AW: Anfänger+Neuem copter, MultiWii 2.2 scetch konfig, Richtig?
guten morgen und vielen dank das sich jemand meiner annimmt^^
das hab ich probiert, dann sind die laufenden linien in dem graph zwar zusammen gegangen aber i2c fehler blieben leider und zudem ist mir aufgefallen das dass sketch falsch konfiguriert sein muss. wenn ich den kopter nach vorn kippe zeigt er im bild das er nach links gekippt wird. im moment versuche ich immer noch raus zu bekommen was dieser kleine rote chip (I2c ITG 3205) für einstellungen braucht. gelesen habe ich dass er auch als clone bezeichnet wird nur wird er desswegen doch nicht die selben konfigs im sketch haben wie einer aus dem alten wii knüppel!?! oder etwa doch?
habe inzwischen im sketch eine andere konfig benutzt und diese funktioniert zumindest in etwa mit den richtungen wie ich den kopter kippe, also vorn ist auch vorn. ob das die richtigen einstellungen sind weiß ich aber dadurch leider auch nicht, i2c errors hab ich im schnitt immer an die 16000stück.
was ich noch rausgefunden hab ist das ich die "I2C_PULLUPS" auf diesem kleinen roten chip drauf hab und daher in der zeile mit dem "enable i2c pullups" aus lassen kann oder ist das falsch ?
hier mal die aktuelle config, vielleicht kannst du da was mit anfangen und mir n bissl beistehen^^:
/*************************************************************************************************/
/**** CONFIGURABLE PARAMETERS ****/
/*************************************************************************************************/
/* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
This is the minimum value that allow motors to run at a idle speed */
//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
//#define MINTHROTTLE 1220
#define MINTHROTTLE 1200
/* The type of multicopter */
//#define GIMBAL
//#define BI
//#define TRI
//#define QUADP
#define QUADX
//#define Y4
//#define Y6
//#define HEX6
//#define HEX6X
//#define OCTOX8
//#define OCTOFLATP
//#define OCTOFLATX
//#define FLYING_WING
//#define VTAIL4
#define YAW_DIRECTION 1 // if you want to reverse the yaw correction direction
//#define YAW_DIRECTION -1
//#define I2C_SPEED 100000L //100kHz normal mode, this value must be used for a genuine WMP
#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones
//enable internal I2C pull ups
//#define INTERNAL_I2C_PULLUPS
//****** advanced users settings ****************************************
/* ===================================================================== */
/* I2C DFRobot LED RING communication */
//#define LED_RING
/* This option should be uncommented if ACC Z is accurate enough when motors are running*/
/* should now be ok with BMA020 and BMA180 ACC */
#define TRUSTED_ACCZ
/* This will activate the ACC-Inflight calibration if unchecked */
//#define InflightAccCalibration
/* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
This mod allow the use of a standard receiver on a pro mini
(no need to use a PPM sum receiver)
*/
//#define A0_A1_PIN_HEX
/* possibility to use PIN8 or PIN12 as the AUX2 RC input
it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 
*/
//#define RCAUXPIN8
//#define RCAUXPIN12
/* GPS using a SERIAL port
only available on MEGA boards (this might be possible on 328 based boards in the future)
if enabled, define here the Arduino Serial port number and the UART speed
note: only the RX PIN is used, the GPS is not configured by multiwii
the GPS must be configured to output NMEA sentences (which is generally the default conf for most GPS devices)
uncomment the first line to select the GPS serial port of the arduino */
//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
#define GPS_BAUD 115200
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBandi
http://code.google.com/p/i2c-gps-nav/ */
//#define I2C_GPS
/* GPS data readed from Misio-OSD ( EXPERIMENTAL )
If we have Misio-OSD with GPS module connected to OSD we can use this GPS for navigation purpose.
Working with OSD firmware v0.66 or newer.
contribution from Mis */
//#define GPS_FROM_OSD
/* Pseudo-derivative conrtroller for level mode (experimental)
Additional information: http://www.multiwii.com/forum/viewtopic.php?f=8&t=503 */
//#define LEVEL_PDF
/* introduce a deadband around the stick center
Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
//#define DEADBAND 6
/* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
it is relevent only for a conf with NK */
#define INTERLEAVING_DELAY 3000
/* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
it is relevent only for a conf with at least a WMP */
//#define NEUTRALIZE_DELAY 100000
/********************************************************************/
/**** boards and sensor definitions ****/
/********************************************************************/
/* if you use a specific sensor board:
please submit any correction to this list.
Note from Alex: I only own some boards
for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
//#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex
//#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex
//#define FREEIMUv1 // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
//#define FREEIMUv03 // FreeIMU v0.3 and v0.3.1
//#define FREEIMUv035 // FreeIMU v0.3.5 no baro
//#define FREEIMUv035_MS // FreeIMU v0.3.5_MS <- confirmed by Alex
//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex
//#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
//#define PIPO // 9DOF board from erazz
//#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex
//#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy second edition <- confirmed by Alex
//#define ALLINONE // full FC board or standalone 9DOF+baro board from CSG_EU
//#define AEROQUADSHIELDv2
//#define ATAVRSBIN1 // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
//#define SIRIUS // Sirius Navigator IMU <- confirmed by Alex
//#define SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro
//#define MINIWII // Jussi's MiniWii Flight Controller
//#define CITRUSv2_1 // CITRUS from qcrc.ca
//#define CHERRY6DOFv1_0
//#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
//#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
//#define DROTEK_6DOFv2 // Drotek 6DOF v2
//#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
//#define MON*****1_0 // mon***** 1.0 http://www.fuzzydrone.org/
//#define CRIUS_LITE // Crius MultiWii Lite
//#define CRIUS_SE // Crius MultiWii SE
//if you use independent sensors
//leave it commented if you already checked a specific board above
/* I2C gyroscope */
#define ITG3200
//#define L3G4200D
/* I2C accelerometer */
//#define MMA745
#define ADXL345
//#define BMA020
//#define BMA180
//#define NUNCHACK // if you want to use the nunckuk as a standalone I2C ACC without WMP
//#define LIS3LV02
//#define LSM303DLx_ACC
/* I2C barometer */
//#define BMP085
//#define MS561101BA
/* I2C magnetometer */
//#define HMC5843
//#define HMC5883
//#define AK8975
//#define MAG3110
/* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
//#define ADCACC
/* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
//#define ITG3200_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
//#define ITG3200_LPF_188HZ
//#define ITG3200_LPF_98HZ
//#define ITG3200_LPF_42HZ
//#define ITG3200_LPF_20HZ
//#define ITG3200_LPF_10HZ // Use this only in extreme cases, rather change motors and/or props
/* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
//#define MPU6050_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
//#define MPU6050_LPF_188HZ
//#define MPU6050_LPF_98HZ
//#define MPU6050_LPF_42HZ
//#define MPU6050_LPF_20HZ
//#define MPU6050_LPF_10HZ // Use this only in extreme cases, rather change motors and/or props
/* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
may try this gyro smoothing via averaging. Not suitable for multicopters!
Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
//#define GYRO_SMOOTHING {20, 20, 3} // separate averaging ranges for roll, pitch, yaw
// Moving Average Gyros by Magnetron1 (Michele Ardito) ########## beta
//#define MMGYRO // Active Moving Average Function for Gyros
//#define MMGYROVECTORLENGHT 10 // Lenght of Moving Average Vector
// Moving Average ServoGimbal Signal Output
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
rest auf default gelassen.
