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Old Feb 05, 2013, 07:04 AM
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Very high refresh rate on servos Multiwii

On page 314 (2 pages before this one) I had a question about high refresh rate on motor outputs with mulitwii.

SERVO_RFR_50HZ is defined.

The board came that way, reloading the firmware (the latest version) still does it. Looking at the code, it should work.

My oscillosscope says that the outputs to the motors are changing as they should, just that pulses are being sent every 2.004 ms.

WinGUI says everything is working.

BTW, WinGUI compatible to MegaPirate too right?
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Old Feb 05, 2013, 07:23 AM
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Quote:
Originally Posted by renatoa View Post
pins 32/33 are nowhere assigned to any task.
That's interesting .... Have to dig a little inside the code and measure the board connections.

Yes, I am using mp but v2.9.1 on HK AIO v1 board clone.
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Old Feb 05, 2013, 10:16 AM
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Hey all, looking at getting the Crius AIO Pro quadcopter instead of the Naza for now.

Just curious, is the Crius the flight controller board, and MegaPirate the firmware? And is there any documentation/manuals around on how to work it etc?
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Old Feb 05, 2013, 11:13 AM
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Yes - crius is the flight controller - megapirate is the firmware just as multiwii is also a firmware option for this board.

Click my username for some setup videos - also search for rcjose's videos - he documented his entire build process on video.

or go to the megapirateng project site on google code.
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Old Feb 05, 2013, 11:58 AM
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United Kingdom, England, Wiltshire
Joined Jan 2013
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Quote:
Originally Posted by Paku View Post
It was just a universal description for how to grab power while connecting signal wire somewhere else.

If you are satisfied with power delivered on 44/45 rows pins (3) your solution is ok.
ive tried the 44/45 slots first and tried all sorts of settings and couldnt get anything working that way, then i checked the megapirate manual where it states 32/33.

im using an f450 frame with power distribution board powering the ESC's, would this mean the servos would be receiving too much power? thats why im looking to power them from the crius if possible

Quote:
Originally Posted by renatoa View Post

Where "it says" ?
sorry, not enough info.. Im now running megapirate 2.8 r3, got the configuration from the manual





if anyone who has set up a gimbal on the crius knows which setup works and roughly what settings i need to change thatd be great. have searched so many times and cant really find the info i need,
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Old Feb 05, 2013, 12:02 PM
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Quote:
Originally Posted by ezroller View Post
ive tried the 44/45 slots first and tried all sorts of settings and couldnt get anything working that way, then i checked the megapirate manual where it states 32/33.

im using an f450 frame with power distribution board powering the ESC's, would this mean the servos would be receiving too much power? thats why im looking to power them from the crius if possible



sorry, not enough info.. Im now running megapirate 2.8 r3, got the configuration from the manual





if anyone who has set up a gimbal on the crius knows which setup works and roughly what settings i need to change thatd be great. have searched so many times and cant really find the info i need,
By post 29 it's all sorted.

http://www.multikopter.co.uk/forum/t...camera-gimbal/

Cheers,
Andy
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Old Feb 05, 2013, 12:47 PM
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Quote:
Originally Posted by Mochaboy View Post
Yes - crius is the flight controller - megapirate is the firmware just as multiwii is also a firmware option for this board.

Click my username for some setup videos - also search for rcjose's videos - he documented his entire build process on video.

or go to the megapirateng project site on google code.
Cheers Mocha =]

Appreciate the info and links!!
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Old Feb 05, 2013, 01:36 PM
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Quote:
Originally Posted by DodgeRC View Post
Hey all, looking at getting the Crius AIO Pro quadcopter instead of the Naza for now.

Just curious, is the Crius the flight controller board, and MegaPirate the firmware? And is there any documentation/manuals around on how to work it etc?
http://www.rcgroups.com/forums/showa...2&d=1352741347
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Old Feb 05, 2013, 02:18 PM
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Quote:
Originally Posted by Jumpy07 View Post
Perfect =]
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Old Feb 05, 2013, 02:39 PM
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Joined Dec 2010
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I'm trying to upload MPNG 2.9.1 to my Crius AIOP v1. The APM config file only lets me select frame and orientation. Don't see anywhere to change board type,GPS etc. I loaded it anyway and it boots up, but just displays a solid yellow led and never changes. I reverted back to 2.8 with no problems.
What am I missing?
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Old Feb 05, 2013, 03:10 PM
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Quote:
Originally Posted by leithalweapon View Post
I'm trying to upload MPNG 2.9.1 to my Crius AIOP v1. The APM config file only lets me select frame and orientation. Don't see anywhere to change board type,GPS etc. I loaded it anyway and it boots up, but just displays a solid yellow led and never changes. I reverted back to 2.8 with no problems.
What am I missing?
Line #6
Code:
// Select your sensor board
#define PIRATES_SENSOR_BOARD PIRATES_CRIUS_AIO_PRO_V1
/*
        PIRATES_ALLINONE
        PIRATES_FFIMU
        PIRATES_FREEIMU
        PIRATES_BLACKVORTEX
        PIRATES_FREEIMU_4                                       // New FreeIMU 0.4.1 with MPU6050, MS5611 and 5883L
        PIRATES_DROTEK_10DOF_MPU                // MPU6050, MS5611 and 5883L
        PIRATES_CRIUS_AIO_PRO_V1                // Crius AllInOne Pro v1(1.1)
        PIRATES_CRIUS_AIO_PRO_V2                // Crius AllInOne Pro v2
*/
2.9 comes with v2 as the default - that would probably mess you up
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Old Feb 05, 2013, 03:12 PM
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Quote:
Originally Posted by abriosi View Post
Select Tx_Set1 and try some different combinations with the cables till you get it right
Thanks for the help, I like the sound of that keeping it simple, just sounds too easy

Won't that cause other issues?
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Old Feb 05, 2013, 06:11 PM
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Quote:
Originally Posted by jazzboy View Post
By post 29 it's all sorted.

http://www.multikopter.co.uk/forum/t...camera-gimbal/

Cheers,
Andy
perfect, just needed to reconnect a power wire from the esc's to one of the motor points.

thanks
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Old Feb 05, 2013, 09:03 PM
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This is the Arducopter 2.9.1 APM config.h code that I downloaded from the Arducopter site. What Do I need to change to get it to work with the Crius AIOP v1, minimOSD and MTK 3329 v2 GPS? In Arducopter 2.8 the APM config.h has definitions for GPS, OSD, Baro type etc.. Do I just cut and paste those definitions from 2.8 to 2.9?


Quote:
// -*- tab-width: 4; mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

// example config file. take a look at config.h. any  term define there can be overridden by defining i t here.

//#define config_apm_hardware apm_hardware_apm2

// ordinary users should please ignore the following  define.
// apm2_beta_hardware is used to support early (sept ember-october 2011) apm2
// hardware which had the bmp085 barometer onboard.  only a handful of
// developers have these boards.
//#define apm2_beta_hardware

//#define mag_orientation ap_compass_components_down_pins_forward
//#define hil_mode hil_mode_attitude
//#define dmp_enabled enabled
//#define secondary_dmp_enabled enabled       // allows running dmp in parallel with dcm for testi ng purposes

//#define frame_config quad_frame
/*
 *  options:
 *  quad_frame
 *  tri_frame
 *  hexa_frame
 *  y6_frame
 *  octa_frame
 *  octa_quad_frame
 *  heli_frame
 */

//#define frame_orientation x_frame
/*
 *  plus_frame
 *  x_frame
 *  v_frame
 */

//#define ch7_option ch7_save_wp
/*
 *  ch7_do_nothing
 *  ch7_flip
 *  ch7_simple_mode
 *  ch7_rtl
 *  ch7_save_trim
 *  ch7_save_wp
 *  ch7_camera_trigger
 */

// inertia based contollers
//#define inertial_nav_xy enabled
#define inertial_nav_z enabled

//#define motors_jd880
//#define motors_jd850


// agmatthews userhooks
// the choice of function names is up to the user an d does not have to match these
// uncomment these hooks and ensure there is a match ing function on your "usercode.pde" file
//#define userhook_fastloop userhook_fastloop();
#define userhook_50hzloop userhook_50hz();
//#define userhook_mediumloop userhook_mediumloop();
//#define userhook_slowloop userhook_slowloop();
//#define userhook_superslowloop userhook_superslowl oop();
#define userhook_init userhook_init();

// the choice of included variables file (*.h) is up  to the user and does not have to match this one
// ensure the defined file exists and is in the ardu copter directory

Arducopter 2.8 APM config.h code

Quote:
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __ARDUCOPTER_APMCONFIG_H__
#define __ARDUCOPTER_APMCONFIG_H__ 
// Example config file. Take a look at config.h. Any  term define there can be overridden by defining i t here.

// Select your sensor board
#define PIRATES_SENSOR_BOARD PIRATES_CRIUS_AIO_PRO _V1
/*
PIRATES_ALLINONE
PIRATES_FFIMU
PIRATES_FREEIMU
PIRATES_BLACKVORTEX
PIRATES_FREEIMU_4  // New FreeIMU 0.4.1 with MPU6000, MS5611 and 5883L
PIRATES_DROTEK_10DOF_MPU  // MPU6000, MS5611 and 5883L
PIRATES_CRIUS_AIO_PRO_V1    // Crius AllInOne Pro v1(1.1)
PIRATES_CRIUS_AIO_PRO_V2    // Crius AllInOne Pro v2
*/

// RC configuration

// PPM_SUM(CPPM) Signal processing
#define SERIAL_PPM SERIAL_PPM_DISABLED
/*
SERIAL_PPM_DISABLED
SERIAL_PPM_ENABLED // For all boards, PPM_SUM pin is A8
SERIAL_PPM_ENABLED_PL1   // Use for CRIUS AIOP Pro v2,
*/

#define TX_CHANNEL_SET TX_mwi
/*
TX_set1 //Graupner/Spektrum PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,CAMPITCH,CAMROLL
TX_standard //standard  PPM layout Robbe/Hitec/Sanwa ROLL,PITCH,THROTTLE,YAW,MODE,AUX2,CAMPITCH,CAMROLL
TX_set2 //some Hitec/Sanwa/others PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
TX_mwi //MultiWii layout ROLL,THROTTLE,PITCH,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
*/

// Select your baro sensor
#define CONFIG_BARO AP_BARO_MS5611_I2C
/*
AP_BARO_BMP085_PIRATES
AP_BARO_MS5611_I2C
*/

// Warning: COPTER_LEDS is not compatible with LED_S EQUENCER, so enable only one option
//#define COPTER_LEDS ENABLED     // New feature coming from ArduCopter
//#define LED_SEQUENCER ENABLED   // Old Oleg's LED Sequencer, see leds.pde for more i nfo

#define MAX_SONAR_RANGE 400

// This OSD works on the Serial1 port
#define OSD_PROTOCOL OSD_PROTOCOL_REMZIBI
/*
OSD_PROTOCOL_NONE
OSD_PROTOCOL_SYBERIAN
OSD_PROTOCOL_REMZIBI  // Read more at: http://www.rcgroups.com/forums/showthread.php?t=921467
OSD_PROTOCOL_FRSKY // FrSky Telemetry protocol
*/

// For BlackVortex, just set PIRATES_SENSOR_BOARD as  PIRATES_BLACKVORTEX, GPS will be selected automat ically
#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
/*
GPS_PROTOCOL_NONE  without GPS
GPS_PROTOCOL_NMEA
GPS_PROTOCOL_SIRF
GPS_PROTOCOL_UBLOX     <<< Select this for UBLOX L EA-6 (CRIUS GPS boards and others)
GPS_PROTOCOL_MTK16
GPS_PROTOCOL_BLACKVORTEX
GPS_PROTOCOL_AUTO auto select GPS
*/

#define SERIAL0_BAUD  115200 // Console port
#define SERIAL2_BAUD  38400 // GPS port
#define SERIAL3_BAUD  57600 // Telemetry (MAVLINK) port

// New in 2.0.43, but unused in MegairateNG
// MPNG: Piezo uses AN5 pin in ArduCopter, we uses A N5 for CLI switch
#define PIEZO DISABLED
#define PIEZO_LOW_VOLTAGE DISABLED
#define PIEZO_ARMING DISABLED

#define FRAME_CONFIG QUAD_FRAME
/*
QUAD_FRAME
TRI_FRAME
HEXA_FRAME
Y6_FRAME
OCTA_FRAME
OCTA_QUAD_FRAME
HELI_FRAME
*/

#define FRAME_ORIENTATION X_FRAME
/*
PLUS_FRAME
X_FRAME
V_FRAME
*/

# define CH7_OPTION CH7_DO_NOTHING
/*
CH7_DO_NOTHING
CH7_SET_HOVER
CH7_FLIP
CH7_SIMPLE_MODE
CH7_RTL
CH7_AUTO_TRIM
CH7_ADC_FILTER (experimental)
CH7_SAVE_WP
  CH7_MULTI_MODE
 */

//#define TOY_EDF ENABLED
//#define TOY_MIXER TOY_LOOKUP_TABLE

//#define RATE_ROLL_I  0.18
//#define RATE_PITCH_I 0.18
//#define MOTORS_JD880
//#define MOTORS_JD850


// agmatthews USERHOOKS
// the choice of function names is up to the user an d does not have to match these
// uncomment these hooks and ensure there is a match ing function un your "UserCode.pde" file
//#define USERHOOK_FASTLOOP userhook_FastLoop();
#define USERHOOK_50HZLOOP userhook_50Hz();
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowL oop();
#define USERHOOK_INIT userhook_init();

// the choice of includeed variables file (*.h) is u p to the user and does not have to match this one
// Ensure the defined file exists and is in the ardu copter directory
#define USERHOOK_VARIABLES "UserVariables.h"

// to enable, set to 1
// to disable, set to 0
//#define AUTO_THROTTLE_HOLD 1

#if PIRATES_SENSOR_BOARD == PIRATES_CRIUS_AIO_PRO_ V2
#define LOGGING_ENABLED ENABLED
#else
#define LOGGING_ENABLED DISABLED
#endif

// Custom channel config - Expert Use Only.
// this for defining your own MOT_n to CH_n mapping.
// Overrides defaults (for APM1 or APM2) found in co nfig_channels.h
// MOT_n variables are used by the Frame mixing code . You must define
// MOT_1 through MOT_m where m is the number of moto rs on your frame.
// CH_n variables are used for RC output. These can  be CH_1 through CH_8,
// and CH_10 or CH_12. 
// Sample channel config. Must define all MOT_ chann els used by
// your FRAME_TYPE.
// #define CONFIG_CHANNELS CHANNEL_CONFIG_CUSTOM
// #define MOT_1 CH_6
// #define MOT_2 CH_3
// #define MOT_3 CH_2
// #define MOT_4 CH_5
// #define MOT_5 CH_1
// #define MOT_6 CH_4
// #define MOT_7 CH_7
// #define MOT_8 CH_8


// ************** EXPERIMENTAL FEATURES ************ *****

// Alt hold with accelerometer
#define ACCEL_ALT_HOLD 0 // disabled by default, work in progress

#define INERTIAL_NAV DISABLED

#if INERTIAL_NAV == ENABLED
#define ALT_HOLD_P 3
#define ALT_HOLD_I 0
#define ALT_HOLD_IMAX 300

// RATE control
#define THROTTLE_P 5 //
#define THROTTLE_I 0.4 //
#define THROTTLE_D 0.0 //

#define LOITER_P 0.50
#define LOITER_I 0.0
#define LOITER_RATE_P 5 //
#define LOITER_RATE_I 0.1 // Wind control
#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
#endif

// Enabling this will use the GPS lat/long coordinate to get the compass declination
//#define AUTOMATIC_DECLINATION ENABLED

//#define CLI_ENABLED DISABLED

//#define FAILSAFE

#endif //__ARDUCOPTER_APMCONFIG_H__
#define userhook_variables "uservariables.h"

//#define logging_enabled disabled

// #define loiter_repositioning    enabled                          // experimental do not use
// #define loiter_rp               roll_pitch_loiter _pr
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Old Feb 05, 2013, 10:56 PM
Radd Graduate '06
Mochaboy's Avatar
United States, MA, Sudbury
Joined Aug 2006
1,820 Posts
Quote:
Originally Posted by leithalweapon View Post
This is the Arducopter 2.9.1 APM config.h code that I downloaded from the Arducopter site.
You mean the megapirate site right?

The code you posted is for a different board, the ardupilot mega board.

All the MPNG project files are here:
http://code.google.com/p/megapiraten...k%2FArduCopter
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