What's new in MultiWii 2.4
Nov 3, 2015
- GPS:
- The main change in this version is for sure the code brought by EOSBandi regarding navigation (supported long time as a standolone MultiWii 2.3navi B7) .
- Thanks to this major contribution, MultiWii can now navigate trought multiple WPs in an autonomous way.
- The documentation about all define option can be found in this post: http://www.multiwii.com/forum/viewtopic.php?viewtopic.php?f=8&t=3989
- For the moment, only some GUIs can support this code to program a mission:
- WinGui from EOSBandi (http://eosbandi.com/downloads )
- EZ-GUI from Ezio (in google play apps https://play.google.com/store/apps/details?id=com.ezio.multiwii)
- mwp mission planner from stronnag (https://github.com/stronnag/mwptools)
- tmp note for WinGui:
- in order to work with current dev WinGUI, the version number should be switched back to 230.
- otherwise an error message will occur.
- in MultiWii.h , line: #define VERSION 230
- will be soon supported with a new WinGui release
- No support in java GUI MultiWiiConf.
- Do not forget to activate #define USE_MSP_WP to be able to use waypoints.
- The overall code without GPS is much shorter. However due to the change on GPS code, it is no more compatible with a 32u4 proc.
- The GPS code without nav might still work on 328p proc.
- A mega proc is mandatory to benefit from all the GPS functionalities.
- Internal code modification:
- dissociate frame parsing & frame computation
- I2C GPS is no more used as an extension with nav computation. It is now supported as a simple GPS device, and all computations stay in the FC, exactly like Serial GPS device.
- GPS Serial frame parsing is now part of generic Serial decoding code
- UBLOX GPS frame parsing improvement
- IMU computation:
- mostly optimization on computation time not visible for end users: less float and more 16bit integer where it's possible / some specific avr asm multiplication.
- better accuracy InvSqrt
- heading is computed even with no mag
- hungry tasks has been reduced or divided in order to minimize the jitter of loop time.
- With this improvement, a constant loop time is set a little bit higher than the average and default to 2.8ms.
- ACC:
- Nunchuk is no more suported
- Baro MS561101:
- a little bit paradoxal regarding other portion of code approach in multiwii, but float computation tooked from APM appears to be shorter and faster with a minimal approximation.
- computation time smoothed thanks to a task split
- #define ALTITUDE_RESET_ON_ARM option is added
- note the baro is still always reset when doing a gyro calibration
- I2C:
- no more speed change on the fly: all sensors are default to 400kHz.
- The only exception is when a legacy WMP is still used with a 100kHz speed. So no need to bother any longer about this speed if you don't own a genuine WMP.
- In case of I2C errors at the init stage, initialization occurs up to 5 times. This should prevent some remaining I2C errors.
- Brushed motor option:
- brushed motors option on 32u4 proc at 8/16/32 kHz
- brushed motors option on 328p proc at 1/4/32 kHz
- http://www.multiwii.com/forum/viewtopic.php?viewtopic.php?f=8&t=3635&p=36883#p36877
- RX receiver:
- SUMD RX type introduction
- SBUS improvement / SBUS signal scaling to match other receiver range
- code factorization for all Serial type RX (Spektrum/SUMD/SBUS)
- adjustable averaging sample (AVERAGING_ARRAY_LENGTH) for non Serial RX. For Serial RX, the averaging code is removed because the signal is already natively digital.
- Serial RX should now be usable with no glitch during LCD conf
- RSSI injection on a rc channel
- MSP:
- new MSP message for ACC TRIM (not used in java MultiWiiConf)
- new MSP message for cells voltage
- new MSP messages for GPS navigation
- remove MSP ack for MSP_SET_RAW_RC, and only for this message
- Sonar:
- fix Devantech SRFxx code that was broken some time ago. But still no code integrated for alt lock using sonar.
- Heli:
- experimental : heli yaw precomp dependant on collective pitch
- experimental : better tail lock tacking intoo account collective pitch
- Voltage:
- compute watts
- experimental : individual cells voltage monitoring (alarm portion undone yet)
- LCD:
- LCD.lcd03 over serial support added
- reference version to compile sketch:
- MultiWii sketch: windows version of Arduino IDE 1.6.1
- MultiWiiConf: processing 1.5.1 with modified verison of ControlP5 to remove blue triangles in value box
New in MultiWii 2.3 (Nov 11, 2013)
- Control mode:
- main PITCH/ROLL/YAW PID modification (r1474):
- the sticks scaling is no more affected by PID coefficients
- yaw rate (to the right of the PIDs in GUI) now works as stick scaling
- default yaw rate is increased (with yaw rate at 0)
- yaw PID principle is now different from PITCH&ROLL PID:
- yaw ITerm windup is very high, allowing an 'elastic' direction return after a manual perturbation
- yaw ITerm is also constrained with a windup independent limit
- yaw PTerm is constrained in order to counter the yaw jump effect.
- use yaw DTerm to increase this constrain (r1573)
- yaw ITerm is canceled if the yaw stick is not centered
- Throttle angle correction (r1374)
- Advanced Headfree mode added (see config.h for instructions) (r1374)
- DYNBALANCE option, individual motor can be controled via GUI, to test individual vibration http://www.multiwii.com/forum/viewtopic.php?f=7&t=3294
- better gyro & acc calibration accuracy (r1546) http://www.multiwii.com/forum/viewtopic.php?f=7&t=3880
- cannot arm is baro mode is on (r1550) http://www.multiwii.com/forum/viewtopic.php?f=8&t=3910
- baro mode should be activated only when the multi is nearly Z stable
- only one baro mode : vario around a throttle deadband (r1554)
- magHold is reset when arm is switched on (r1553) http://www.multiwii.com/forum/viewtopic.php?f=8&t=3910
- ONLYARMWHENFLAT option (r1587) http://www.multiwii.com/forum/viewtopic.php?f=8&t=4077&hilit=coming&start=40#p41755
- receiver & UART:
- RCSERIAL is now deeply integrated. If a MSP_SET_RAW_RC comes, it will just override legacy RX data. (r1420) as a consequence, RCSERIAL is no more an option
- no RC averaging for Spektrum & SBUS (r1545)
- SBUS center define (r1568) http://www.multiwii.com/forum/viewtopic.php?f=8&t=3957
- FAILSAFE_DETECT_TRESHOLD configurable
- GPS:
- Enables sonar altitude from i2c-gps-nav board (1424)
- navigation code will follow after 2.3
- GUI:
- Gui with Servosettings. (r1441 & r1450) All models with servo included.
- GUI globalsettings (for some settings previously only in config.h)
- do not display /dev/cu.* devices but only corresponding /dev/tty.* (r1442)
- GUI baudrate as configurable setting
- LCD:
- lcd.telemtry: show max ground speed from gps data (r1398)
- lcd.telemetry: allow separate suppression of aux2 configuration (r1456)
- new display support 1.3" i2c OLED from digole.com (r1413)
- config.menu: when abort, revert all values back to last saved state
- visual feedback from servos during midpoint trim via LCD
- IMU and baro:
- correct GYRO_SCALE for all gyro (r1428)
- no more small angles while shaking the board (r1579) http://www.multiwii.com/forum/viewtopic.php?f=8&t=4112
- baro Alt based on ground temp compensation (r1570) http://www.multiwii.com/forum/viewtopic.php?f=8&t=4059
- not I reset for FIWEDWING (r1590) http://www.multiwii.com/forum/viewtopic.php?f=7&t=2456&start=330#p42355
- add 6DOF LSM330 sensor (r1571)
- add ACC BMA280 sensor (r1600)
- SERVO management:
- warning:
- The pins for coptertypes with servos have been changed.
- Attaching a servo to a motor pin can quickly destroy your servo.
- All connection diagrams out there from v2.2 or older are no longer valid for v2.3 with servos using hardware PWM. http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
- add 8 hardware PWM's for servos on MEGA boards. Servo outputs are 44,45,46,11,12,6,7,8 (r1384)
- Allow any servo refresh rate from 20 to 400Hz on Mega hardware PWM servos. (r1386)
- Tri servo moved to SERVO4 (pin11) on mega boards with HW PWM's. (r1392)
- a32u4 (nanoWii, MicroWii etc) HW PWM for 4 servos; warning different pins (with lots of info and help from ronco) (r1464 & r1470)
- add a generic way to configure servo settings : conf struct + MSP read/set messages (r1383)
- Added general servo handler (r1421 & r1429) http://www.multiwii.com/forum/viewtopic.php?f=8&t=3498
- allow preset of some servo stuff from config.h (r1432)
- Gui with Servosettings. (r1441)
- add gimbal servo stretcher usable with HW PWM's. (r1384) We can get 180 degrees servo move without servo modification.
- note about gimbal: settings for neutral&endpoints are no more in config.h, but only in GUI
- do not update servos during unarmed calibration of sensors which are sensitive to vibration (r1408)
- internal improvements:
- migration to a cpp/h code structure (r1515 & r1516) http://www.multiwii.com/forum/viewtopic.php?f=8&t=3773 http://www.multiwii.com/forum/viewtopic.php?f=8&t=2931
- huge flash size optimization (around 1k) thanks to fine struct definitions + serialization over MSP (r1369)
- make powermeter computation time based (again) to reduce config hassle and increase accuracy (r1375)
- read at most one analog channel per MWii main loop cycle (r1375)
- smoothing of RX_RSSI (r1379)
- make faster analog reads an option with default off to increase accuracy (r1375)
- detangle vbat & buzzer dependancy (r1375)
- optimization : small approximation bit shift used instead of * or / number for TPA, rates, dynP, dynD and expo curb (r1376)
- Added checking for flash content change, and reload config parameters in this case. (r1389)
- split Serial into Serial(core UART management) & Protocol (r1548)
- loop is globally faster
- add-ons:
- option to suppress defaults in mwc sketch and load via gui from file instead (r1365)
- add OVERRIDE_PSENSORPIN option (r1375)
- manual for using Multiwii in Eclipse environment http://www.multiwii.com/wiki/index.php?title=Developing_in_Eclipse
- add amperage to MSP_ANALOG (r1542)
- MY_PRIVATE_DEFAULTS (r1559) http://www.multiwii.com/forum/viewtopic.php?f=8&t=3987
- no more than one MSP per port and per cycle should smooth the delay while requesting MSP, especially for USB port on micro
New in MultiWii R 1356 Dev (Mar 2, 2013)
- Control mode:
- introduction of HORIZON MODE. We have now 3 modes:
- ACRO mode:
- This is the default one when none of the ANGLE & HORIZON BOX is activated.
- The copter will continue rotating in the direction in which you tilt sticks. When you let go of sticks it will maintain that angle and not return to level
- ANGLE mode:
- The position of the stick indicates the angle at which the copter tries to maintain. Sticks off = level. Full sticks in any direction and it will tilt at around 50 degrees. It's proportional in-between.
- It maintains the angle set by the stick. Let go of sticks and it returns to level
- HORIZON mode
New in MultiWii R 1349 Dev (Feb 22, 2013)
- baro Alt from mahowik
- baro calibration and some baro mods from Sebbi
- new task scheduler for a better computation time repartition
- better Ublox code detection
- HORIZON mode (mix between ACRO & ANGLE)
- ANGLE mode is the old LEVEL mode
- every UART for everything on MEGA
- cool GUI enhancement from magnetron
- spektrum bind button for spektrum receiver (Danal)
- telemetry cosmetic
- bug correction for servos on MEGA
- failsafe is more robust
- variometer from Hamburger
- mag gain calibration improvement for HMC5883L from EOSBandi
- GPS MKT binary parser from EOSBandi
- GPS forward predictive filter from EOSBandi
- follow me option works now in GPS HOME&HOLD mode via a ezio app
- RSSI added
- reconnect button in gui (uart speed can be changed in the file .txt)
- IMU optimization
New in MultiWii R 1317 Dev (Jan 22, 2013)
- baro Alt from mahowik
- baro calibration and some baro mods from Sebbi
- new task scheduler for a better computation time repartition
- better Ublox code detection
- HORIZON mode (mix between ACRO & ANGLE)
- ANGLE mode is the old LEVEL mode
- every UART for everything on MEGA
- cool GUI enhancement from magnetron
- spektrum bind button for spektrum receiver (Danal)
- telemetry cosmetic
- bug correction for servos on MEGA
- failsafe is more robust
- variometer from Hamburger
- mag gain calibration improvement for HMC5883L from EOSBandi
- GPS MKT binary parser from EOSBandi
- GPS forward predictive filter from EOSBandi
- follow me option should now work in GPS HOME mode via a ezio app
New in MultiWii R 1315 Dev (Jan 16, 2013)
- baro Alt from mahowik
- baro calibration and some baro mods from Sebbi
- new task scheduler for a better computation time repartition
- better Ublox code detection
- HORIZON mode (mix between ACRO & ANGLE)
- ANGLE mode is the old LEVEL mode
- every UART for everything on MEGA
- cool GUI enhancement from magnetron
- spektrum bind button for spektrum receiver (Danal)
- telemetry cosmetic
- bug correction for servos on MEGA
- failsafe is more robust
- variometer from Hamburger
- mag gain calibration improvement for HMC5883L from EOSBandi
- GPS MKT binary parser from EOSBandi
- GPS forward predictive filter from EOSBandi
- follow me option should now work in GPS HOME mode via a ezio app
New in MultiWii R 1311 Dev (Jan 14, 2013)
- baro Alt from mahowik (new functions to come, noted)
- baro calibration and some baro mods from Sebbi
- new task scheduler for a better computation time repartition
- better Ublox code detection
- HORIZON mode (mix between ACRO & ANGLE)
- ANGLE mode is the old LEVEL mode
- every UART for everything on MEGA
- cool GUI enhancement from magnetron
- spektrum bind button for spektrum receiver (Danal)
- telemetry cosmetic
- bug correction for servos on MEGA
- failsafe is more robust
- variometer
- mag gain calibration improvement for HMC5883L
- GPS MKT binary parser
- GPS forward predictive filter
New in MultiWii R 1240 Dev (Nov 6, 2012)
- baro Alt from mahowik (new functions to come, noted)
- baro calibration and some baro mods from Sebbi
- new task scheduler for a better computation time repartition
- better Ublox code detection
- HORIZON mode (mix between ACRO & ANGLE)
- ANGLE mode is the old LEVEL mode
- every UART for everything on MEGA
- cool GUI enhancement from magnetron
- spektrum bind button for spektrum receiver (Danal)
- telemetry cosmetic
- bug correction for servos on MEGA
- failsafe is more robust
New in MultiWii R 1143 Dev (Sep 29, 2012)
- baro Alt from mahowik
- better Ublox code detection
- HORIZON mode (mix between ACRO & ANGLE)
- ANGLE mode is the old LEVEL mode
- every UART for everything on MEGA
- cool GUI enhancement from magnetron
- spektrum bind button for spektrum receiver (Danal)
- telemetry cosmetic
- bug correction for servos on MEGA
- failsafe is more robust
New in MultiWii 2.1 (Jul 16, 2012)
- WMP and NUNCHUCK are no longer auto recognized.
- You must explicitly declare them (or just WMP) in config.h
- Pullups are now undefined by default
- (think about activating it if you use a WMP only conf)
- LCD is not activated by default
- Failsafe is not activated by default
- VBAT monitoring is not activted by default
- There is no more .pde files
- You must use Arduino 1.0 or greater to compile the sketch (and open Multiwii.ino)
- If the GUI does not work on your setup,
- try to deactivate hardware acceleration for your display board
- or use an alternative GUI like WinGUI
- MultiWii is not a product, nor a plug and play solution.
- Don't expect to buy a compatible board and run it without a minimum knowledge.
- Receiver part
- OpenLRS Multi board support done
- This is a board including an OpenLRS receiver where the atmel
- is used also to run multiwii code.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1438
- Multiwii Serial Protocol
- It's a new protocol to communicate with the FC
- It was introduced by me and tuned by Tommie
- It's a huge change, but it should ensure a generic way to communicate with the FC
- which is less dependant to version evolutions.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1516
- Now, there is no mod to multiwii code if we want to add a GUI/OSD/conf tool/...
- Compatible GUI:
- open source code, compatible with the new serial protocol:
- WinGUI from EOSBandi, which is fully equivalent with the original one,
- with a better look
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1229
- mwGui from kos
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1791
- Android ones via serial bluetooth:
- adding a bluetooth module to multiwii
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=6&t=133
- compatible apps:
- https://play.google.com/store/apps/details?id=net.xrotor.andmultiwiiconf
- https://play.google.com/store/apps/details?id=net.loide.games.bicopter
- https://play.google.com/store/apps/details?id=com.naze32.configurator
- Compatible OSD:
- open source code, compatible with the new serial protocol
- Rushduino:
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=922
- mobiDrone:
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1498
- LCD config
- OLED display
- thanks to contributions of howardhb and Hamburger
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
- VT100 terminal type addition
- thanks to contribution of Hamburger
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=1096
- A multiline option is added to allow the configuration on more than 2 lines
- useful for displays like OLED or VT100
- We have now a lot of possibilities regarding LCD:
- SERIAL3W : original 2x16 line from Sparkfun
- TEXTSTAR : Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02
- VT100 : vt100 compatible terminal
- ETPP : Eagle Tree Power Panel LCD
- LCD03 : an i2c LCD
- OLED_I2C_128x64
- New proc: ATmega32U4
- Thanks to the work from ronco.
- This proc can be found in the Arduino pro micro board, or Teensy 2.0
- The Pro Micro is similar in size to the Pro Mini except it has a ATmega32U4 on board.
- The USB transceiver inside the 32U4 allows us to add USB connectivity on-board.
- ronco also designed a custom board named nanowii.
- One of the smallest 6DOF Multiwii board with usb, which can be now purchased.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=6&t=1337
- Servo:
- Higher refresh rate:
- Some servo (mostly digital ones) can work with a higher frequency than 50Hz.
- The benefit to use a higher refresh rate is a sharper response.
- ronco adapted the code to make this frequency configurable
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1644
- Hardware PWM output:
- On MEGA boards, it's now possible to drive the gimbal servos with
- a 11-bit PWM servo resolution. Thanks to ronco.
- The hardware PWM output ensures a jitter free response.
- LED flasher
- A way to set a flash LED sequence from Tommie
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1505
- Throttle expo
- There is now another curve in the GUI to configure the Throttle expo.
- It's a way to smooth the throttle stick response around the hover point.
- In order to help the setting, there is a small cursor in the graph to show
- where is the current throttle input.
- ACC LEVEL improvement
- The LEVE mode is improved since 2.0 thanks to new choice of
- other complementary filter coefficients and a floating point low pass filter
- Headfree checkbox:
- It's possible to reset the headfree direction while flying via a checkbox.
- thanks to Tommie
- Sensor:
- MPU6050: there was a bug which prevents using the gyro LPF. correted now.
- SONAR: I2C sonar SRF0x code was added but is not currently used.
- HMC5883 axis calibration factor was added
- NUNCHUK is fusioned with ACC in GUI
- many new boards was also added in config.h file
- Internal code:
- the Serial part uses now less RAM (thanks to Tommie first mod)
- RX/TX buffers are smaller than before.
- EEPROM parameters are stored in a struct, and are written in the
- EEPROM in a single step.
- MAG declination was added by EOSBandi, to have more accurate orientation.
- In some countries, it's really mandatory to set this variable right,
- otherwise it's impossible to use GPS.
- Flag var was introduced for global boolean type variables.
- Hamburger introduced some "copter exemple" in order to check
- if compilation is ok. (should be a way to remove some trivial bugs)
- code style (indentation, variable naming convention etc.) started
- GUI requires new ControlP5 library to compile
- interval variable activate[] is now 16 bit long
- new config.h structure
- GUI:
- thanks to Danal, there is now the PIN number and the propeller direction
- drawed in the graph representation
- thanks to kos, we can now load and save parameters into a file
- there is now a reset button to set all parameters to default
- there is now a GUI visual feedback on all states (checkbox items)
- GPS code:
- Thanks to the work of EOSBandi, we have now a working GPS code !
- The navigational routines are based on the works of Jason Short
- and the Arducopter team (another great open source project).
- EOSBandi adapted it to multiwii.
- basically, there are 2 main options for GPS: SERIAL option and I2C option.
- If you have a spare serial port AND an AtMega1280 or 2560 microcontroller
- based FC, you can connect your GPS to that port and enable the serial GPS
- code in the code.
- Patrick introduced a way to switch automaticly between GUI message parsing
- or NMEA message parsing on the same Serial port
- (useful for promini because you can use the same port for GUI and GPS
- in an exclusive mode)
- You can use an I2C_GPS board, which contains a secondary AtMega328 processor
- with a serial GPS and runs the GPS parsing and navigational computations.
- This board communicates with the FC via the I2C bus.
- more info here: http://code.google.com/p/i2c-gps-nav/downloads/list
- and here in this huge post: http://www.multiwii.com/forum/viewtopic.php?f=8&t=649
- There is also a specific GPS_FROM_OSD option:
- it's a way to use the GPS device of OSD to feed Multiwii with GPS data
- MIS OSD uses this functionality
- ESC calibration
- experimental
- It's a special #define which allows to calibrate all ESCs with exaclty
- the same signal.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=13&t=1517
- Telemetry
- new telemetry manual stepping mode
- Arming option
- configurable TX stick combos for arm/disarm
- this way, it's possible to arm/disarm the multi via:
- one AUX switch like before
- YAW stick and/or ROLL stick
- AIRPLANE mode
- experimental, more info here:
- http://www.multiwii.com/forum/viewtopic.php?f=8&t=364
- https://code.google.com/p/multiwii/wiki/MWiiAirplane
- HELICOPTER mode
- experimental
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1562
- Dual & Single copter
- experimental
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1882
- VTAIL mode
- motor rotation has changed:
- Front Left & Rear Right: CCW, Front Right & Rear Left: CW , YAW_DIRECTION=1
- An attempt to improve the documentation via wiki
- wiki from googlecode:
- https://code.google.com/p/multiwii/w/list
- wiki from multiwii.com
- http://www.multiwii.com/wiki/index.php?title=Main_Page
- We all know the overall documentation is still to improve
New in MultiWii 2.1 RC 976 (Jul 11, 2012)
- WMP and NUNCHUCK are no longer auto recognized.
- You must explicitly declare them (or just WMP) in config.h
- Pullups are now undefined by default (think about activating it if you use a WMP only conf)
- LCD is not activated by default
- Failsafe is not activated by default
- There is no more .pde files
- You must use Arduino 1.0 or greater to compile the sketch (and open Multiwii.ino)
- If the GUI does not work on your setup,try to deactivate hardware acceleration for your display board or use an alternative GUI like WinGUI
- MultiWii is not a product, nor a plug and play solution.
- Don't expect to buy a compatible board and run it without a minimum knowledge.
- Receiver part:
- OpenLRS Multi board support done
- This is a board including an OpenLRS receiver where the atmel
- is used also to run multiwii code.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1438
- Multiwii Serial Protocol:
- It's a new protocol to communicate with the FC
- It was introduced by me and tuned by Tommie
- It's a huge change, but it should ensure a generic way to communicate with the FC,
- which is less dependant to version evolutions.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1516
- Now, there is no mod to the multiwii if we want to add a GUI/OSD/conf tool/...
- Compatible GUI:
- open source code, compatible with the new serial protocol
- WinGUI from EOSBandi, which is fully equivalent with the original one, with a better look
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1229
- mwGui from kos
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1791
- Android ones via serial bluetooth:
- - adding a bluetooth module to multiwii
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=6&t=133
- compatible apps:
- https://play.google.com/store/apps/details?id=net.xrotor.andmultiwiiconf
- https://play.google.com/store/apps/details?id=net.loide.games.bicopter
- https://play.google.com/store/apps/details?id=com.naze32.configurator
- Compatible OSD:
- open source code, compatible with the new serial protocol
- Rushduino:
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=922
- mobiDrone:
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1498
- LCD config: OLED display:
- thanks to contributions of howardhb and Hamburger
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
- VT100 terminal type addition:
- thanks to contribution of Hamburger
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=7&t=1096
- A multiline option is added to allow the configuration on more than 2 lines
- useful for displays like OLED or VT100
- We have now a lot of possibilities regarding LCD:
- SERIAL3W : original 2x16 line from Sparkfun
- TEXTSTAR : Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02
- VT100 : vt100 compatible terminal
- ETPP : Eagle Tree Power Panel LCD
- LCD03 : an i2c LCD
- OLED_I2C_128x64
- New proc: ATmega32U4:
- Thanks to the work from ronco.
- This proc can be found in the Arduino pro micro board, or Teensy 2.0
- The Pro Micro is similar to the Pro Mini except with an ATmega32U4 on board.
- The USB transceiver inside the 32U4 allows us to add USB connectivity on-board.
- ronco also designed a custom board named nanowii.
- One of the smallest 6DOF Multiwii board with usb, which can be now purchased.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=6&t=1337
- Servo:
- Higher refresh rate:
- Some servo (mostly digital ones) can work with a higher frequency than 50Hz.
- The consequence is a sharper response.
- ronco adapted the code to make this frequency configurable
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1644
- Hardware PWM output:
- On MEGA boards, it's now possible to drive the gimbal servos with
- a 11-bit PWM servo resolution. Thanks to ronco.
- The hardware PWM output ensures a jitter free response.
- LED flasher:
- A way to set a flash LED sequence from Tommie
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1505
- Throttle expo:
- There is now another curve in the GUI to configure the Throttle expo.
- It's a way to smooth the throttle stick response around the hover point.
- In order to help the setting, there is a small cursor in the graph to show
- where is the current throttle input.
- ACC LEVEL improvement:
- The LEVE mode is improved since 2.0 thanks to new choice of
- new complementary filter coefficients and a floating point low pass filter
- Headfree checkbox:
- It's possible to reset the headfree direction while flying via a checkbox.
- thanks to Tommie
- Sensor:
- MPU6050: there was a bug which prevents using the gyro LPF. correted now.
- SONAR: I2C sonar SRF0x code was added but is not currently used.
- many new boards was also added in config.h file
- Internal code:
- - the Serial part uses now less RAM (thanks to Tommie first mod)
- RX/TX buffers are smaller than before.
- - EEPROM parameters are stored in a struct, and are written in the
- EEPROM in a single step.
- - MAG declination was added by EOSBandi, to have more accurate orientation.
- In some countries, it's really mandatory to set this variable right,
- otherwise it's impossible to use GPS.
- - Flag var was introduced for global boolean type variables.
- - Hamburger introduced some "copter exemple" in order to check
- if compilation is ok. (should be a way to remove some trivial bugs)
- - code style (indentation, variable naming convention etc.) started
- - GUI requires new ControlP5 library to compile
- - new config.h structure
- GUI:
- - thanks to Danal, there is now the PIN number and the propeller direction
- drawed in the graph representation
- - thanks to kos, we can now load and save parameters into a file
- - there is now a reset button to set all parameters to default
- - there is now a GUI visual feedback on all states (checkbox items)
- GPS code:
- Thanks to the work of EOSBandi, we have now a working GPS code !
- The navigational routines are based on the works of Jason Short
- and the Arducopter team (another great open source project).
- EOSBandi adapted it to multiwii.
- basically, there are 2 main options for GPS: SERIAL option and I2C option.
- - If you have a spare serial port AND an AtMega1280 or 2560 microcontroller
- based FC, you can connect your GPS to that port and enable the serial GPS
- code in the code.
- Patrick introduced a way to switch automaticly because GUI message parsing
- or NMEA message parsing on the same Serial port
- (useful for promini because you can use the same port for GUI and GPS
- in an exclusive mode)
- - You can use an I2C_GPS board, which contains a secondary AtMega328 processor
- with a serial GPS and runs the GPS parsing and navigational computations.
- This board communicates with the FC via the I2C bus.
- more info here: http://code.google.com/p/i2c-gps-nav/downloads/list
- and here in this huge post: http://www.multiwii.com/forum/viewtopic.php?f=8&t=649
- There is also a specific GPS_FROM_OSD option:
- it's a way to use the GPS device of OSD to feed Multiwii with GPS data
- MIS OSD uses this functionality
- ESC calibration:
- experimental
- It's a special #define which allows to calibrate all ESCs with exaclty
- the same signal.
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=13&t=1517
- Telemetry:
- new telemetry manual stepping mode
- Arming option:
- configurable TX stick combos for arm/disarm
- this way, it's possible to arm/disarm the multi via:
- - one AUX switch like before
- - YAW stick and/or ROLL stick
- AIRPLANE mode
- experimental, more info here:
- http://www.multiwii.com/forum/viewtopic.php?f=8&t=364
- https://code.google.com/p/multiwii/wiki/MWiiAirplane
- HELICOPTER mode:
- experimental
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1562
- Dual & Single copter:
- experimental
- more info here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1882
- An attempt to improve the documentation via wiki:
- wiki from googlecode:
- https://code.google.com/p/multiwii/w/list
- wiki from multiwii.com
- http://www.multiwii.com/wiki/index.php?title=Main_Page
- We all know the overall documentation is still to improve.
New in MultiWii 2.1 RC 964 (Jul 7, 2012)
- WMP and NUNCHUCK are no longer auto recognized.
- You must explicitly declare them (or just WMP) in config.h
- Pullups are now undefined by default(think about activating it if you use a WMP only conf)
- LCD is not activated by default
- Failsafe is not activated by default
- There is no more .pde files
- You must use Arduino 1.0 or greater to compile the sketch (and open Multiwii.ino)
New in MultiWii 2.1 RC 949 (Jul 2, 2012)
- The exhaustive changes between 2.0 and this one will be updated in the forum.
- This version is released in order to highlight every remaining bugs.
New in MultiWii 20120606 Dev (Jun 6, 2012)
- GPS I2C bug correction (was not detectable in the previous dev)
- slave MAG I2C address bug correction
- Tommie addon (LED & Tinny GPS)
- Added missing mag decliniation calc to heading calc in imu.ino
- Some corrections to nanowii defines & atmega32u4's with all pins
New in MultiWii 20120528 Dev (May 29, 2012)
- The GUI is smoother.
- EOSBandi GPS work based on AC GPS code.
New in MultiWii 20120430 Dev (Apr 30, 2012)
- Added throttle expo function.
- Correction of MPU6050 LPF bug setting.