13) + RC_7(not used) 68 (=A14) + RC_8(not used) 69 (=A15) + I2C SDA 20 + I2C SCL 21 + FRONTMOTORPIN 2 (on 328p was 3) = servo for tricopter + REARMOTORPIN 3 (on 328p was 9) + RIGHTMOTORPIN 5 (on 328p was 10) + LEFTMOTORPIN 6 (on 328p was 11) + Y6RIGHT(HEXFRONT) 7 (on 328p was 6) + Y6LEFT(HEXREAR) 8 (on 328p was 5) + V_BAT_MONITOR A3 + TILT&GIMBAL&WING A0/A1 + POWERPIN 12 + + + V1.4: + Serial PPM (PPM SUM): + more explanation on //#define SERIAL_SUM_PPM + only one line to comment/uncomment in order to activate it + a bug was corrected about the number of channel + + new calibration approach + at each initialization: + the gyro calibration is done + the acc calibration is done only for a pure gimbal setup + for other setups, the acc is retrieved from the EEPROM + on demand (via full left yaw stick + full pitch low stick): + the gyro calibration is done + the acc calibration is done and store in the EERPOM + => the acc calibration must be done at least once on demand. + + + autolevel strength: the last range was [0;10]. The new range is [0;25] + with a reduction weight of 2.5 => more precision for tunning. + + + http://www.youtube.com/watch?v=qpoPanmVa9Y + * + http://www.youtube.com/watch?v=hPj6WZex8j0 + * + http://www.youtube.com/watch?v=nPICiiaDTnc + + + *multiwii models* + + - USE_THROTTLESERVO (for airplanes), COLLECTIVE_RANGE changed (second value not offset anymore) + + *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 + + - baro calibration and calculation is improved + 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 + + + *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. + + - 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 + + - 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 + + + + + V2.0 (全面用新架構 .ino 拿掉 .pde) + 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 + + LCD is not activated by default + Failsafe is not activated by default + VBAT monitoring is not activted by default + + + Multiwii Serial Protocol + It's a new protocol to communicate with the FC + + 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 + + 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. + 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 + + 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) + + + 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 + + HELICOPTER mode + experimental + + Dual & Single copter + experimental + + VTAIL mode + motor rotation has changed: + Front Left & Rear Right: CCW, Front Right & Rear Left: CW , YAW_DIRECTION=1 + + + + V1.9 (進入穩定 1.0 IDE 環境) + + A new processor + Coded by ronco based on ATMega 32U4, which can be seen + as an intermediate proc between 328 and 2560 + + + STM32 porting + 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. + http://www.multiwii.com/forum/viewtopic.php?f=8&t=1193 + http://code.google.com/p/afrodevices/ + + + Stable mode + 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 + + HeadFree mode + Something similar to MK Carefree mode was added. + Firstly introduced by mahowik as a imple mode? + http://www.multiwii.com/forum/viewtopic.php?f=7&t=925 + A specific check box was added in the GUI to activate this mode via a switch. + You need to have a magnetometer and accelerometer on the board + Principle: The head/front will be remembered when you turn on the engines. + So it means that you can turn on/off the mode during the flight. + + + + Pass-through mode + It a checkbox in the GUI. + The purpose is to bypass the IMU for some configs like flying wings. + + + + Beeper mode + It a checkbox in the GUI. + The purpose is to activate a beeper in case you have a buzzer + installed and you lost your multi in high grass for instance. + + + + New stick combo + for magneto calibration (throttle=up yaw=right pitch=down) + + + Better magnetometer calibration + The calibration of the magnetometer is now more precise, + because it takes into account the relative strength of the magnitude + projection on each axis. + Based on a code suggested by EOSBandi: + http://www.multiwii.com/forum/viewtopic.php?f=8&t=1068 + + It should improve the GPS return to target point accuracy. + + + Gyro smoothing + There are 2 options to smooth the gyros: (mainly useful for fixed wings configs) + - per axis based on a LPF: #define GYRO_SMOOTHING {20, 20, 3} + // separate averaging ranges for roll, pitch, yaw + - for all axis, based on a moving average (from Magnetron) + #define MMGYRO + #define MMGYROVECTORLENGHT 10 + + Servo gimbal smoothing is also an option based on the same principle: + #define MMSERVOGIMBAL + #define MMSERVOGIMBALVECTORLENGHT 32 + + + + Inflight ACC-calibration: + It a way to calibrate the level via on flight tests. + Must be defined in config.h + + + Coding specific improvements: + Less RAM memory usage via the use of PROGMEM statement + + No more Arduino Serial function => the new serial communication is more efficient + + + V1.8 + - some factorizations between PPM sum receiver code & standard receiver code + - EXPERIMENTAL: integration of direct SBUS receiver thanks to the contribution of Captain IxI & Zaggo + - LEVEL drift problem: + the root of this problem was identified (at least partly). + Several options to try to solve it: + - adding a #define TRUSTED_ACCZ for those who have huge ACC Z variations when some throttle is applied + (it's a test you should do before tructing ACCZ) + //#define TRUSTED_ACCZ -> ACCZ is not taken into account in calculation for small angles + #define TRUSTED_ACCZ -> ACCZ is taken into account in calculation for small angles + - BMA180 init changes to another mode: should help to filter noisy setups + - adding a #define STAB_OLD_17 for those who still encounter problem with the stable code, + as the old 1.7 LEVEL code (less elaborated) doesn't seem to cause drift. + - some flying wing code upgrade (thanks to the suggestion of Hamburger) + - ACC added: LSM303DLx_ACC + + + MAIN SOFT: introduction of a deadband around the stick center + via a #define DEADBAND. (commented by default) + it might help to get some accuracy from RC TX with not accurate potentiometers + however, as it introduces a central deadband, the TX trims are not efficient as before. + + MAIN SOFT: new altitude hold + there is now a working implementation :) + thanks to ziss_dm, the estimation of the altitude is more precise. + the Z ACC is integrated in the alt hold estimation and helps a lot to estimate short term variation + how-to: + the multi must be nearly altitude stable before the activation of altitude hold. + a dead band is then created around the throttle value. + at every moment, it's possible to still control the trhottle power when the throttle goes out of the deadband + this is not the best implemetation as the multi needs to be quite static before the activation, but it's a good start. + + There are 2 PIDS which are separated ans which can be used separatly. + ALT PID: better results are obtained with a P only term (P=4.7 I=0 D=0 is the default value) + VEL PID: it stands for velocity PID, more info here: (P=I=D=0 is the default value) + it should help to smooth every altitude varation + http://www.multiwii.com/forum/viewtopic.php?f=7&t=363 + + GUI: altitude representation + there is an autoscale feature in the GUI to see better the altitude variation. + + + + GUI: introduction of MAG 3 axis raw values + + MAIN SOFT: the failsafe function of the PPM sum receiver was a little mofified and can handle better + unusual signal patterns with short pulses. + + + + V1.7 + + ALL: BARO is more precise, but still not perfect (1m to 2m amplitude). + Note it's a code issue, not a baro component issue. + + ALL: RC channels AUX2, CAM1 CAM2 added. only relevant for PPM SUM stream or MEGA boards. + On the 328p with a standard receiver, only the first 5 channels are recognized. + CAM1 and CAM2 controls are not yet implemented. + + ALL: AUX1 and AUX2 switches are fully customizable via a 3 state position. + We can activate/deactivate individually level mode (ACC), baro or compass (mag). + It's a generic approach which lets other possibilities to control things in the future. + With this principle, it's possible to activate permanently the options you want even if you have only 4 channels + (replace the FORCE LEVEL option) + + ALL: CAM triger option: + a servo can be connected on digital pin A2 (pro mini) to activate the trigger of a camera + the option can be activated or deactivated via the button configuration panel AUX1/AUX2 + #define CAM_SERVO_HIGH 2000 // the position of HIGH state servo + #define CAM_SERVO_LOW 1020 // the position of LOW state servo + #define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms + #define CAM_TIME_LOW 1000 // the duration of LOW state servo expressed in ms + the PIN on arduino mega is also A2, but this is not the final PIN mapping + + ALL CAM stab (servo tilt) button option: + the servo tilt option can be activated or deactivated via the button configuration panel AUX1/AUX2 + + ALL: BI COPTER is now a avatar style implementation. + on a pro mini: 9 motor left, 10 motor right, 11 servo left, 3 servo right + on mega: 3 motor left, 5 motor right, 6 servo left, 2 servo right + + ALL: addition of Y4 (not tested) + on a pro mini: motors 9,10,11,3 + on mega: motors 3,5,6,2 + REAR1 , FRONT R , REAR2 , FRONT L + + ALL: addition of HEX6X (not tested) + on a pro mini: motors 9,10,11,3,6,5 + on mega: motors 3,5,6,2,7,8 + REAR_R , FRONT_R , REAR_L , FRONT_L , RIGHT , LEFT + + ALL: new level mode + The level mode is completely redesigned with a coherent independent trim + There a now a PI control loop for level mode based on angle estimation. + The old auto level strength value was a sort of P only control loop. + With the new code, the I term allows to refine the remaining angular error for a better angle positioning accuracy. + With an RC rate = 1, the angle at full stick is around 45deg => a flip should never happen in this mode. + + MAIN SOFT: software trim for stable mode + It is now possible to adjust the trim of the level mode to match the same TX trim used for the acro mode. + 1) disarm the motors + 2) full throttle (must be >1900) + 3) full PITCH forward/backward and full ROLL left/right (2 axis possibilities) will trim the level mode according to + the neutral angle you want to change. The status LED will blink to confirm each ticks. + + MAIN SOFT: new calibration procedure + The ACC calibration differs now from the gyro calibration. + gyro calibration: it's still done at each power on. It's also possible manually as before: min throttle+full pitch + backward+full yaw left. + acc calibration: motor disarmed, full throttle up, full pitch backward+full yaw left. + + MAIN SOFT: it was in 1.6 but not mentioned. it's possible to arm/disarm motors + either via min throttle + full yaw stick or full roll stick. + + MAIN SOFT: anti yaw jump modification for multi with 4 motors or more + + MAIN SOFT: servo range for tricopter + #define TRI_YAW_CONSTRAINT_MIN 1020 + #define TRI_YAW_CONSTRAINT_MAX 2000 + + MAIN SOFT: compass lock now works + the option can be activated or deactivated via the button configuration panel AUX1/AUX2 + the lock is activated 1s after the stick release + the lock is maintained only if the YAW stick in centred +/- 50 + In some case, especially with the 5883, the mag must be calibrated otherwise, the direction is not good. + The calibration procedure is not yet implemented. + + GUI: 3D copter attitude visualization + + GUI: ACC calibration. there is now a calibrate button to calibrate the ACC directly from the GUI + (it resets the soft trim) + + GUI: thanks to Eberhard, better display of serial ports on Mac OS X and Linux + + GUI: the memory leak bug GUI is corrected + + GUI and LCD: D is now positive (to avoid confusion in explanations) + + + V1.6 + + PPM_SUM 19 (now separated from RC_THROTTLE assignment) + RC_THROTTLE 62 (=A8) + RC_ROLL 63 (=A9) + RC_PITCH 64 (=A10) + RC_YAW 65 (=A11) + RC_MODE 66 (=A12) + RC_AUX(not used) 67 (=A13) + RC_7(not used) 68 (=A14) + RC_8(not used) 69 (=A15) + I2C SDA 20 + I2C SCL 21 + FRONTMOTORPIN 2 (on 328p was 3) = servo for tricopter + REARMOTORPIN 3 (on 328p was 9) + RIGHTMOTORPIN 5 (on 328p was 10) + LEFTMOTORPIN 6 (on 328p was 11) + Y6RIGHT(HEXFRONT) 7 (on 328p was 6) + Y6LEFT(HEXREAR) 8 (on 328p was 5) + V_BAT_MONITOR A3 + TILT&GIMBAL&WING A0/A1 + POWERPIN 12 + + + V1.4: + Serial PPM (PPM SUM): + more explanation on //#define SERIAL_SUM_PPM + only one line to comment/uncomment in order to activate it + a bug was corrected about the number of channel + + new calibration approach + at each initialization: + the gyro calibration is done + the acc calibration is done only for a pure gimbal setup + for other setups, the acc is retrieved from the EEPROM + on demand (via full left yaw stick + full pitch low stick): + the gyro calibration is done + the acc calibration is done and store in the EERPOM + => the acc calibration must be done at least once on demand. + + + autolevel strength: the last range was [0;10]. The new range is [0;25] + with a reduction weight of 2.5 => more precision for tunning.
2014-10-16 03:17 – 03:39	Mach Ma	r907 – r988
顯示 diff Multiwii + + 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. + 介紹（57 行未修改） L + e另一Porting 到 STM32 MCU 的 MultiWii 變種分支 + https://github.com/multiwii/baseflight + https://code.google.com/p/afrodevices/downloads/list
2014-10-16 03:17	(unknown)	r906
顯示 diff （62 行未修改）
2014-10-16 03:16 – 03:17	Mach Ma	r904 – r905
顯示 diff （58 行未修改）跟 Y3 一樣, 前進運動時後面的槳不會吃到前面槳風尾流擾動 .... Y3 比 Y4 的 Yaw 靈敏, Y4尾側面機積大, 比Y3, X4 不耐側風.. 而V尾4 更抗側風, 航道飛行很有優勢. + + L
2014-10-15 07:57 – 08:02	Mach Ma	r760 – r903
顯示 diff （48 行未修改） * 油門最高值：1898 - + *Y4 Multiwii 調整別篇： + 1. Servo PWM Glitch + 2.I2C speed + 3.Servo refresh rate + 4.ACC LPF (Especially for MPU605 + ) + 幾種不同多軸機架的比較 : + +4 跟 X4 比, +4的 Pitch or Roll 都只需動對向的兩顆, 在飛控板 Timer/PWM 控制上有更簡單的優勢, 翻起特技又猛又簡潔... 只是後來的 FPV 或空拍機種上, 因為前面擋著一根軸, 所以比較不採用了! + + 跟 Y3 一樣, 前進運動時後面的槳不會吃到前面槳風尾流擾動 .... Y3 比 Y4 的 Yaw 靈敏, Y4尾側面機積大, 比Y3, X4 不耐側風.. 而V尾4 更抗側風, 航道飛行很有優勢.
2014-09-25 08:41 – 09:01	有迪郭	r467 – r759
顯示 diff （6 行未修改）不錯的中文網站：http://oaione.blogspot.tw/2014/02/multiwii-i.html - 我以這個板子為主介紹： - MWC MultiWii Lite + 2我14以925 eastWillow實習生日誌 + 個配置為主介紹： + 控制板：MWC MultiWii Lite 露天網址：http://goods.ruten.com.tw/item/show?21307201368003 價格：500 （3 行未修改）燒錄器選用：使用一般的USB 轉 TTL （RS232）即可（100 元而已喔）在Config.h 的Combined IMU Boards 設定下選擇：CRIUS_LITE + 遙控器：DEVO7 + 遙控器接收器：DEVO RX1002 + 韌體設定（config.h）：決定飛行狀態（The type of multicopter）：根據你的板子上面的箭頭是指著馬達還是兩顆馬達中央，來決定十字飛行（QUADP）還是X字飛行（QUADX）。（我是指著馬達，所以決定為十字飛行）（12 行未修改）解決方法參考： http://www.multiwii.com/forum/viewtopic.php?f=8&t=3940#p40677 - 改變#define MINCHECK 1110 + 改變#define MINCHECK 後面的數字 + 由於遙控器最低訊號輸出會低於：111 + ，所以數字更改為1110 + 改變#define MAXCHECK 後面的數字 + 由於遙控無法超過預設值：1900，所以數字更改為1810 + 結論：MINCHECK > 遙控器的最低值， MAXCHECK <遙控器的最高值一點點 + 在燒錄前，首先把Arduino 內建的EPPROM 清除 + 開啟Arduino→File→Examples→EPPROM→epprom_clear + 修改for 迴圈的：i < 512，修改為 1024，因為ATMEGA328P 是1Kbytes（1024 Bytes） + 最後再把MultiWii.ino 燒錄進去即可。 + 油門最低值：1098 + * + 油門最高值：1898
2014-09-25 08:41	(unknown)	r466
顯示 diff （35 行未修改）
2014-09-25 08:35 – 08:41	有迪郭	r394 – r465
顯示 diff （25 行未修改）把這一行：#define I2C_SPEED 100000L 註解把這一行：//#define I2C_SPEED 400000L 取消註解 + 設定板子（boards and sensor definitions） + 我的板子是採用CRIUS_LITE 的相容版，所以把他的那一行註解取消 + 韌體設定2（MultiWii.h）： + 由於我的遙控器（DEVO7）和接收器（DEVO RX1002）買回來後就直接插上去，但是久久都沒辦法解除鎖定 + 解決方法參考： + http://www.multiwii.com/forum/viewtopic.php?f=8&t=3940#p40677 + 改變#define MINCHECK 1110 +
2014-09-25 08:35	(unknown)	r393
顯示 diff （27 行未修改）
2014-09-25 08:25 – 08:35	有迪郭	r199 – r392
顯示 diff （13 行未修改） Gyro：ITG3205 Accel ：ADXL345 + 燒錄器選用：使用一般的USB 轉 TTL （RS232）即可（100 元而已喔）在Config.h 的Combined IMU Boards 設定下選擇：CRIUS_LITE - - * + 韌體設定（config.h）： + 決定飛行狀態（The type of multicopter）：根據你的板子上面的箭頭是指著馬達還是兩顆馬達中央，來決定十字飛行（QUADP）還是X字飛行（QUADX）。（我是指著馬達，所以決定為十字飛行） + 把這一行取消註解#define QUADP + 設定馬達最低油門（Motor minthrottle）：我的電變是SkyWalker 20A + 把這行#define MINTHROTTLE 1150 取消註解，後面數字可以更改 + 設定電變最低指令，就是ESC 沒有反應的數值（Mincommand） + 設定I2C 速度（I2C speed） + 我打算使用高速的I2C 經度感覺比較高 + 把這一行：#define I2C_SPEED 100000L 註解 + *把這一行：//#define I2C_SPEED 400000L 取消註解
2014-09-25 08:25	(unknown)	r198
顯示 diff （18 行未修改）
2014-09-25 08:24 – 08:25	有迪郭	r193 – r197
顯示 diff （14 行未修改） Accel ：ADXL345 在Config.h 的Combined IMU Boards 設定下選擇：CRIUS_LITE - 燒錄韌體設定： + *
2014-09-25 08:24	(unknown)	r192
顯示 diff （18 行未修改）
2014-09-25 08:23 – 08:24	有迪郭	r178 – r191
顯示 diff （14 行未修改） Accel ：ADXL345 在Config.h 的Combined IMU Boards 設定下選擇：CRIUS_LITE + 燒錄韌體設定： *
2014-09-25 08:23	(unknown)	r177
顯示 diff （17 行未修改）
2014-09-25 08:22 – 08:23	有迪郭	r173 – r176
顯示 diff （17 行未修改）
2014-09-25 08:22	(unknown)	r172
顯示 diff （17 行未修改）
2014-09-25 08:22	有迪郭	r171
顯示 diff （17 行未修改）
2014-09-25 08:22	(unknown)	r170
顯示 diff （17 行未修改）
2014-09-25 08:20 – 08:22	有迪郭	r156 – r169
顯示 diff （13 行未修改） Gyro：ITG3205 Accel ：ADXL345 - MultiWii Config.h 同樣的名字：CRIUS_LITE + 在Config.h 的Combined IMU Boards 設定下選擇：CRIUS_LITE + *
2014-09-25 08:20	(unknown)	r155
顯示 diff （16 行未修改）
2014-09-25 08:20 – 08:20	有迪郭	r152 – r154
顯示 diff （14 行未修改） Accel ：ADXL345 MultiWii Config.h 同樣的名字：CRIUS_LITE - *
2014-09-25 08:20	(unknown)	r151
顯示 diff （17 行未修改）
2014-09-25 08:12 – 08:20	有迪郭	r75 – r150
顯示 diff （3 行未修改） http://www.multiwii.com/ - jhi + + 不錯的中文網站：http://oaione.blogspot.tw/2014/02/multiwii-i.html + + 我以這個板子為主介紹： + MWC MultiWii Lite + 露天網址：http://goods.ruten.com.tw/item/show?21307201368003 + 價格：500 + 主核心：ATMEGA328P + Gyro：ITG3205 + Accel ：ADXL345 + MultiWii Config.h 同樣的名字：CRIUS_LITE + *
2014-09-25 08:12	(unknown)	r74
顯示 diff （6 行未修改）
2014-09-25 08:12 – 08:12	有迪郭	r71 – r73
顯示 diff （3 行未修改） http://www.multiwii.com/ - 我現在也剛好在使用這個飛控板，只要5 - - 元，我可以提供一些經驗 + jhi
2014-09-25 05:00 – 05:00	鄭鴻旗	r66 – r70
顯示 diff Multiwii 介紹 - （4 行未修改）
2014-09-25 02:20 – 02:21	有迪郭	r31 – r65
顯示 diff （4 行未修改） http://www.multiwii.com/ + 我現在也剛好在使用這個飛控板，只要5 + + 元，我可以提供一些經驗
2014-09-24 13:51 – 13:52	鄭鴻旗	r1 – r30
顯示 diff - Untitled + Multiwii + 介紹 - This pad text is synchronized as you type, so that everyone viewing this page sees the same text. This allows you to collaborate seamlessly on documents! + + + http://www.multiwii.com/
2014-09-24 13:50	(unknown)	r0
顯示 diff + Untitled + This pad text is synchronized as you type, so that everyone viewing this page sees the same text. This allows you to collaborate seamlessly on documents!