|May 10, 2011, 03:10 PM|
MultiWii based on Gaui 330X frame
Finally I was able to tune MultiWiiCopter controller on the Gaui 300X frame more or less to my likings, I will share with my setup so someone might find that helpful.
Everything is stock GAUI 330X (not S version) except the controller.
Frame 330X with motor to motor size ~ 33cm (13in), weight is 400g without the battery, motors and ESC are from Gaui 330X kit, I guess Kv is around 1100, ESCs are probably 6 Amps.
Battery is Turnigy 2S 2200mAh,weight 122g, usually I put ~1200mAh after 10 min flight.
Radio is old 72MHz Futaba 7C, receiver is Berg 4L, hacked into it to get PPM output, using PPM is much simplier in the code and on the wiring.
Controller is based on the Really Bare Bones Board and mounted on a self made board used to connect all the parts together. Nunchuk is there underneath the gyro, but is not used at the moment, so with the I2C speed 400kHz I'm getting cycle time about 1750us. As a gyro I used ITG3205 from a cheap Motion+ clone bought on Ebay, gyro chip is connected to Arduino I2C pins directly, AVR built-in pull-ups are disabled.
I made a lot of changes to the code, mainly removing parts that I don't need, but the change which is relevant to using ITG3205 gyro is that I divide gyro output values by 8, originally it is divided by 20 (/4/5), lines 770-772 in MultiWiiV1_7.pde.
Parameters for PID and other stuff can be seen on the screenshot. They are for 2S setup, you have to reduce PID values for 3S battery.
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