Willas Shrediquette Tricopter / Quadrocopter / Hexacopter

[holzi]

Guten morgen,
ich werde heute Nachmittag auf s freie Feld fahren und dann mal Daten empfangen. Mal sehen, was dabei herauskommt.
In dem Bild liegt der GPS-Empfämger ca. 3m neben dem Haus auf einem Tisch. Bin selber gespannt, was da heute bei raus kommt.
Es gibt bei Google-Earth noch sehr viele Bereiche, bei denen die Auflösung so schlecht ist. Die Kleinstädte hier an der Ostsee gehören leider dazu.
Das Ergebniss teile ich Euch dann hier mit.

Peter

[KoaxPilot]

hi

hatte heute meinen erfolgreichen erstflug
bin grad dabei die parameter noch etwas anzupassen .
aber im großen und ganzen fliegt er schon echt gut
werde mal die tage ein video machen

[Willa]

Hi,
Glückwunsch, das ging ja echt schnell...!

[holzi]

Hallo,
die Welt ist wieder für mich in Ordnung. Habe eine Messung über 10 Minuten an einem festen Standord mitten auf einem Maisfeld gemacht. Und siehe da, es ist eine Genauigkeit von 1,5 Meter. Die Probleme bei der Messung und wodurch die Fehler entstehen, waren mir eigentlich klar, dass sie sich aber so stark auswirken, war mir nicht bewusst bzw. Ich habe daran nicht geglaubt.

Peter

[KoaxPilot]

Hi,
Glückwunsch, das ging ja echt schnell...!

klar bei dem klasse teil musste es einfach schnell gehen ^^
ich hab die parameter jezt soweit eingestellt und bin begeistert bei windstille is schweben ohne steuern im umkreis von 5m garkein proplem

willa hast du den schon dein GPS empfänger bekommen ?

[Willa]

Cool, dann mach mal ein Video :-D Und wie fliegt sich mein Tricopter im Vergleich zu anderen Multicoptern? Ich habe noch nie was anderes geflogen, daher kann ich das nicht einschätzen. GPS ist da und heute wollte ich die ersten Versuche machen. Leider ist aber einfach ein Motor auf Vollgas angelaufen und hat das GPS vom Copter gerissen. Ich muss mir aber nochmal ein richtiges Konzept überlegen und die Software neu konzipieren. Bisher habe ich einfach die drei Sensoren (GPS, Druck, Kompass) zusammen und ohne Koordinierung abgefragt. Da hauen die sich gegenseitig die Signale kaputt. Sehr nervig solche Konflikte zu lösen ...

[KoaxPilot]

naja nen vergleich gibt es nicht ^^ da deiin copter einfach zu gut fliegt
also ich bin bis jezt 2 verschiedene quadrocoptersystheme geflogen und muss sagen das der tricopter im vergleich besser fliegt , das liegt aber auch an den guten Sensoren
ich hab einfach die parameter per funk stück für stück angepasst und er fliegt einfach perfekt
wenn Position Hold per gps geht kann ich mal ein vergleichvideo machen .

könntest du die software mit dem kompass und luftdrucksensor mir geben oder is die nich brauchbar ^^ ?
hast du dafür ein extra arduino mini genommen oder leuft das noch über eins ?

[Willa]

Ich habe dafür einen extra arduino pro mini 3.3V, 8MHz genommen. Das ist der Code glaube ich....:

'===CHIP SETTINGS===
$regfile = "m328pdef.dat"
$framesize = 128
$swstack = 128
$hwstack = 128
$crystal = 8000000
$baud = 38400

Config Pind.2 = Input                   'eoc
Config Pinb.5 = Output                  'green led

Dim Ac1 As Single
Dim Ac2 As Single
Dim Ac3 As Single
Dim Ac4 As Long
Dim Ac5 As Long
Dim Ac6 As Long

Dim B1 As Single
Dim B2 As Single
Dim B3 As Long
Dim B4 As Long
Dim B4a As Single
Dim B5 As Single
Dim B6 As Single
Dim B7 As Long
Dim B7a As Long

Dim Mb As Single
Dim Mc As Single
Dim Md As Single

Dim Ut As Long
Dim Up As Long

Dim X1 As Single
Dim X2 As Single
Dim X3 As Single

Dim Zwr1 As Single
Dim Zwr2 As Single
Dim Zwr3 As Single
Dim Zwr4 As Single

Dim T As Single
Dim P As Single

Dim Po As Single
Dim A As Single
Dim Height_filt As Single
Dim A2(6) As Integer                    'Word
Dim Height As Integer                   'Word
Dim Averaging As Byte
Dim I As Byte
Dim Startup As Word
Dim Okay As Bit
Dim Heightzero As Single

Dim Adres As Byte
Dim Value As Byte
Dim Result As Integer

Dim Hi As Long


Dim P_set_height As Single
Dim P_set_height_old As Single
Dim I_set_height As Single
Dim D_set_height As Single
Dim P_set_height_out As Single
Dim I_set_height_out As Single
Dim D_set_height_out As Single
Dim Setpoint_height As Single
Dim Outputpid As Byte
Dim Outputpid_height_integer As Single


'output:
Dim Command(2) As Byte


'compass
' I2C-Slave-Address of the HMC6352 Digital Compass Module and Configuration values
Const Compass_address = &H42
Dim Compass_w_array(3) As Byte
Compass_w_array(1) = &H47               ' "G"-Command: write to RAM
Compass_w_array(2) = &H74               ' RAM Address H74: Operational Mode
'Compass_w_array(3) = &B01110000         ' 20Hz, Set/Reset=yes, Standby mode
Compass_w_array(3) = &B01110010         ' 20Hz, Set/Reset=yes, Standby mode
' Compass value read variables
Dim Compass_r_array(2) As Byte          ' Byte array for the two bytes of heading value
Dim Compass_value As Word At Compass_r_array(1) Overlay       ' WORD variable for the heading value
Dim Compass_value2(6) As Integer
Dim Heading As Integer
Dim Setpoint_heading As Integer
Dim P_set_heading As Integer
Dim P_set_heading_raw As Integer
Dim P_set_heading_raw_abs As Word
Dim P_set_heading_v1 As Integer
Dim P_set_heading_v1_abs As Word
Dim P_set_heading_out As Integer
Dim I_set_heading_out As Integer
Dim I_set_heading As Single

Dim Outputpid_heading_integer As Integer



'===READ RX SETTINGS===
Config Timer0 = Timer , Prescale = 256
On Timer0 Detectrxpause                 'timer overflow = pause in receiver's signal
Config Int1 = Rising
On Int1 Getreceiver


$lib "i2c_twi.lbx"                      ' we do not use software emulated I2C but the TWI
Config Scl = Portc.5                    ' we need to provide the SCL pin name
Config Sda = Portc.4                    ' we need to provide the SDA pin name
I2cinit


Declare Sub Write_bmp(byval Adres As Byte , Byval Value As Byte)
Declare Sub Read_bmp(byval Adres As Byte , Value As Byte)
Declare Sub Read_reg

Const Addressw = &B11101110             'slave write address
Const Addressr = &B11101111             'slave read address


'--Read Receiver (Rx)--
Dim Empf(6) As Word                     'data from getreceiver interrupt
Dim Sempf(6) As Integer                 'rescaled data
Dim Channel As Byte                     'current channel to be read out
Dim Rc_on_counter As Word               'counter that counts the amount of correct rx signals
Dim Poslock As Bit
Dim Poslock_old As Bit



Config Twi = 100000

Enable Timer0
Enable Int1
Enable Interrupts

Config Serialout = Buffered , Size = 254

Clear Serialout

Waitms 100

'hole Kalibrierungsdaten
'-------------------------------------------------------------------------------
Adres = &HAA                            'Startadresse calibration data

Call Read_reg
Ac1 = Result
Call Read_reg
Ac2 = Result
Call Read_reg
Ac3 = Result
Call Read_reg
Ac4 = Result
Call Read_reg
Ac5 = Result
Call Read_reg
Ac6 = Result
Call Read_reg
B1 = Result
Call Read_reg
B2 = Result
Call Read_reg
Mb = Result
Call Read_reg
Mc = Result
Call Read_reg
Md = Result
Averaging = 1

'compass config
I2csend Compass_address , Compass_w_array(1) , 3       ' set Compass Configuration

Waitms 100

Do

If Empf(5) > 185 And Empf(6) > 170 Then
  Poslock = 1
Else
  Poslock = 0
End If

'lese kompass:
 I2creceive Compass_address , Compass_r_array(1) , 0 , 2       ' receive the two heading bytes MSB first
 Swap Compass_r_array(1) , Compass_r_array(2)       ' swap MSB and LSB bytes to be read as WORD variable
 Compass_value = Compass_value / 10
 'Print Compass_value                    'in degrees

'hole Rohdaten Temperatur
'-------------------------------------------------------------------------------
If Averaging = 1 Then                   'datasheet: would be enough to get temp every second
  If Okay = 1 Then
  Toggle Portb.5
  End If
  Call Write_bmp(&Hf4 , &H2E)
  While Pind.2 < 1                      'wait until  EOC is 1 ca. 5ms
  Waitus 100
  Wend

  Call Read_bmp(&Hf6 , Value)           'read it back
  Hi = Value * 256
  Call Read_bmp(&Hf7 , Value)           'read it back
  Ut = Hi + Value
End If
'hole Rohdaten Luftdruck
'-------------------------------------------------------------------------------
'Call Write_bmp(&Hf4 , &HF4)             'ultra-high precision mode
'Call Write_bmp(&Hf4 , &H34)             'normal mode
Call Write_bmp(&Hf4 , &HB4)             'high precision mode

While Pind.2 < 1                        ''wait until  EOC is 1 ca. 26 ms in ultra high precision mode
Waitus 100
Wend

Call Read_bmp(&Hf6 , Value)             'read it back
Hi = Value * 256
Call Read_bmp(&Hf7 , Value)             'read it back
Up = Hi + Value

'kalkuliere tatsaechliche Temperatur
'-------------------------------------------------------------------------------
Zwr1 = Ut - Ac6 : Zwr2 = 2 ^ 15 : Zwr2 = Ac5 / Zwr2 : X1 = Zwr1 * Zwr2
Zwr1 = 2 ^ 11 : Zwr2 = Mc * Zwr1 : Zwr3 = X1 + Md : X2 = Zwr2 / Zwr3 : B5 = X1 + X2
T = B5 + 8 : Zwr3 = 2 ^ 4 : T = T / Zwr3 : T = T / 10

'kalkuliere tatsaechlichen Luftdruck
'-------------------------------------------------------------------------------
B6 = B5 - 4000 : Zwr1 = 2 ^ 11 : Zwr2 = 2 ^ 12 : Zwr3 = B6 / Zwr2 : Zwr3 = B6 * Zwr3 : Zwr4 = B2 * Zwr3 : X1 = Zwr4 / Zwr1
Zwr1 = 2 ^ 11 : Zwr2 = B6 / Zwr1 : X2 = Ac2 * Zwr2 : X3 = X1 + X2
Zwr1 = Ac1 * 4 : Zwr1 = Zwr1 + X3 : Zwr1 = Zwr1 + 2 : B3 = Zwr1 / 4
Zwr1 = 2 ^ 13 : Zwr2 = B6 / Zwr1 : X1 = Ac3 * Zwr2
Zwr1 = 2 ^ 12 : Zwr2 = 2 ^ 16 : Zwr3 = B6 / Zwr1 : Zwr3 = B6 * Zwr3 : Zwr4 = B1 * Zwr3 : X2 = Zwr4 / Zwr2
X3 = X1 + X2 : X3 = X3 + 2 : X3 = X3 / 4
Zwr1 = X3 + 32768 : Zwr2 = 2 ^ 15 : Zwr3 = Zwr1 / Zwr2 : B4a = Ac4 * Zwr3 : B4 = Abs(b4a)
B7 = Up - B3 : B7a = B7 * 50000 : Zwr1 = B7a * 2 : Zwr1 = Zwr1 / B4 : Zwr2 = B7a / B4 : Zwr2 = Zwr2 * 2
If B7a < &H8000000 Then P = Zwr1 Else P = Zwr2
Zwr1 = 2 ^ 8 : Zwr2 = P / Zwr1 : X1 = Zwr2 * Zwr2
Zwr1 = 2 ^ 16 : X1 = X1 * 3028 : X1 = X1 / Zwr1 : X1 = Abs(x1)
Zwr1 = -7357 * P : Zwr2 = 2 ^ 16 : X2 = Zwr1 / Zwr2
Zwr1 = X1 + X2 : Zwr1 = Zwr1 + 3791 : Zwr2 = 2 ^ 4 : Zwr1 = Zwr1 / Zwr2 : P = P + Zwr1 : P = P / 100

'kalkuliere Hoehenwerte
'-------------------------------------------------------------------------------
Po = 1013.25                            'Pressure auf Seepegel
Zwr1 = 1 / 5.255 : Zwr2 = P / Po : Zwr3 = Zwr2 ^ Zwr1 : Zwr4 = 1 - Zwr3 : A = 44330 * Zwr4

If Okay = 0 Then
  If Startup < 200 Then
    Startup = Startup + 1
      If Startup > 150 Then
        Heightzero = Heightzero + A
      End If
  Else
    Okay = 1
    Heightzero = Heightzero / 50
  End If
End If
A = A - Heightzero
A = A * 100                             'höhe in zentimetern

If Okay = 0 Then
  Height_filt = A
  For I = 1 To 6
    A2(i) = A
  Next
End If

Height_filt = Height_filt * 0.965       '0.96
A = A * 0.035                           '0.04
Height_filt = Height_filt + A

Height_filt = Height_filt

If Averaging <= 6 Then
  A2(averaging) = Int(height_filt)
  Averaging = Averaging + 1

End If

If Averaging = 7 Then                   'reduced output rate
  Height = 0
  For I = 1 To 6
    Height = Height + A2(i)
  Next
  Height = Height / 6

  Heading = Compass_value

  If Poslock_old <> Poslock Then        'switched
    If Poslock = 1 Then
      Setpoint_height = Height
      Setpoint_heading = Heading
      P_set_height = 0
      P_set_heading = 0
      I_set_height = 0
      I_set_heading = 0
      D_set_height = 0
    End If
    If Poslock = 0 Then                 'switch off
      Command(1) = 128
      Command(2) = 128
      Printbin Command(1)
    End If
    Poslock_old = Poslock
  End If

  If Okay = 1 And Poslock = 1 Then
    P_set_height = Setpoint_height - Height
    P_set_height_out = P_set_height * 0.03       '10cm --> 1.5 direkt auf motoren
    I_set_height = I_set_height + P_set_height

    If I_set_height > 500000 Then
    I_set_height = 500000
    End If
    If I_set_height < -500000 Then
    I_set_height = -500000
    End If

    I_set_height_out = I_set_height * 0.00008       '0.00005
    D_set_height = P_set_height - P_set_height_old
    D_set_height_out = D_set_height * 0.16       '0.1
    P_set_height_old = P_set_height
    'Print Height ; "  " ; P_set_height_out ; "  " ; i_set_height_out ; "   " ; d_set_height_out
    'Print "height: " ; Height
    Outputpid_height_integer = 128 + P_set_height_out
    Outputpid_height_integer = Outputpid_height_integer + I_set_height_out
    Outputpid_height_integer = Outputpid_height_integer + D_set_height_out

    If Outputpid_height_integer > 254 Then
        Outputpid_height_integer = 254
    End If
    If Outputpid_height_integer < 0 Then
        Outputpid_height_integer = 0
    End If

    'heading




    P_set_heading_raw = Setpoint_heading - Heading
''(
    If P_set_heading_raw > 0 Then
      P_set_heading_v1 = P_set_heading_raw - 359
      P_set_heading_v1_abs = Abs(p_set_heading_v1)
      P_set_heading_raw_abs = Abs(p_set_heading_raw)
      If P_set_heading_v1_abs > P_set_heading_raw_abs Then
        P_set_heading = P_set_heading_raw
      Else
        P_set_heading = P_set_heading_v1
      End If
    Elseif P_set_heading_raw < 0 Then
      P_set_heading_v1 = P_set_heading_raw + 359
      P_set_heading_v1_abs = Abs(p_set_heading_v1)
      P_set_heading_raw_abs = Abs(p_set_heading_raw)
      If P_set_heading_v1_abs > P_set_heading_raw_abs Then
        P_set_heading = P_set_heading_raw
      Else
        P_set_heading = P_set_heading_v1
      End If
    End If
'')

'P_set_heading = P_set_heading_raw

    'print p_set_heading




    P_set_heading_out = P_set_heading / 2

    I_set_heading = I_set_heading + P_set_heading
    If I_set_heading > 960 Then
    I_set_heading = 960
    End If
    If I_set_heading < -960 Then
    I_set_heading = -960
    End If

    I_set_heading_out = I_set_heading / 16       ' *0.1 geht nich...

    I_set_heading_out = 0

    Outputpid_heading_integer = 128 + P_set_heading_out
    Outputpid_heading_integer = Outputpid_heading_integer + I_set_heading_out

    'Print Heading ; "  " ; P_set_heading_out ; "  " ; I_set_heading_out ; "  " ; Outputpid_heading_integer

    If Outputpid_heading_integer > 254 Then
        Outputpid_heading_integer = 254
    End If
    If Outputpid_heading_integer < 0 Then
        Outputpid_heading_integer = 0
    End If


   Command(1) = Outputpid_height_integer
   Command(2) = Outputpid_heading_integer

   'Printbin Command(1)

   Print Height ; " " ; Heading

  End If
  Averaging = 1
End If



Loop
End

'------------------------------------------------------------
Sub Read_reg
Call Read_bmp(adres , Value)
Hi = Value * 256
Adres = Adres + 1
Call Read_bmp(adres , Value)
Result = Hi + Value
Adres = Adres + 1
End Sub

'----------------------------------------------------------
Sub Write_bmp(byval Adres As Byte , Byval Value As Byte)
I2cstart                                'start condition
I2cwbyte Addressw                       'slave address
I2cwbyte Adres                          'address of register
I2cwbyte Value                          'value to write
I2cstop                                 'stop condition
End Sub

'----------------------------------------------------------
Sub Read_bmp(byval Adres As Byte , Value As Byte)
I2cstart                                'generate start
I2cwbyte Addressw                       'slave address
I2cwbyte Adres                          'address of register
I2cstart                                'repeated start
I2cwbyte Addressr                       'slave address (read)
I2crbyte Value , Nack                   'read byte
I2cstop                                 'generate stop
End Sub

'===READ RX=====================================================================
Getreceiver:                            'falling edge detection
If Channel > 0 And Channel < 7 Then     'fill empf(1-5)
  Empf(channel) = Timer0
End If
Timer0 = 131                            'preload for 4.096 ms
Incr Channel                            'if no falling edge was detected for a longer period, channel will increase above 11
Return                                  'that means that there are problems with the receiver

Detectrxpause:
Channel = 0
Timer0 = 131                            'preload for 4.096 ms
Return

[KoaxPilot]

ok

ich werde morgen mal nen board mit einem atmega32 löten und das ganze mal testen

kommt auf der triguid auch noch eine extra software drauf ?

[Willa]

Ich habe diese hier drauf. Sollte gehen, aber ist wohl noch nicht optimal:

'===CHIP SETTINGS===
$regfile = "m328pdef.dat"
$framesize = 64
$swstack = 64
$hwstack = 64
$crystal = 16000000
$baud = 38400

edit: tja, darf ich leider nicht posten, da länger als 20.000 Zeichen...