MultiWiiCopter (previously TriWiiCopter) - RC Groups
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Jun 16, 2010, 04:48 PM
Registered User
Alexinparis's Avatar
Discussion

MultiWiiCopter (previously TriWiiCopter)


Hello to all,

The MultiWiiCopter is another multicopter based on a Wii Motion Plus extension and an Arduino pro mini board.
I wanted to design something very simple, cheap, minimalist, with an open source code.
It should be compatible with any receiver (4 channels mini, even those with a single PPM sum signal), every standard servo and most standard ESCs.

It can now handle several different configuration: tricopter, quadricopter, Y4, Y6, hexacopter, octocopter

The integration of Wii nunchuk allows an auto stable mode but is not mandatory to fly the model
My approach is more piloting oriented and the help of accelerometers is not really useful for this purpose.

The hardware were not specially intended to evolve toward something with GPS and sensors, however it's on the way .

There is also a GUI where you can visualize and configure several indicators and parameters.
I also developed a way to configure flight parameters directly on a small 2x16 LCD display.


There is a specific web site to detail the design and to keep updated the source code :
http://www.multiwii.com/
and a dedicated forum: http://www.multiwii.com/forum/



Feature list summary:
  • Multicopter type:
    • BICOPTER
    • TRICOPTER
    • QUAD +
    • QUAD X
    • Y4
    • Y6
    • HEX COAX6 (Y6)
    • HEX FLAT 6
    • OCTOX8
    • OCTOFLATP
    • OCTOFLATX
    • VTAIL
    • FLYING WING
    • AIRPLANE
  • RX input :
    • standard receiver (4 or 5 channels in PPM mode, 2.4GHz or not)
    • PPM sum receiver
    • Open LRS
    • Spektrum
    • Futaba SBUS
  • Output:
    • up to 4 standard servo outputs, included PITCH/ROLL tilt stabilization
    • 3, 4 or 6 standard ESC outputs, boosted with a 488Hz refresh rate
  • Sensors:
    • Gyro:
      • some versions of Wii Motion Plus: 3 MEMS Gyro: 2x IDG-650, 1x ISZ-650
      • 3 axis gyro ITG3200
      • 3 axis gyro L3G4200D
      • 3 axis gyro MPU6050
    • Acc:
      • some versions of Nunchuk:3 MEMS Acc: LIS3L02AL
      • ADXL345
      • BMA020
      • BMA180
      • LIS3LV02
      • LSM303DLx_ACC
    • Barometer:
      • BMP085
      • MS561101BA
    • Compass:
      • 3 axis magnetometer HMC5843 or HMC5883L
      • 3 axis magnetometer AK8975
      • 3 axis magnetometer MAG3110
    • ultrasonic sensor
      • SRF08
  • LCD:
    • 9600 baud LCD 2x16 characters, for configuration of main parameters on the field
    • TextStar LCD
    • Eagle Tree Power Panel LCD
    • OLED I2C 128x64 display
    • VT100 terminal
  • GUI:
    • Coded with processing, java core: Linux/MAC/PC compatible, USB connection
    • Exhaustive parameter configuration
    • Graphical visualization of sensors, motors and RC signal
  • Flight mode:
    • Angle velocity driven (ACRO mode)
    • Absolute angle driven (LEVEL mode)
  • OSD integration:

You can find here a very good "step by step" Quad MultiWiiCopter construction on this blog:
https://www.rcgroups.com/forums/show....php?t=1332876
I advice every beginner to read it first. Thank you Norbert.

You can also find precise information to wire everything on Berkely blog:
https://www.rcgroups.com/forums/show....php?t=1340771

A very good post for initial setup and basic questions from Shikra:
https://www.rcgroups.com/forums/show....php?t=1348268

facebook fans
http://www.facebook.com/pages/MultiW...20552724678815

MultiWii archive code repository
http://code.google.com/p/multiwii/
last version: v2.4
last dev version: updated regularly in https://code.google.com/p/multiwii/

In order to help users to configure the multiwii Arduino sketch, Daniel Saez developed a very nice graphical online tool to generate the needed code.
http://ardupirates.net/config/MW_Config.php
As explained, the generated code should replace the one between the 2 sections delimited by CONFIGURABLE PARAMETERS

How to disassemble and mount wii parts on a shield, with the good orientation
nice tutorial from Quinton here http://www.multiwiicopter.com/pages/videos

Here is a video of my first tricopter based on this electronics.
TriWiiCopter 28/05/2010 (4 min 47 sec)


A more recent one.
Tricopter running MultiWii code, aggressive settings (3 min 57 sec)


Note:
In the pictures bellow, D12 is used to power the IMU.
It is no longer useful since the last I2C code variant.
Any IMU, including WMP can be directly powered with VCC now.
Last edited by Alexinparis; Mar 22, 2015 at 06:06 PM.
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Jun 16, 2010, 05:26 PM
Registered User
RCvertt's Avatar
Quote:
Originally Posted by Alexinparis
The TriWiiCopter is another tricopter based on a Wii Motion Plus extension and an Arduino pro mini board...
Looks great. Can't wait to try it out.
Last edited by RCvertt; Aug 07, 2011 at 11:22 PM.
Jun 16, 2010, 06:44 PM
Brushless
cdi3d's Avatar
Nice Job - That is awesome - Looks like I need to order some more parts -

Mike
Jun 16, 2010, 09:59 PM
WHEN IN DOUBT FLOOR IT!!!
G-unit's Avatar
Very NICE!!
Jun 17, 2010, 06:59 AM
Registered User
outsider787's Avatar
Wow Alex. That's fantastic!
And it seems like this controller can be made for really cheap. Even cheaper then Kapteinku's controller (which is as cheap as you can go so far).

adrian
Jun 17, 2010, 07:25 AM
Registered User
Awesome job!

Anybody got a good source for the Wii controllers?
Jun 17, 2010, 07:43 AM
fast
fmkit's Avatar
Interesting, I got exact the same idea of changing config. without PC
Bought $4 LCD(RT0802B) off ebay and made simple menu
with menu buttons on LCD there is no need for remote controller
Jun 17, 2010, 08:45 AM
FPV Junkie
tazdevil's Avatar
Good job Alex

just a question

is the PID setting are for all the axes yaw roll nick
we can't dissociate the PID setting for each axe ?

rgds


Quote:
Originally Posted by Alexinparis
Hello to all,

The TriWiiCopter is another tricopter based on a Wii Motion Plus extension and an Arduino pro mini board.

I wanted to design something very simple, cheap, minimalist, with an open source code.
It should be compatible with any receiver (4 channels), every standard servo and most standard ESCs.

I didn't integrate the Wii nunchuk extension because my approach is piloting oriented and the help of accelerometers is not really useful for this purpose.
The hardware is not specially intended to evolve toward something with GPS and captors, however it could.

Compared to other multi rotor helis, there is no GUI for the moment and I developed a way to configure flight parameters directly on a small 2x16 LCD display.

I made a specific web page to detail the design and to keep updated the source code :
http://radio-commande.com/internatio...copter-design/



Here is a video of my first tricopter based on this electronics with the last code.
http://www.youtube.com/watch?v=aGsMt5ntcXw
Jun 17, 2010, 08:47 AM
Brushless
cdi3d's Avatar
Alex - Have you flown it in the wind yet? If so how does it handle?

Thanks
Mike
Jun 17, 2010, 09:01 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by fmkit
Interesting, I got exact the same idea of changing config. without PC
Bought $4 LCD(RT0802B) off ebay and made simple menu
with menu buttons on LCD there is no need for remote controller
Interesting too, and very cheap.
RT0802B is not a serial LCD, and your LCD seems to be connected with only 3 wires. did you develop a specific thing to handle the serial communication and the buttons ?
I searched a lot to find a ready to plug serial LCD, and Sparkun one was my best choice regarding the cost. If you have a better option, I would be pleased to know it.
Jun 17, 2010, 09:10 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
Good job Alex

just a question

is the PID setting are for all the axes yaw roll nick
we can't dissociate the PID setting for each axe ?

rgds
Hi,

Currently :
The PID settings are global to nick and roll.
Yaw PID is static and not configurable.

For some strange reasons, I discovered the sensibility of nick and roll gyro could differ depending on the WMP copies you get => I plan to separate nick & roll PID settings in a future version.
Jun 17, 2010, 09:15 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by cdi3d
Alex - Have you flown it in the wind yet? If so how does it handle?

Thanks
Mike
Hi,
Yes, I already flew it in a quite heavy wind. It is not really a problem for the stability. I would say it can handle the wind like a collective pitch heli of the same size
Jun 17, 2010, 09:43 AM
fast
fmkit's Avatar
Quote:
Originally Posted by Alexinparis
Interesting too, and very cheap.
RT0802B is not a serial LCD, and your LCD seems to be connected with only 3 wires. did you develop a specific thing to handle the serial communication and the buttons ?
I searched a lot to find a ready to plug serial LCD, and Sparkun one was my best choice regarding the cost. If you have a better option, I would be pleased to know it.
yes, used 6 IO controller , bit mode LCD and 2 buttons with series resistors on LCD pins, in the picture buttons on other side.
Sorry I never used Arduino and my ASM code only good for Cypress chips!
Jun 17, 2010, 12:02 PM
FPV Junkie
tazdevil's Avatar
Hi Alex

my version is working with arduino 168 (m168P)

but , I use original version of the WII from nintendo

but sometime the board initialise , sometime not, I've got strange reaction comming I guess from I2C bus.

if I unplug the wii+ all is fine, if i replug it could work or not very randomly.

gyro are working and react on motor and servo.

do you think there could be some difference betwhen copy and original (i2C speed or else ?)

rgds
Jun 17, 2010, 12:41 PM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
Hi Alex

my version is working with arduino 168 (m168P)

but , I use original version of the WII from nintendo

but sometime the board initialize , sometime not, I've got strange reaction coming I guess from I2C bus.

if I unplug the wii+ all is fine, if i replug it could work or not very randomly.

gyro are working and react on motor and servo.

do you think there could be some difference between copy and original (i2C speed or else ?)

rgds
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
Jun 17, 2010, 03:48 PM
FPV Junkie
tazdevil's Avatar
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
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
Jun 17, 2010, 11:43 PM
AlouetteIII's Avatar
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.
Jun 18, 2010, 12:30 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by AlouetteIII
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 ?
Last edited by tazdevil; Jun 18, 2010 at 12:51 AM.
Jun 18, 2010, 01:33 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
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.
Jun 18, 2010, 01:43 AM
FPV Junkie
tazdevil's Avatar
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
Jun 18, 2010, 02:57 AM
xxxxxxxxxxxxx
JUERGEN_'s Avatar

- 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

Last edited by JUERGEN_; Aug 01, 2011 at 01:57 PM.
Jun 18, 2010, 04:00 AM
FPV Junkie
tazdevil's Avatar
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 ?
Jun 18, 2010, 04:32 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
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.
Jun 18, 2010, 06:41 AM
Registered User
ddrake's Avatar
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!!!!
Jun 18, 2010, 07:04 AM
xxxxxxxxxxxxx
JUERGEN_'s Avatar
Quote:
Originally Posted by Alexinparis
[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
Jun 18, 2010, 11:28 AM
FPV Junkie
tazdevil's Avatar
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
Jun 18, 2010, 01:35 PM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
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.
Jun 18, 2010, 02:05 PM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by JUERGEN_
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
Jun 18, 2010, 02:52 PM
Registered User
Ciskje's Avatar
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.
Jun 18, 2010, 04:59 PM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by Ciskje
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.
Jun 18, 2010, 05:29 PM
Registered User
Ciskje's Avatar
Quote:
Originally Posted by Alexinparis

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.
I don't understand your supposition about fast mode, I have tested it in every situation and 4.54 is exacly the factor applyed to the voltage, it is not symmetric because drift (we can't use ZRO pin), but factor doesn't change in the upper or lower half.
Suppose that center is not 1.35 but 1.3, this doesn't change scale 2.7272 mV/deg/s.
Have you collected some data about this factor?

I'm using WM+ clone that incredible have a better yaw gyro a ISZ-650 invensense original.
Your idea to use LCD and Radio is very interesting! (I have a lot LCD display around).

Thank you for your info, when I rebuild it, I will try your suggestion about fast I2C. I'm very happy to collaborate for the same target!
Last edited by Ciskje; Jun 18, 2010 at 05:50 PM.
Jun 19, 2010, 12:56 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by Alexinparis
Does it never work, or just sometimes ?

I updated the schemes and the code.


I don't understand , my wmpwork fine with aeroquad???

problem is intermitant. this is original WMP
Jun 19, 2010, 03:25 AM
xxxxxxxxxxxxx
JUERGEN_'s Avatar
Quote:
Originally Posted by Alexinparis
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.
on the arduino-pro board, I miss the pullup resistors for i2c.
with 1K5 > 3K3



jürgen
Jun 19, 2010, 08:47 AM
Tri-Quad-Hexa-Octo-copters!!
Nice project Alex!
Added to the Quadrocopter and Tricopter Mega Link Index
Cheers,
Jim
Jun 19, 2010, 05:14 PM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by JUERGEN_
on the arduino-pro board, I miss the pullup resistors for i2c.
with 1K5 > 3K3



jürgen
hi , I try with pull up resistor , same problem...and workingfine withaeroquad with same hardware..!

is m168p can do 400khz I2C?
Jun 19, 2010, 05:42 PM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
hi , I try with pull up resistor , same problem...and workingfine withaeroquad with same hardware..!

is m168p can do 400khz I2C?
The main difference with AeroQuad Wii code (the last i saw) is
- the I2C not in fast mode (400khz I2C)
- a difference on the init code due to nunchuck
- the nunchuck connected to the WMP and a small jumper

I think m168p can do also fast I2C mode.
Jun 21, 2010, 04:17 PM
Registered User
signguy's Avatar
Hi Alexinparis

Here is my controller ready to go into its frame. I used a RBBB arduino clone and a Wii MP. Lots of wires! But it should be way less than my gyro only copter. I will get a mini pro after I get this working. I did uncomment the speed control line, and it compiled and uploaded perfectly.

I have almost no experience with the arduino, or any other "chips". Is there a way I can modify the P I D parrameters without an LCD?

I don't mind having to re-upload sketches. Once it is set, I'll leave it that way.

Thanks for the project!!

BobD aka signguy
Jun 21, 2010, 05:19 PM
Registered User
Alexinparis's Avatar
Hi signguy,

You made a nice spider
This arduino clone looks very small, quite similar to a nano, a little bigger than a mini pro.
I hope you won't encounter the problem of intermittent bad init.

If you want to set your PID, it's still possible without a LCD or a GUI.
Not very convenient, but if you have a PC with you, it's nearly as fast as a GUI:

edit the code, and insert this after checkFirstTime():
Code:
...
  checkFirstTime();
  configureReceiver();
...
=>
Code:
...
  checkFirstTime();
    P = 3.5; // <= your param here
    I = 0.03; // <= your param here
    D = -13; // <= your param here
  configureReceiver();
...
recompile and re-upload the sketch each time you want to change the values.

This is in fact what I did to adjust several non configurable parameters during the dev.
Jun 21, 2010, 05:41 PM
Registered User
signguy's Avatar
Got everything mounted and plugged in, but No Go

I'll try to re-upload the sketch. I'm using my old tricopter, and eurgle 2.4 radio, and Super Simple 10 amp speed controls. If I hit the reset on the arduino, I get a 1 second motor run from all motors. No other controls are working, not even yaw. I did see a change in your wiring. You went from the last connector away from the ground on the M+ to 5v on one picture, and to pin 12 on another. I'm at pin 12. I measured 5 v at the M+. I'll also try reversing channels.

Do I have to hold the rudder over during radio startup, or just when I'm ready to fly?

Hope I can get this working. I have another board with header pins and a breadboard, maybe I'll make that one up too.

Thanks
Bob D
Jun 21, 2010, 06:15 PM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by signguy
I did see a change in your wiring. You went from the last connector away from the ground on the M+ to 5v on one picture, and to pin 12 on another. I'm at pin 12. I measured 5 v at the M+. I'll also try reversing channels.
Yes, it's a new way to avoid bad init, and to power the WMP just after the boot time. The old wiring (VCC WMP+ connected to +5V) is still compatible.


I don't advise you to reset the arduino or to plug the FTDI : the motors will run at max for 1s. I can't prevent this.

To start the tricopter, you have to arm it:

Starting the tricopter
The engine launch is done by tilting the yaw stick right while having the throttle stick in minimum position.
For security reasons, the throttle stick must be set to minimum.
Now motors turn at an idle rate and the tricopter is ready for flight.


You may also have to increase your ATV (125% for graupner/JR) or the yaw value needed to arm the tricopter won't be high enough
Jun 21, 2010, 08:59 PM
Registered User
signguy's Avatar
Quote:
Originally Posted by Alexinparis
Yes, it's a new way to avoid bad init, and to power the WMP just after the boot time. The old wiring (VCC WMP+ connected to +5V) is still compatible.


I don't advise you to reset the arduino or to plug the FTDI : the motors will run at max for 1s. I can't prevent this.

To start the tricopter, you have to arm it:

Starting the tricopter
The engine launch is done by tilting the yaw stick right while having the throttle stick in minimum position.
For security reasons, the throttle stick must be set to minimum.
Now motors turn at an idle rate and the tricopter is ready for flight.


You may also have to increase your ATV (125% for graupner/JR) or the yaw value needed to arm the tricopter won't be high enough
Tried the yaw value increase, still a no go. I also tried throttle trim, throttle reverse, starting with throttle high, low, trim high and low. I did follow the startup procedure, but still nothing. I'll have to check all my wiring.

Thanks
BobD
Jun 21, 2010, 09:09 PM
Registered User
RCvertt's Avatar
Quote:
Originally Posted by signguy
Tried the yaw value increase, still a no go. I also tried throttle trim, throttle reverse, starting with throttle high, low, trim high and low. I did follow the startup procedure, but still nothing. I'll have to check all my wiring.

Thanks
BobD
Try uploading the Arduino blink sketch to make sure it's functioning.

If you made your wires pluggable, unplug everything from the arduino when doing the blink sketch.
Jun 22, 2010, 01:10 AM
FPV Junkie
tazdevil's Avatar
Victory.....!


it's working for me

I just put I2C to 400kz routine to comment and it's working for me every time boot is ok

it's seem that original wmp don't accept 400 khz or there is maybe a pb of osc cal on m168p ? I don't now

well, it's working,stabilisation is fine,but I just need to inverse the yaw gyro sens in the soft

I'm looking about it,any idea to had a flag to have the possibility of servo reverce,I wouldn't like to inverse my servo harm on the triwii

anyway,first flight maybe today ..!
Last edited by tazdevil; Jun 22, 2010 at 04:14 AM.
Jun 22, 2010, 01:36 AM
Registered User
Alexinparis's Avatar
Hi,

Very good news !
So apparently the original WMP does not work very well at 400kHz fast mode.
=> just comment the line if you are in this situation:
Code:
//  TWBR = ((16000000L / 400000L) - 16) / 2;
I will find a way to reverse to yaw servo without changing the arming procedure.
for the moment, here is a quick hack is to inverse the sign:
Code:
    servoYaw     = 1500 + axisPID[YAW];
=>
Code:
    servoYaw     = 1500 - axisPID[YAW];
@signguy
even if the WMP is not working, you should be able to run the motors with the arming procedure. what radio RX/TX are you using ?
Jun 22, 2010, 04:16 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by Alexinparis
Hi,

Very good news !
So apparently the original WMP does not work very well at 400kHz fast mode.
=> just comment the line if you are in this situation:
Code:
//  TWBR = ((16000000L / 400000L) - 16) / 2;
I will find a way to reverse to yaw servo without changing the arming procedure.
for the moment, here is a quick hack is to inverse the sign:
Code:
    servoYaw     = 1500 + axisPID[YAW];
=>
Code:
    servoYaw     = 1500 - axisPID[YAW];
@signguy
even if the WMP is not working, you should be able to run the motors with the arming procedure. what radio RX/TX are you using ?

cool , I'm going to try it first flight in few minute
Jun 22, 2010, 07:02 AM
FPV Junkie
tazdevil's Avatar
It's fly ...!


ok , I done the soft mod you say , reversing the yaw and ail channel on transmiter and it's fly


Default PID are correct, no need to change

juste put some expo and limit to have a tri flying indoor for now because it's very speedy

I wlill test it on outdoor this evening after the work


very cool, just noticied one thing, some big oscilation on the yaw axes when there is air turbulance, need to test with wind now...
is there a possibility to decrease the gain a little on the yaw axes ?

Now I can afirm that soft working great on a std Nintendo WII and only on M168P or old arduino pro 168 board

the only thing is to desactivate the 400 khz i2C speed like see before.
I don't notice any change on the stabilisation, I do several test to put full trottle in flight at one meter of the floor after a desent and the tri get steady in one second...
very good

next step for a stable mode with nunchunk ?

thank you Alex

I'm hapy
Last edited by tazdevil; Jun 22, 2010 at 07:08 AM.
Jun 22, 2010, 07:04 AM
Registered User
Hello,

Just want to make sure, is this the Wii MP controller I should buy?

Thanks!
Dion
Jun 22, 2010, 07:18 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by rcimports
Hello,

Just want to make sure, is this the Wii MP controller I should buy?

Thanks!
Dion
Hi Stephan ,

yes it's the wmp, with arduino pro mini.

cost is very cheap aprox 30 to 40 $ for cpu + sensor
Jun 22, 2010, 07:43 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
It's fly ...!
Default PID are correct, no need to change
cool!

default PID are correct to allow a good fly, but you will have a much more stable tricopter if you try to tune it, especially the P parameter.
(my current P term is 4.2 without any oscillation)

Quote:
juste put some expo and limit to have a tri flying indoor for now because it's very speedy
there is already an expo inside the code, it's maybe not sufficient. you are not the first who tell me that.

Quote:
very cool, just noticied one thing, some big oscilation on the yaw axes when there is air turbulance, need to test with wind now...
is there a possibility to decrease the gain a little on the yaw axes ?
Yes, for yaw, and for the moment, there is only one parameter which is PYAW.
By default it is 8
if you want to change it, edit the line
Code:
  PYAW = readFloat(YAW_PGAIN_ADR);
=>
Code:
  PYAW = ??? ;
Jun 22, 2010, 07:49 AM
FPV Junkie
tazdevil's Avatar
ok I'll done the test with more p gain , (I've not the screen , i need to update the shield

and will try 6 for yaw to see what it's done

my tricopter is small with xufo propeler and 20 cm arm aproximatly
Jun 22, 2010, 10:10 AM
FPV Junkie
tazdevil's Avatar
ok , 4.2 is fine , need to check in wind , ( I go now to test it ..!)

6 is good on yaw with modifiy the hole pôsition more neer the center of the servo on harm

i'm happy , it's equiped for fpv right now with light 2.4 ghz camera 5 V , let's do the test

if it's ok , I will change the camera for a better one

need to order a screen now or modify the soft for serial command on hyperterminal for pid setting R W on eeprom

have fun
Jun 22, 2010, 10:54 AM
DJI Supporter
Sid3ways's Avatar
Quote:
Originally Posted by Alexinparis
Hi,

Very good news !
So apparently the original WMP does not work very well at 400kHz fast mode.
=> just comment the line if you are in this situation:
Code:
//  TWBR = ((16000000L / 400000L) - 16) / 2;
Excellent information for building one of these. I do have one question though. How do we tell the difference between the better Wii Motion Plus and the "original" Wii Motion Plus?
Jun 22, 2010, 11:09 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by Sid3ways
Excellent information for building one of these. I do have one question though. How do we tell the difference between the better Wii Motion Plus and the "original" Wii Motion Plus?
The original WMP is the only one with a small metal case on its PCB (X3500W component)
http://wiire.org/Wii/MotionPlus
All the copies I saw have not this metal case component.
Exemple: http://www.dealextreme.com/details.dx/sku.32506

Wiimote uses fast I2C mode to communicate with WMP.
So this erratic operation does not mean copies are better than the original.
It’s just a problem of couple Arduino-WMP.
Jun 22, 2010, 12:00 PM
xxxxxxxxxxxxx
JUERGEN_'s Avatar
Quote:
Originally Posted by Alexinparis
The original WMP is the only one with a small metal case on its PCB (X3500W component)
http://wiire.org/Wii/MotionPlus
...
this is history

WMP is the new development ISZ-650 / IDG650
- http://invensense.com/mems/gaming.html


jürgen
Jun 23, 2010, 04:33 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by JUERGEN_
this is history

WMP is the new development ISZ-650 / IDG650
- http://invensense.com/mems/gaming.html


jürgen
this is why ...

my tricopter fly good in the wind, just put some trim correction sometime (it's not adxr gyro acc would be help a lot) but it fly great even with the battery just connected by the power wire like an heli who make marchandise transport under it with a cable

I thingk an acceloremeter could be great for beginer and fpv

I'l try fpv, and it was more difficult than will tricopter who ismore stable

my tri has tendence to "autocabre" (don't know the word in english) so with a fish eyes camera it is difficult to pilot at low altitude


I think it will be not complicate to adapt a nunshunk on it with all the exemple there is on th web

let's see, what do you think alex ?

another thing , piro rate is very low, anything to do it more accurate ?

i'm happy
Jun 23, 2010, 06:00 AM
Registered User
RCvertt's Avatar
Alexinparis-

Are you using three gyros for stability? I only see two connections to analogue 5 and 6.

Is it a 12c thing where all three gyros signals can travel through just two pins?

Quote:
Originally Posted by Alexinparis
...WMP includes 3 gyros + ADC + I2C + low cost. This explains its success !
Cool. I'm not familiar with how 12c works so I'll take it this means 3 gyro signals can go over just two 12c wires.

Quote:
Originally Posted by Alexinparis
I can still improve yaw correction to reproduce a sort of head lock behavior.
Nice. Please do.

Quote:
Originally Posted by Alexinparis
...Ok, I will think about it for a variant. A nunchuk is even cheaper than WMP.
Now we're talking. Just an accel, no magnetometer or other junk.
Last edited by RCvertt; Jun 23, 2010 at 09:56 AM.
Jun 23, 2010, 07:53 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
my tricopter fly good in the wind, just put some trim correction sometime (it's not adxr gyro acc would be help a lot)
I can still improve yaw correction to reproduce a sort of head lock behavior.
For the moment, it's only a proportional counter action.


Quote:
I thingk an acceloremeter could be great for beginer and fpv
I'l try fpv, and it was more difficult than will tricopter who ismore stable

I think it will be not complicate to adapt a nunshunk on it with all the exemple there is on th web

let's see, what do you think alex ?
Ok, I will think about it for a variant. A nunchuk is even cheaper than WMP.

Quote:
my tri has tendence to "autocabre" (don't know the word in english) so with a fish eyes camera it is difficult to pilot at low altitude
This is generally due to low P and D settings. You should try to go to the limit of PID setting

Quote:
another thing , piro rate is very low, anything to do it more accurate ?
you mean yaw axis rotation ? or roll/pitch axis ?

Quote:
i'm happy
me too

Quote:
Are you using three gyros for stability? I only see two connections to analogue 5 and 6.
Is it a 12c thing where all three gyros signals can travel through just two pins?
WMP includes 3 gyros + ADC + I2C + low cost. This explains its success !
Jun 23, 2010, 09:02 AM
Registered User
Ciskje's Avatar
Quote:
Originally Posted by tazdevil
this is why ...

my tricopter fly good in the wind, just put some trim correction sometime (it's not adxr gyro acc would be help a lot) but it fly great even with the battery just connected by the power wire like an heli who make marchandise transport under it with a cable

I thingk an acceloremeter could be great for beginer and fpv

I'l try fpv, and it was more difficult than will tricopter who ismore stable
You have got the point, FPV is nearly impossibile without autostable mode (with accelerometer), you can try BaronPilot that have also this mode (link to thread).
Jun 23, 2010, 09:17 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by Alexinparis
I can still improve yaw correction to reproduce a sort of head lock behavior.
For the moment, it's only a proportional counter action.



Ok, I will think about it for a variant. A nunchuk is even cheaper than WMP.


This is generally due to low P and D settings. You should try to go to the limit of PID setting


you mean yaw axis rotation ? or roll/pitch axis ?


me too


WMP includes 3 gyros + ADC + I2C + low cost. This explains its success !
yes i mean yaw axis


when I spek of nunchunk it's wmp and nuncunk both


the problem of autocabre was due to my propeler to smooth (xufo silverit)
I put maxprod one and it's look very better , but one controler have a probleme now?... grunt , do no why it's seem to detect only one lipo at startup ...


bbut when I plusg it directly to a receiver it's working, when plug it on tri board , motor start at init and stop a few second later.

other motor still working???

I swap 2 controler same problem on another output of the tri board, so I've got a probleme with my simple controler......

need to order new one .. MDR

yes yaw need PI cause it's oscilate a lot when you turn the yaw and return quicly to the neutral position of the stick.

heading is very correct

waiting improved soft, once again good job and thank you
Jun 23, 2010, 09:20 AM
xxxxxxxxxxxxx
JUERGEN_'s Avatar
jürgen
Last edited by JUERGEN_; Jun 23, 2010 at 09:40 AM.
Jun 23, 2010, 09:29 AM
Plane Insane RC.com
chicken hawk's Avatar
So I ordered the parts to build one of these triwiicopters. I already have 2 tricopters and both are using gyros for stabilization. Now I’m starting to wonder, what are the benefits to using the wii motion? Will the tricopter be more stable with the wii than it will with 4 gyros?
Ryan
Jun 23, 2010, 09:43 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by JUERGEN_
too many small interrupt for the processor ?
much jitter

probably a separate CPU for multiple Rx?
like this - http://api.ning.com/files/S4lVE1TFiI...anual_v4_2.pdf

jürgen
Decoding a PPM pulse sum requires nearly the same amount of interrupts. The work is just concentrated on only one PIN.
I don’t think it would reduce significantly the jitter.
Jun 23, 2010, 09:51 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by chicken hawk
So I ordered the parts to build one of these triwiicopters. I already have 2 tricopters and both are using gyros for stabilization. Now I’m starting to wonder, what are the benefits to using the wii motion? Will the tricopter be more stable with the wii than it will with 4 gyros?
Ryan
Yes, for sure. The difference is real.

Look at this video: 3 gyro Telebee + 1 Esky
Tricopter (6 min 23 sec)

the stationary state is not very stable

and the last triwii one:
https://www.rcgroups.com/forums/show....php?t=1261382

It's the same frame (23cm distance motor to center) and equivalent motors

You can find very stable config with 4 gyros, but with longer arms
Jun 23, 2010, 09:54 AM
xxxxxxxxxxxxx
JUERGEN_'s Avatar
Quote:
Originally Posted by Alexinparis
Decoding a PPM pulse sum requires nearly the same amount of interrupts. The work is just concentrated on only one PIN.
I don’t think it would reduce significantly the jitter.
handover via UART?


jürgen
Jun 23, 2010, 10:07 AM
Plane Insane RC.com
chicken hawk's Avatar
Quote:
Originally Posted by Alexinparis
Yes, for sure. The difference is real.

Look at this video: 3 gyro Telebee + 1 Esky

the stationary state is not very stable

and the last triwii one:

It's the same frame (23cm distance motor to center) and equivalent motors

You can find very stable config with 4 gyros, but with longer arms
Thanks, thats what I wanted to hear. I use my tri copters for AP and video so more stability is always welcome.
Jun 23, 2010, 11:54 AM
FPV Junkie
tazdevil's Avatar
this is a motor who was bad, I change the tree controler it's the same.

need to change my motor tomorow

wait and see
Jun 23, 2010, 04:29 PM
DJI Supporter
Sid3ways's Avatar
Any Tri-frames available you guys would recommend?
Jun 24, 2010, 12:37 AM
Registered User
RCvertt's Avatar
Quote:
Originally Posted by Sid3ways
Any Tri-frames available you guys would recommend?
Y-UFO parts are the one I know if you want the standard three motors with servo tilt yaw control.
They should have a winner if they make a smaller nano version of a standard tri.

Finally got my wii's and chucks in. Even these fake motion plus's have the blasted screws with nonstandard nintendo screw heads. At least the chuck has regular phillips screws.

For anyone getting a chuck, don't get the MadCatz chuck from target. It might work but the chip is just a blob of black material. There is no way to tell which accelerometer is in it.
Last edited by RCvertt; Jun 24, 2010 at 01:47 AM.
Jun 24, 2010, 12:49 AM
DJI Supporter
Sid3ways's Avatar
Yeah I had my eye on the Y-UFO frame, it looks like a nice start. I see you mention you bought the chuck too. I thought this code Alex is using does not support the chuck? Or are you using the Baron pilot code?
Jun 24, 2010, 01:47 AM
Registered User
RCvertt's Avatar
Quote:
Originally Posted by Sid3ways
Yeah I had my eye on the Y-UFO frame, it looks like a nice start. I see you mention you bought the chuck too. I thought this code Alex is using does not support the chuck? Or are you using the Baron pilot code?
I'll start off with this to get familiar with what just gyros can do. My bad flying skills require a stable mode that gives stability similar to the walkera UFO5 so I'll check out the Baron project also. Then I'll come back here for round two when the chuck gets integrated
Jun 24, 2010, 08:35 AM
Member FPV UK
IWCoburg's Avatar
Quote:
Originally Posted by Sid3ways
Any Tri-frames available you guys would recommend?
I have got both of mine form averticalview.com. Started off with their basic Tri and now building the Folding Matrix. See https://www.rcgroups.com/forums/show....php?t=1265051

Mike.
Jun 26, 2010, 03:28 AM
Droner
SebastianJ's Avatar
Hey Bob,

Did you ever make it work?

I really like the price of the Arduino clone.


Sebastian.

Quote:
Originally Posted by signguy
Hi Alexinparis

Here is my controller ready to go into its frame. I used a RBBB arduino clone and a Wii MP. Lots of wires! But it should be way less than my gyro only copter. I will get a mini pro after I get this working. I did uncomment the speed control line, and it compiled and uploaded perfectly.

I have almost no experience with the arduino, or any other "chips". Is there a way I can modify the P I D parrameters without an LCD?

I don't mind having to re-upload sketches. Once it is set, I'll leave it that way.

Thanks for the project!!

BobD aka signguy
Jun 26, 2010, 03:38 PM
Registered User
signguy's Avatar
Quote:
Originally Posted by bas10an
Hey Bob,

Did you ever make it work?

I really like the price of the Arduino clone.


Sebastian.
Hi Sebastian

No, I haven't got it to work yet. I'm going to pick up another WM+ just in case I cooked the one I had. I did assemble the arduino and get that running OK. It seems the WM+ isn't starting. I get no controls at all, but my speed controls arm OK. Alex is helping me along. I really hope I can get this going, its hard to beat it for price or size. It is lots smaller than I thought.

See Ya
BobD
Jun 27, 2010, 11:50 AM
Brushless
cdi3d's Avatar
Alex - Is this something that can be easily adopted to a quad? Or is it strickly for a tricopter? Great work - I am waiting for my WII motion and I am ready to build it -

Mike
Jun 27, 2010, 03:37 PM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by cdi3d
Alex - Is this something that can be easily adopted to a quad? Or is it strickly for a tricopter? Great work - I am waiting for my WII motion and I am ready to build it -

Mike
Hi,
There is already at least one existing quad options for WII motion plus+Nunchuk: Aeroquad.
However for a WII motion plus only quad version, the Triwii code could be easily adapted.
Last edited by Alexinparis; Jul 28, 2010 at 03:23 AM.
Jun 27, 2010, 09:46 PM
Registered User
signguy's Avatar
got a new WM+, hoping I killed the other one, and thats why I can't get it working. I'll try to get things hooked up tomorrow. I'll let you guys know if it works.

BobD
Jun 27, 2010, 10:27 PM
Brushless
cdi3d's Avatar
Okay here is a total noob question how do I connect my Esc, servo and rx channel to the Arduino? Hardwire or do I need a certain connector?
Thanks
mike
Jun 28, 2010, 05:08 AM
Registered User
RCvertt's Avatar
I'm almost finished with my build.
Can I get more detailed info on when the full throttle thing can happen. Full throttle is kind of scarry.

Quote:
Originally Posted by cdi3d
Okay here is a total noob question how do I connect my Esc, servo and rx channel to the Arduino? Hardwire or do I need a certain connector?
Thanks
mike
Solder on male breakout header pins and use female to female jumper wires to connect your receiver and female to male jumper wires to connect your ESC's. Sparkfun has what you need.
Jun 28, 2010, 06:39 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by RCvertt
I'm almost finished with my build.
Can I get more detailed info on when the full throttle thing can happen. Full throttle is kind of scarry.
When you go full throttle, there is nothing for the moment to prevent all motors to spin at their max, and indeed to use a good gyro correction.
I have to code something to limit motor values so that gyro corrections can still be effective.


Quote:
Solder on male breakout header pins and use female to female jumper wires to connect your receiver and female to male jumper wires to connect your ESC's. Sparkfun has what you need.
You can also buy some servo wires. Female plugs are compatible with breakout header pins.
http://www.hobbycity.com/hobbyking/s...2810pcs/set%29
Jun 29, 2010, 12:06 PM
Brushless
cdi3d's Avatar
On the schematic is says a bec is needed - is the correct? Sorry for the stupid questions - Mike
Jun 29, 2010, 02:41 PM
DJI Supporter
Sid3ways's Avatar
Yes because the Arduino needs 5V to run as well as your RX does too.
Jun 29, 2010, 02:49 PM
Brushless
cdi3d's Avatar
one more dumb question - So if I power my bec from balance plug of my battery - should I connect my servo, esc's, arduino and rx all from the bec? I am assuming this is okay or will it mess up my power up sequence in anyway? This is how I do it on my tricopter - main battery power to ESC's then plug in charge plug -



Mike
Jun 29, 2010, 02:51 PM
DJI Supporter
Sid3ways's Avatar
Since I've never used an Arduino I can't comment on how and when it needs to be powered. I don't see any issues in using the balance plug to power all of that stuff as long as you don't have a BEC that is a POS.

I will soon see as my parts from Sparkfun should be here in a couple of days as well as my motors and ESCs Just need to figure out the frame.
Last edited by Sid3ways; Jun 29, 2010 at 02:59 PM.
Jun 29, 2010, 02:51 PM
Registered User
Alexinparis's Avatar
The BEC is needed, but it is already included in each ESC.
An external UBEC is not needed.
Jun 29, 2010, 02:51 PM
Member FPV UK
IWCoburg's Avatar
Ok, I've ordered the bits so hope to be joining you all very soon. Can I just say thanks Alex for all your hard work, and to Niall for the bits

Mike.
Jun 29, 2010, 03:17 PM
Brushless
cdi3d's Avatar
I just finished loading my first sketch onto the arduino - took me little bit to get the pins to line up correctly and stay that way since I dont have any header pins yet - now waiting for Wii motion plus -

Mike
Jun 30, 2010, 01:39 AM
FPV Junkie
tazdevil's Avatar
Hi Alex,any news on soft upgrade ?

mine is flying every day
Jun 30, 2010, 01:57 AM
Registered User
RCvertt's Avatar
Quote:
Originally Posted by tazdevil
...mine is flying every day...
No flight vids

What Ebay seller did you get your motion+ from?
Last edited by RCvertt; Jun 30, 2010 at 03:03 AM.
Jun 30, 2010, 02:02 AM
Registered User
Alexinparis's Avatar
Hi,
I tried to integrate a nunchuk, but apparently I got a very bad copy of it, single side pcb.
It works, but its step resolution is about 5 degrees. I can do nothing precise with this.
I just ordered another one, with the hope it will be good this time.
Jun 30, 2010, 03:43 AM
Bricks don't glide !
KayCee_V4's Avatar
Hi Alex, will the ADXL322 dual-axis accelerometer work with your design ?
http://www.sparkfun.com/commerce/pro...roducts_id=849
Jun 30, 2010, 08:10 AM
Registered User
RCvertt's Avatar
All wired up

I didn't see it in the documentation. Which way should motors 11, 10, and 9 spin?

Quote:
Originally Posted by Alexinparis
...It's not dependent to TriiWiicopter code.
Thanks. It must be too early in the morning for me.
Last edited by RCvertt; Jun 30, 2010 at 09:04 AM.
Jun 30, 2010, 08:49 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by KayCee_V4
Hi Alex, will the ADXL322 dual-axis accelerometer work with your design ?
http://www.sparkfun.com/commerce/pro...roducts_id=849
There are enough free analog PIN to integrate this type of accelerometer and it supports 5V VCC.
So, yes it could replace the nunchuk if you want to do like this. However, the code must be adapted for this (not so difficult)

Quote:
I didn't see it in the documentation. Which way should motors 11, 10, and 9 spin?
I'm using 3 identical propellers for my tricopter, so they spin all in the same way. But you are free to use a mix of CW/CCW propellers. you just have to invert 2 ESCs<->motor wires. It's not dependent to TriiWiicopter code.
Jun 30, 2010, 10:06 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by Alexinparis
Hi,
I tried to integrate a nunchuk, but apparently I got a very bad copy of it, single side pcb.
It works, but its step resolution is about 5 degrees. I can do nothing precise with this.
I just ordered another one, with the hope it will be good this time.

cool original nunshunk will be better, scoregame is your friend with second hand !!!


need to replace my another , I do a hole in the frame but I do it with the wmp too ... LOL
still working ...! but I've got a lot of drift now

need to sleep more;;;

so new 6dof WIImu buy this morning and ready, tell me if it's ready, I can test it tomorow if you sent me the soft

in PM

rc evert , I'have nothing for filming , all is in fpv, now camcorder mine is dead

need to buy a gopro
Jun 30, 2010, 10:26 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by tazdevil
so new 6dof WIImu buy this morning and ready, tell me if it's ready, I can test it tomorow if you sent me the soft
The 6DOF soft is not written.
I just wrote a 6DOF only sketch and discovered that my nunchuk is not usable for an auto level tricopter.
When I discover this, I did not go further in the Triwii development code because I need a real config to tune it properly.

So, I have to wait for a new nunchuk
Jun 30, 2010, 10:48 AM
xxxxxxxxxxxxx
JUERGEN_'s Avatar
Quote:
Originally Posted by KayCee_V4
Hi Alex, will the ADXL322 dual-axis accelerometer work with your design ?
http://www.sparkfun.com/commerce/pro...roducts_id=849
there is the new BMA180
but more powerful. - http://www.sparkfun.com/commerce/pro...oducts_id=9723
- http://www.sparkfun.com/datasheets/S...0-DS000-03.pdf


jürgen
Jun 30, 2010, 07:51 PM
Registered User
Hi AlexinParis

I have a simple question and hope you may assist with an answer.

I am putting together a TriCopter using your code and info on your site.

For the ESC's I have several Phoenix 10 from Castle Creations and ask if you can explain to me why in code for the esc's you set the value to 400Mhz? I understand the servo setting at 50 but why the ESC's to such a high value. I think this is the response/refresh rate for the ESC's??

I have been waiting and hoping someone would come up with a design that could use the WM+. This is truly a breakthrough and thank you for your work.

Jim
Jul 01, 2010, 01:52 AM
Registered User
Alexinparis's Avatar
Quote:
Originally Posted by JimnAz
Hi AlexinParis

I have a simple question and hope you may assist with an answer.

I am putting together a TriCopter using your code and info on your site.

For the ESC's I have several Phoenix 10 from Castle Creations and ask if you can explain to me why in code for the esc's you set the value to 400Mhz? I understand the servo setting at 50 but why the ESC's to such a high value. I think this is the response/refresh rate for the ESC's??

I have been waiting and hoping someone would come up with a design that could use the WM+. This is truly a breakthrough and thank you for your work.

Jim
Hi Jim,
I don't know if you castle creations ESCs are able to support the needed refresh rate (even if they are very good ESCs for other use).
The 400kHz speed rate is only for I2C communication with WMP.

The refresh rate of the ESC is 490Hz and is static. We need to have a high refresh rate to have the best reaction time from the ESCs in order to adjust each spinning rate. At 50Hz, it is not high enough to have a good stabilization.
Jul 01, 2010, 02:47 AM
Bricks don't glide !
KayCee_V4's Avatar
Quote:
Originally Posted by JUERGEN_
That looks interesting. SPI and I2C interface as well as lots of programmable features.
Jul 01, 2010, 08:05 AM
Registered User
RCvertt's Avatar
Are the dashed line connections correct?
Where does the FTDI's (CTS) pin connect to on the ProMini?
Where does the (BLK) pin on the ProMini connect to on the FTDI?

----Edit
Never mind. The blink sketh is working now. I got the motors to arm also
I have the original motion+ so I had to comment out that line you mentioned. Does this mean I'm not updating as fast as I would with the fake motion+. If so can I expect that my tri won't be as stable as it would be if I had the faster update rate.

This thing is pretty cool. Thanks Alexinparis. I have a bad bearing in one of my motors and only have three of these. I'll have to change them all out with some others I have before I test fly this thing.


I'm assuming we are supposed to program the ProMini using the IDE board option (Arduino Duemilanove or Nano w/Atmega328)?
I guess the TXO and RXI pins on one of these boards is not labeled correctly?
I had to rename the file to (triwii) without the _v1.2 part in the name for it to load in the IDE.

I think this has been mentioned before but just in case...
Don't plug in the flight battery while uploading a sketch. It made my servo go all the way to one side and buzz as if it was going to break. Don't hit the reset button or the motors go to full throttle for a second

I see on your site a video titled (Tricopter-modified AeroQuad firmware 2). Is this code version available also?
Last edited by RCvertt; Jul 01, 2010 at 10:00 AM.
Jul 01, 2010, 10:32 AM
FPV Junkie
tazdevil's Avatar
Quote:
Originally Posted by RCvertt
Are the dashed line connections correct?
Where does the FTDI's (CTS) pin connect to on the ProMini?
Where does the (BLK) pin on the ProMini connect to on the FTDI?

----Edit
Never mind. The blink sketh is working now. I got the motors to arm also
I have the original motion+ so I had to comment out that line you mentioned. Does this mean I'm not updating as fast as I would with the fake motion+. If so can I expect that my tri won't be as stable as it would be if I had the faster update rate.

This thing is pretty cool. Thanks Alexinparis. I have a bad bearing in one of my motors and only have three of these. I'll have to change them all out with some others I have before I test fly this thing.


I'm assuming we are supposed to program the ProMini using the IDE board option (Arduino Duemilanove or Nano w/Atmega328)?
I guess the TXO and RXI pins on one of these boards is not labeled correctly?
I had to rename the file to (triwii) without the _v1.2 part in the name for it to load in the IDE.

I think this has been mentioned before but just in case...
Don't plug in the flight battery while uploading a sketch. It made my servo go all the way to one side and buzz as if it was going to break. Don't hit the reset button or the motors go to full throttle for a second

I see on your site a video titled (Tricopter-modified AeroQuad firmware 2). Is this code version available also?
yes I confirm for the motor start of 1 second when reset is atived...

mdr

I 've got a lot of problem with the aeroquad WII version on my quad , so I'll will don't try on the tricopter for now , waiting for a working version
model crach when there is to much wind... but work without wind
Alex code is working better, waiting for accel now

for fdti donc cross tx and rx , it's already done on the aruino and the fdti

cts is grounded on the arduino so just put 6 direct wire and it's working (it's work on schredikette too)
Last edited by tazdevil; Jul 01, 2010 at 10:38 AM.


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