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Old Sep 23, 2012, 02:28 AM
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United States, TX, Spring
Joined Apr 2012
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Originally Posted by scolton View Post
I agree and I have never wanted to take credit for any of the code itself. It's all in v1.2; I am just selectively uncommenting parts. I don't know why it's in the LazyZero flash tool now. I wouldn't recommend putting in there because it's experimental.

I have continued working on it a bit, though, to try to fix one big problem that some people mentioned. If anyone is interested, here's an update on the small change I made:

There is also new firmware, but I won't post it here or ask anyone to test it. If you want to try it, it's in that post and you can do so completely at your own risk.

The problem I was trying to address is that of the controller getting "stuck" with bad angle estimates due to yaw while at steep angles. It's one thing for the angles to get temporarily messed up due to yawing or wind or other disturbance. It's much worse if they get stuck that way. I found with the original modification, they can even get stuck before you arm the controller! Here's a demo of what I mean:

I've made a small change to fix that problem, as you see in the second part of the video. Some people who mentioned that the modified self-level code would cause their multirotor to pull in one direction no matter what were probably seeing this scenario. (Either that or bad sensor calibration.) This could be a fix.

But, like I said, it's totally experimental. If you're not willing to risk your frame and whatever is attached to it, please use the unmodified v1.2 firmware.
IMO I think your doing good work keep it going. I will flash one of my boards a test the new version
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