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Old May 30, 2011, 04:30 PM
Urban Aerial Photography
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Flying multiritor hexacopter in first person view, 400m 55 km/h (4 min 7 sec)
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Old May 30, 2011, 04:57 PM
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Originally Posted by c2po View Post
AeroQuad software is for sure a nice example of a very thorough and well thought approach to coding, a lot of people use it, and I myself learned a lot from it and used some pieces in my development, but... for example, a piece of code checking the battery voltage that is 9 (nine) kilobytes... please, I don't get it.
Umm, not sure where you get that from?

current version 2.4 AQ for the 328 pro mini... with battery monitor builds to 27428, without builds to 26502, by my thinking thats about 900 bytes.

Remember one of the reasons that AQ is larger than the others in code space is because we elected in 2.3 and up to convert everything to SI units. This has paid off in huge returns. It effectively lets the same PID values run on multiple frames. (e.g. most using 2.4, use the stock PID's due to this SI change). And when I say SI I mean everything, the DCM, (or Quaternions if you want to use them), sensors, flight controls, etc all return SI units. What was amazing to us was that after we did this, it was literally 2 lines of code to add our attitude (what other's called stable mode), and 2 more lines to add a velocity mode, and 2 more (to add position hold) (none of the later has been release yet, it's what I'm working on). I did of course have to add in the gps library, but really that was it.

AQ is also for the most part object oriented with C++, not that I'm a complete fan of that approach it's really not ideal for an embedded solution, but in this case, because of all the platforms that we support, it's been worth the effort. It's pretty highly compartmentalized as well, one of the reasons we can take and build an AHRS only solution from it if we elect to...

I think it's great that each software effort has it's own goals and niches for users. No problem there...

Alex sorry to hijack the thread, but didn't want to give people the wrong idea before they try one vs. the other... I think this math was just off by a factor of 10 ...

Alan
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Old May 30, 2011, 06:58 PM
An ordinary sort of incredible
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Originally Posted by crazyj View Post
Here's a video of my Wii tri-copter built to look like an Avatar Scorpion. It's using the multiwiicopter Paris board for control. Fries great, and is a show stopper!

http://www.youtube.com/watch?v=daxlgufesZc
Okay, so I've had 5 days of driving around the South East. I had a funeral and some apartment rental hunting to do. I'm dreaming of flying my tricopter the whole time. I didn't bring it with me. Anyway I was watching Avatar with my kids. I got to thinking about your bird. I got an idea for a more efficient use of your shrouded props. I'm not much involved with the software side of the WMC controller, but what if you used the camera stabilization circuit to tilt your forward motor/shrouds? As you pitch forward into fff the stabilizing circuit would try to level out the body by tilting the motors forward/backward depending on the attitude of the body. It would give you an automatic and variable tilt.

It would also help on Leadfeather's F-35 VTOL.
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Old May 30, 2011, 07:49 PM
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Originally Posted by hamburger View Post
you sure?...
You're right. I think your method would be best if you change the yaw to do what you said.

Yaw won't provide symmetrical lift but it may not be a big problem. You could also try standard quad+ control and standard quad+ motor rotations. The smaller fans will provide weaker yaw so you could angle them a little to provide more yaw and see what happens.
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Old May 30, 2011, 07:55 PM
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Dude that's flying great! I may have to build a bi-copter after all. one question. What is the clicking noise you hear in the video, are you flipping in and out of dual rates or something? The noise seemed odd for such an empty field.
Thanks

Here's where I got mine www.gressaero.com

The camera is mounted on the radio and the noise is just tranfered through the mount form hands operating the gimbles and switchs.
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Old May 30, 2011, 07:56 PM
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Originally Posted by c2po View Post
You can save another gram if you disable internal Arduino pull-ups on A4 and A5 in the code, power gyro and accel from 3.3V, add pull-ups on the ITG3200 breakout, and connect them directly to Arduino.
Ask me how I know.
Removing another gram would be great.

Does this diagram illustrate your idea?
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Old May 30, 2011, 09:10 PM
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Well this is frustrating.. Just yesterday I had the GUI working and the sketch uploaded etc etc... I finished wiring up everything and went to start up the tri for the first time and I got nothing... And now I can't get the sketch to reupload or the GUI to work!
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Old May 30, 2011, 10:14 PM
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Originally Posted by RCvertt View Post
Removing another gram would be great.
Does this diagram illustrate your idea?
No. Remove those 10k resistors, connect SCL and SDA straight to the board, and add pull-up resistors to the upper part of the ITG3200 breakout board. See those four little pads? They are there for optional SMD resistors, something around 1.5k-3k, if you can solder there normal small 1/8 watt resistors - that's fine.
See schematic for ITG-3200 Breakout board - resistors R1 and R2.
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Old May 30, 2011, 10:25 PM
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Originally Posted by aadamson View Post
Umm, not sure where you get that from?
current version 2.4 AQ for the 328 pro mini... with battery monitor builds to 27428, without builds to 26502, by my thinking thats about 900 bytes.

Remember one of the reasons that AQ is larger than the others in code space is because we elected in 2.3 and up to convert everything to SI units.
I meant 9kB of source code of course. But I still think that 900 bytes of AVR code just checking the voltage is a little bit excessive.
Having converting all sensors to SI is a great idea and I fully support it, but all those floating point calculations... maybe 16 MIPS AVR is not the right choice. I was thinking doing quite opposite - converting Alex's MultiWii code to use only integer math (long int should give enough precision) just for the sake of speed.
Remember all of that is just my humble opinion.
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Old May 30, 2011, 10:53 PM
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Originally Posted by c2po View Post
No. Remove those 10k resistors, connect SCL and SDA straight to the board, and add pull-up resistors to the upper part of the ITG3200 breakout board. See those four little pads? They are there for optional SMD resistors, something around 1.5k-3k, if you can solder there normal small 1/8 watt resistors - that's fine.
See schematic for ITG-3200 Breakout board - resistors R1 and R2.
I see. I think we have it now.
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Old May 30, 2011, 11:05 PM
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Originally Posted by c2po View Post
I meant 9kB of source code of course. But I still think that 900 bytes of AVR code just checking the voltage is a little bit excessive.
Having converting all sensors to SI is a great idea and I fully support it, but all those floating point calculations... maybe 16 MIPS AVR is not the right choice. I was thinking doing quite opposite - converting Alex's MultiWii code to use only integer math (long int should give enough precision) just for the sake of speed.
Remember all of that is just my humble opinion.
I still honestly don't understand what you are talking about... the source code contains classes for 3 maybe 4 different hardware platforms - APM, V1.8 and 2.0 shields and the Mini Shield. That code is conditionally compiled in as needed.

The actual code to read the voltage is only a few bytes, it's the code to diddle LED's, beepers, blip the motors in an up down fashion and if necessary *autoland* you if you are pulling a battery too far down that takes the full 900 bytes. Seems pretty small for what it does...

Yep, lots of floating point, and we just went to a new time executive. Instead of doing tasks at what I call a sliding window version of a time executive... We do it at exact intervals.... e.g. 5 mins after the hour, instead of 5mins after all the tasks finish ahead of it. This means that we have a minimum window of time to complete execution in, but it also helps dramatically PID loops and other timing related loops (AHRS) that expect specific hz of execution.

Not trying to be everything to all people, and why we have an ARM project fully underway, but I think you'll see some good things from us in the coming weeks/months. Ok, I'm done with any other replies on this topic as I want to respect Alex's topic... but I do wish you'd get your facts straight before you put out propoganda that simple isn't true or contains only partial truths... feel free to take this up on the AQ forums if you have such strong feelings...

Btw, Im in Atlanta, as well ..

Alan
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Old May 30, 2011, 11:23 PM
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Originally Posted by c2po View Post
...connect SCL and SDA straight to the board, and add pull-up resistors to the upper part of the ITG3200 breakout board...
Will one of the attached diagrams work for the accel? I tried to copy what the resistors do for the gyro.
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Old May 31, 2011, 01:43 AM
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Here is a short vid of MultiWiiCopter with PipoISU on my microquad:

PipoWiiCopter (2 min 3 sec)


Did anyone ever look further into into ADXL345? It seems to be more noisy than the "Bosch brothers"

Jussi
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Old May 31, 2011, 03:09 AM
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Originally Posted by RCvertt View Post
Will one of the attached diagrams work for the accel? I tried to copy what the resistors do for the gyro.
Yes, that should work.
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Old May 31, 2011, 04:45 AM
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Yes, that should work.
Great, thanks for the help with this.

Now to find a way to make receivers even smaller. Anyone have the schematics on the huge 7 gram sum signal FrySky receivers
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