Espritmodel.com Telemetry Radio
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Old Jun 17, 2010, 03:48 PM
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ok, maybe it's the solution

but in aeroquad with wmp,there is not this problem even it's powered in 5V bythe controler.

i don't know why. pwm with tempo could be the solution,waiting for your new code

thx

Quote:
Originally Posted by Alexinparis View Post
I noticed something I still don't understand:
  • When I power the arduino with FTDI USB module (to upload a version or to debug), the WMP initialization is always good.
  • When I powered the arduino with the BEC of the ESCs, the WMP initialization fails sometimes as you explain. But when the init is good, every thing works perfectly after.
In both cases, the WMP is powered with 5V.

It may be due to the quality of the 5V at the very beginning.
I think I will power WMP with another method:
  • even if it works with 5V, it maybe better to operate WMP under 3.3V
  • I will use a free analog PIN output to create this alim
  • this alim will be a little temporized to have more voltage stability at the beginning.

I don't think bad copies is the origin of this problem
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Old Jun 17, 2010, 11:43 PM
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AlexinParis, Nice flying with positive G - I really like your project - signed up for your idea; it's a real WiizArd of a tricopter. Also nice to see a composite monocoque airframe and the use of a LEDlight strip for orientation.

Errors at startup:- Voltage errors aside; My experience with gyro circuitry in general is they are all sensitive to adjacent circuits. In the past I have found that without shielding they perform better when isolated by shielding or at least 60mm distance.
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Old Jun 18, 2010, 12:30 AM
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Quote:
Originally Posted by AlouetteIII View Post
AlexinParis, Nice flying with positive G - I really like your project - signed up for your idea; it's a real WiizArd of a tricopter. Also nice to see a composite monocoque airframe and the use of a LEDlight strip for orientation.

Errors at startup:- Voltage errors aside; My experience with gyro circuitry in general is they are all sensitive to adjacent circuits. In the past I have found that without shielding they perform better when isolated by shielding or at least 60mm distance.
thank's for your feedback AllouetteIII,I will try this. On my aeroquad, I've got 10cm from controler board to imu

Alex, for the radio,what about the atv limit? 80% ,100% or 150%


what is working the best ?
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Old Jun 18, 2010, 01:33 AM
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Quote:
Originally Posted by tazdevil View Post
thank's for your feedback AllouetteIII,I will try this. On my aeroquad, I've got 10cm from controler board to imu

Alex, for the radio,what about the atv limit? 80% ,100% or 150%


what is working the best ?
For the radio, the settings should be [1000-2000] micro seconds for all channels.
On my Graupner/JR, it represents 125% ATV.

I tested successfully yesterday a new init phase. I was wrong in my explanation about the output analog PIN. It does not exist on Arduino
What I did:
- connect WMP VCC to digital PIN 12
- in the setup() phase
- set the PIN 12 output to 0
- wait for 0.5s
- set the PIN 12 output to 1 => 5V VCC (no way to switch a 3.3V)
- and then I2C init phase

This way, the WMP seems to init well at each attempt. I will try also to shield the WMP with a simple piece of aluminium paper.

If we power the WMP and at the same time the Arduino, I suspect some foolish and unpredictable I2C bits are transmitted to the WMP during the Arduino boot, causing a wrong init.
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Old Jun 18, 2010, 01:43 AM
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Cool,is thefirmware avaible on you web site,I would like to test it today !

maybe you can put here only he modification code you done

rgds
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Old Jun 18, 2010, 02:57 AM
xxxxxxxxxxxxx
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- AERODUINO-FUN - less material for an MWC is not

my base with minimal material use is now AERODUINO-FUN



an ATmega328 with Arduino Bootloader and WM +



less material for an MWC is not.



the power supply and the level converters are already available on the BMA020,
so that the pullup resistors on the carrier ITG3205 can be omitted.



die beschreibung im deutschen Forum - > http://forum.xufo.net/bb/viewtopic.php?p=172269#172269

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Old Jun 18, 2010, 04:00 AM
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this is what I modify on soft myself according your recommendation:

#define POWERWMP 12 // at the begining

void setup() {
Serial.begin(115200);
pinMode (LEDPIN, OUTPUT);
pinMode (POWERWMP, OUTPUT);
initializeMotors();
readEEPROM();
checkFirstTime();
configureReceiver();
digitalWrite( POWERWMP,LOW );
delay(500);
digitalWrite( POWERWMP,HIGH );
initGyro();
zeroGyros();
digitalWrite(LEDPIN, HIGH);
initializeServo();
previousTime = micros();
}

is that good for you ?
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Old Jun 18, 2010, 04:32 AM
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Quote:
Originally Posted by tazdevil View Post
this is what I modify on soft myself according your recommendation:

#define POWERWMP 12 // at the begining

void setup() {
Serial.begin(115200);
pinMode (LEDPIN, OUTPUT);
pinMode (POWERWMP, OUTPUT);
initializeMotors();
readEEPROM();
checkFirstTime();
configureReceiver();
digitalWrite( POWERWMP,LOW );
delay(500);
digitalWrite( POWERWMP,HIGH );
initGyro();
zeroGyros();
digitalWrite(LEDPIN, HIGH);
initializeServo();
previousTime = micros();
}

is that good for you ?
Yes that sounds good for the soft.
I'll try to release a version this evening or tomorrow.
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Old Jun 18, 2010, 06:41 AM
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ddrake's Avatar
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Really good looking project.
I will soon give it a try as I have all the hardware.

Would like to have a cheap platform for FPV when I don't feel like risking the expensive MKs

Many thanks!!!!
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Old Jun 18, 2010, 07:04 AM
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Quote:
Originally Posted by Alexinparis View Post
[LIST]
In both cases, the WMP is powered with 5V.
  • even if it works with 5V, it maybe better to operate WMP under 3.3V
no problem
The WMP has an independent voltage regulator to 3.0V

the ADC are still free.
how about 2POTI for parameter-adjustment?


juergen
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Old Jun 18, 2010, 11:28 AM
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arf , with delay mod to power the wmp , it's not working too, pin 12 has good delay but...

maybe my wmp is not ok
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Old Jun 18, 2010, 01:35 PM
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Quote:
Originally Posted by tazdevil View Post
arf , with delay mod to power the wmp , it's not working too, pin 12 has good delay but...

maybe my wmp is not ok
Does it never work, or just sometimes ?

I updated the schemes and the code.
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Old Jun 18, 2010, 02:05 PM
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Quote:
Originally Posted by JUERGEN_ View Post
no problem
the ADC are still free.
how about 2POTI for parameter-adjustment?
Yes it's a good idea, something like in the kkmulticopter to adjusts the PID => no more remote adjustment to handle with GUI or radio/LCD.
I will have to glue them somewhere, because I have no PCB to host them
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Old Jun 18, 2010, 02:52 PM
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Please take a look at BaronPilot thread, it is the same project, but with autostable mode, very very easy to flight.
I have take a look in your software, something use old info about Wii Motion Plus.
Fast/Slow mode factor is not 5 (10/2), but it is 2000/440 (the two maximun from the invensense docs).
Why are you shifing right yaw by 3 ? You lost some info.
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Old Jun 18, 2010, 04:59 PM
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Quote:
Originally Posted by Ciskje View Post
Please take a look at BaronPilot thread, it is the same project, but with autostable mode, very very easy to flight.
I have take a look in your software, something use old info about Wii Motion Plus.
Fast/Slow mode factor is not 5 (10/2), but it is 2000/440 (the two maximun from the invensense docs).
Why are you shifing right yaw by 3 ? You lost some info.
Hi,

I already read all posts of BaronPilot thread
A agree it's a similar project but there are variants:
- LCD&radio conf vs computer&CLI
- I don't plan for the moment to integrate nunchuk and its accelerometers, I think it's not so useful for a moving purpose tricopter
Reading both WMP and nunchuck divides by two the available update of the gyro due to interleave way of decoding I2C data, and then affect stability.

I know the specification of IDG600 or IDG650 and its two outputs 2000 and 440deg/s. The ratio should effectively be closer to 4.5 than 5.
What I observed on the curves with the copy of WMP I got: the response of gyro are not symmetric. On one sens, the fast mode occurs sooner than in the other, and the absolute max values are not the same given the same opposite angular rate. So 5 is empirical and closer to reality from what I observed on my WMP copy.

I divide Yaw gyro value (and also Pitch/Roll along the code) because the last 2 or 3 bits are not usable at all. The noise is much to high to do some calculation with it.

I observed in BaronPilot code that I2C fast mode is not used. It is well supported for Wii accessories and it reduces a lot the time to read raw values.
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