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Nov 30, 2016, 01:11 PM
Registered User
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Discussion

MahoWii 2.4 was released


Hi guys!

https://github.com/mahowik/mahowii

Here is the latest revision of my favorite hobby project based on Multiwii project.
In two words: it's pretty stable, improved and extended version of Multiwii.

Changes:
- INS (inertial navigation system) integrated with GPS and Baro
- predefined PIDs to fly out of the box for frames 330 and bigger

- completely different precise althold integrated with INS
- right altitude management by setting desired vario (vertical speed) with throttle stick
- single PID controller for hovering and altitude management
- stable hovering trottle estimator/corrector by I-part of alt PID controller
- smart land detector
- reduced effect of air-cushion to avoid incorrect raw baro values and jumps near the ground accordingly (integrated with INS)
- controllable by desired vario (vertical speed) landing
- new SAFE_ALT_DURING_AH define. It helps to protect descending less than specified in define altitude. Activated when SAFE_ALT box activated in GUI.

- precise, rapid, sensitive to external perturbations (wind, pushes) GPS-INS position hold (INS_PH_NAV_ON define)
- possibility to fly with activated position hold and stop at predicted point on stick release (tunable by Pos-I value at GUI)
- wait for target altitude at RTH and WP navigation
- skip whole RTH cycle if distance less than RTH_RADIUS meters and make a landing
- safe and soft takeoff on RTH and WP Navigation
- for safety prevent arm if RTH or NAV switched on
- new auto config defines for UBLOX and MTK3339 modules

- precised gyro calibration + 3 axis acel calibration + filtered mag calibration to avoid min/max noise values
- frsky telemetry adopted for er9x-frsky TX firmware
- 50hz PID output for althold, gps modes
- cycle time independent final PID controller
- optimized math
- a lot of fixes

For more details please read release_note.txt, see config.h and also here http://forum.rcdesign.ru/blogs/83206/blog22332.html

Tips and tricks:
- for INS it's better to use u-blox modules with revision from 6 to 8 (although 7th was not tested). With MTK modules position hold is less precise but in general it's ok also, where PID parameters has to be ~20% less for its.
- for INS it's good to have calibrated accel in 3 axises with +/-512 for each axis with error +/-(1-3)
- for configuration the best tool is https://play.google.com/store/apps/d....ezio.multiwii
- for this release arduino 1.6.7 was used https://www.arduino.cc/en/Main/OldSoftwareReleases
- before 1st upload clean eeprom http://forum.rcdesign.ru/f123/thread...ml#post4263236

This firmware was optimized for AIOP (ALL IN ONE PRO Flight Controller), or other with Atmega1280/2560 + mpu6050 + ms5611 + hmc5883 (but take care about pinout). But you can try to play with other sensors also.

Videos from my friend's youtube channel:
https://www.youtube.com/user/artnesterof/videos

Blogs:
- http://www.multiwii.com/forum/viewtopic.php?f=8&t=7877
- http://forum.rcdesign.ru/blogs/83206/

Enjoy!


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Dec 16, 2016, 02:55 PM
Registered User

Does not work for Baro ..readings in GUI always 0


Hi..any tip?
Its not important what board i chose, alsways same. If i use standard Multiwii 2.4 its ok for baro readings.
Dec 19, 2016, 10:20 AM
Registered User
Thread OP
Hi,

Altitude is calculated at INS after ARM/start where before start it's calibrated to zero.
I.e. just make an ARM and you will see that alt is not zero.
Dec 25, 2016, 02:16 PM
Registered User
I understand what you say but I cannot make the ALT / Baro value reset at arm with your version. It works nice with the standard Multiwii 2.4
You can download and test my version..http://3600kongsberg.no/
Last edited by flyespen; Dec 25, 2016 at 04:49 PM.
Jan 25, 2017, 07:07 PM
event horizon
OH BOY!! can't wait to try it!! Have a new EZ black on the way and I have just the hex frame for it. I'll be back.
Jan 27, 2017, 10:01 PM
AlouetteIII's Avatar
Hey Alexandr - great work - !

Its running well on PARISv5r3 atm using an M8N
Last edited by AlouetteIII; Jan 27, 2017 at 11:04 PM.
Jan 28, 2017, 12:34 PM
Registered User
Thread OP
Thank you guys!

Waiting for videos from you
Jan 28, 2017, 02:10 PM
event horizon
Quote:
Originally Posted by mahowik
Thank you guys!

Waiting for videos from you
Will do as soon as I get it in the air.
Feb 17, 2017, 11:27 AM
event horizon
Working on down loading the needed stuff now he copter I on 2.3 and is flying/ring fine on default PID's BUT s a disclaimer two motors are running hotter than he other two. I have checked the kv and the ESC settings nominal results. The copter being controlled by a Futaba 14 but it will not arm with just yaw right. It requires a long list of commands and then only starts on two motors, the ones that are running significantly hotter than the two that are running about a 105*F. Reboot the system after the two motor start and it still requires ten stick moves to arm but than all 4 motors run and it fly's as if there is nothing wrong. Futaba?
Feb 19, 2017, 08:34 AM
event horizon
Must have something wrong all that downloaded was the Mohawii file but there is nothing else like the config h. I did down load Arduino 1.6.7 and MW 2.4. I set the parameters in MW 2.4 and verified the sketch and it worked. Is Mohawii a file that is supposed to be pasted into 2.4?
Feb 22, 2017, 07:32 AM
event horizon
Any thought on what I got going wrong?
Feb 23, 2017, 11:00 AM
Registered User
Thread OP
to download sketch:
1) in linux type: git clone https://github.com/mahowik/mahowii.git
2) in windows:
- go to https://github.com/mahowik/mahowii
- press "clone or download" -> "dowload zip"
- unzip "mahowii-upstream_shared" folder and rename it to "mahowii"

then open mahowii.ino at Arduino as ususal
Mar 16, 2017, 06:00 AM
event horizon
Quote:
Originally Posted by mahowik
to download sketch:
1) in linux type: git clone https://github.com/mahowik/mahowii.git
2) in windows:
- go to https://github.com/mahowik/mahowii
- press "clone or download" -> "dowload zip"
- unzip "mahowii-upstream_shared" folder and rename it to "mahowii"

then open mahowii.ino at Arduino as ususal
Thanks been over whelmed with work the last couple weeks hopefully have some time this week end to work on this.
Mar 19, 2017, 06:49 PM
DiaLFonZo - UAV/Drone
Dialfonzo's Avatar
That's interesting, might worth porting it to the Quadrino Nano for a try
Apr 22, 2017, 09:20 PM
DiaLFonZo - UAV/Drone
Dialfonzo's Avatar
No interest ?


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