MultiWii Quad! Alternativa ad Aeroquad/Baronpilot con sensori wii

[simone76]

quale sonar... i2c, seriale,.... documentare pls

io ho preso questo per studiarci sopra poi
1pcs US-020 Ultrasonic Module Distance Measuring Transducer Sensor DC 5V $2.79 Free Shipping @GoodLuckBuy.com

[claustro]

qualcuno ha idea di come integrare l'aumento degli step dei canali aux nel firmware e nella gui?
MultiWii • View topic - [PATCH rebased] Increase number of AUX channels and steps

[magnetron1]

Nuova GUI con alcuni miglioramenti grafici, tra cui l'orizzonte artificiale.
Fatemi sapere.

MultiWiiConf_2_1_roundLevel.zip - multiwii - MultiWii is a software to control a RC multi copter - Google Project Hosting

penso che implementarò anche le modifiche ai canali aux segnalati...

[simone76]

qualcuno ha idea di come integrare l'aumento degli step dei canali aux nel firmware e nella gui?
MultiWii • View topic - [PATCH rebased] Increase number of AUX channels and steps

gli steps non lo so, sarebbe comodo. Per il numero di canali aux invece, la R1129 accetta in tutto 12 canali, in PPMSUM. Avevo già provato ad aggiungerne uno per usare la RX a 9 canali e non era difficile comunque, si trattava di definirne uno nuovo e in rx.ino aggiungere elementi all'array dei canali letti.

[blackfede]

penso che implementarò anche le modifiche ai canali aux segnalati...

Sarebbe bello :-) Stando a quanto dice tommy il codice compilato potrebbe anche risultare piu' ristretto a seconda di quanti aux segnali di voler utilizzare.

[carlonb]

Allora... sulle funzioni ANGLE e HORIZON:
ANGLE è il vecchio LEVEL;
HORIZON è un LEVEL con l'uso di un CF con i Gyro
Ho letto sul forum ufficiale MultiWii che qualcuno che l'ha prova si è visto ribaltare il mezzo in volo fino al crash... quindi provatelo con molta attenzione.

Fare attenzione, io ho settato i vari Aux tramite il display a due righe connesso alla seriale come di solito, ma mi sono trovato ANGLE e HORIZON attivi contemporaneamente... ed è successo anche a me che mi si è ribaltato (Rompendo un'elica).
NON devono mai essere attivi assieme, verificate anche voi.
Ciao

[magnetron1]

Fare attenzione, io ho settato i vari Aux tramite il display a due righe connesso alla seriale come di solito, ma mi sono trovato ANGLE e HORIZON attivi contemporaneamente... ed è successo anche a me che mi si è ribaltato (Rompendo un'elica).
NON devono mai essere attivi assieme, verificate anche voi.
Ciao

Infatti c'è un bug nella dev.
Una condizione dovrebbe escludere l'altra...

[magnetron1]

Ultima dev disponibile con tutte le nuove funzioni, incluso il sonar i2c ed il sonar classico tipo DYP-ME007 e similari.

[claustro]

il sonar...è gia abilitato di default se non sbaglio...

[claustro]

ho provato a compilare la nuova rev....nada.
Idee??

MultiWii_2.1_r1129.cpp:2310:8: error: #if with no expression
MultiWii_2.1_r1129.cpp: In function 'void blinkLED(uint8_t, uint8_t, uint8_t)':
MultiWii_2.1_r1129.cpp:458: error: 'LEDPIN_TOGGLE' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void ChannelToOutput(uint8_t, uint8_t)':
MultiWii_2.1_r1129.cpp:518: error: 'BUZZERPIN_ON' was not declared in this scope
MultiWii_2.1_r1129.cpp:519: error: 'BUZZERPIN_OFF' was not declared in this scope
MultiWii_2.1_r1129.cpp:523: error: 'LEDPIN_ON' was not declared in this scope
MultiWii_2.1_r1129.cpp:524: error: 'LEDPIN_OFF' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void readEEPROM()':
MultiWii_2.1_r1129.cpp:701: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:703: error: 'lookupPitchRollRC' was not declared in this scope
MultiWii_2.1_r1129.cpp:710: error: 'lookupThrottleRC' was not declared in this scope
MultiWii_2.1_r1129.cpp:711: error: 'MINTHROTTLE' was not declared in this scope
MultiWii_2.1_r1129.cpp:711: error: 'MAXTHROTTLE' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void writeParams(uint8_t)':
MultiWii_2.1_r1129.cpp:745: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void checkFirstTime()':
MultiWii_2.1_r1129.cpp:758: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:759: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:759: error: 'ROLL' was not declared in this scope
MultiWii_2.1_r1129.cpp:760: error: 'PITCH' was not declared in this scope
MultiWii_2.1_r1129.cpp:761: error: 'YAW' was not declared in this scope
MultiWii_2.1_r1129.cpp:762: error: 'PIDALT' was not declared in this scope
MultiWii_2.1_r1129.cpp:764: error: 'PIDPOS' was not declared in this scope
MultiWii_2.1_r1129.cpp:764: error: 'POSHOLD_P' was not declared in this scope
MultiWii_2.1_r1129.cpp:764: error: 'POSHOLD_I' was not declared in this scope
MultiWii_2.1_r1129.cpp:765: error: 'PIDPOSR' was not declared in this scope
MultiWii_2.1_r1129.cpp:765: error: 'POSHOLD_RATE_P' was not declared in this scope
MultiWii_2.1_r1129.cpp:765: error: 'POSHOLD_RATE_I' was not declared in this scope
MultiWii_2.1_r1129.cpp:765: error: 'POSHOLD_RATE_D' was not declared in this scope
MultiWii_2.1_r1129.cpp:766: error: 'PIDNAVR' was not declared in this scope
MultiWii_2.1_r1129.cpp:766: error: 'NAV_P' was not declared in this scope
MultiWii_2.1_r1129.cpp:766: error: 'NAV_I' was not declared in this scope
MultiWii_2.1_r1129.cpp:766: error: 'NAV_D' was not declared in this scope
MultiWii_2.1_r1129.cpp:768: error: 'PIDLEVEL' was not declared in this scope
MultiWii_2.1_r1129.cpp:769: error: 'PIDMAG' was not declared in this scope
MultiWii_2.1_r1129.cpp:771: error: 'PIDVEL' was not declared in this scope
MultiWii_2.1_r1129.cpp:778: error: 'CHECKBOXITEMS' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void computeIMU()':
MultiWii_2.1_r1129.cpp:2032: error: 'gyroADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:2034: error: 'annexCode' was not declared in this scope
MultiWii_2.1_r1129.cpp:2036: error: 'annex650_overrun_count' was not declared in this scope
MultiWii_2.1_r1129.cpp:2044: error: 'gyroADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:2046: error: 'gyroData' was not declared in this scope
MultiWii_2.1_r1129.cpp:2048: error: 'ACC' was not declared in this scope
MultiWii_2.1_r1129.cpp:2048: error: 'accADC' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void rotateV(fp_vector*, float*)':
MultiWii_2.1_r1129.cpp:2162: error: 'ROLL' was not declared in this scope
MultiWii_2.1_r1129.cpp:2162: error: 'PITCH' was not declared in this scope
MultiWii_2.1_r1129.cpp:2163: error: 'YAW' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void getEstimatedAttitude()':
MultiWii_2.1_r1129.cpp:2192: error: 'gyroADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:2194: error: 'accADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:2196: error: 'accSmooth' was not declared in this scope
MultiWii_2.1_r1129.cpp:2213: error: 'acc_1G' was not declared in this scope
MultiWii_2.1_r1129.cpp:2220: error: 'accSmooth' was not declared in this scope
MultiWii_2.1_r1129.cpp:2220: error: 'ROLL' was not declared in this scope
MultiWii_2.1_r1129.cpp:2220: error: 'acc_25deg' was not declared in this scope
MultiWii_2.1_r1129.cpp:2220: error: 'PITCH' was not declared in this scope
MultiWii_2.1_r1129.cpp:2220: error: 'YAW' was not declared in this scope
MultiWii_2.1_r1129.cpp:2221: error: 'f' was not declared in this scope
MultiWii_2.1_r1129.cpp:2223: error: 'f' was not declared in this scope
MultiWii_2.1_r1129.cpp:2229: error: 'f' was not declared in this scope
MultiWii_2.1_r1129.cpp:2231: error: 'accSmooth' was not declared in this scope
MultiWii_2.1_r1129.cpp:2240: error: 'angle' was not declared in this scope
MultiWii_2.1_r1129.cpp:2240: error: 'ROLL' was not declared in this scope
MultiWii_2.1_r1129.cpp:2241: error: 'PITCH' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void getEstimatedAltitude()':
MultiWii_2.1_r1129.cpp:2267: error: 'currentTime' was not declared in this scope
MultiWii_2.1_r1129.cpp:2268: error: 'currentTime' was not declared in this scope
MultiWii_2.1_r1129.cpp:2273: error: 'BaroAlt' was not declared in this scope
MultiWii_2.1_r1129.cpp:2317: error: 'AltHold' was not declared in this scope
MultiWii_2.1_r1129.cpp:2317: error: 'EstAlt' was not declared in this scope
MultiWii_2.1_r1129.cpp:2319: error: 'BaroPID' was not declared in this scope
MultiWii_2.1_r1129.cpp:2319: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:2319: error: 'PIDALT' was not declared in this scope
MultiWii_2.1_r1129.cpp:2322: error: 'errorAltitudeI' was not declared in this scope
MultiWii_2.1_r1129.cpp:2330: error: 'ROLL' was not declared in this scope
MultiWii_2.1_r1129.cpp:2330: error: 'PITCH' was not declared in this scope
MultiWii_2.1_r1129.cpp:2330: error: 'YAW' was not declared in this scope
MultiWii_2.1_r1129.cpp:2330: error: 'acc_1G' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void writeAllMotors(int16_t)':
MultiWii_2.1_r1129.cpp:4725: error: 'NUMBER_MOTOR' was not declared in this scope
MultiWii_2.1_r1129.cpp:4726: error: 'motor' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void initOutput()':
MultiWii_2.1_r1129.cpp:4737: error: 'NUMBER_MOTOR' was not declared in this scope
MultiWii_2.1_r1129.cpp:4738: error: 'PWM_PIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:4870: error: 'MINCOMMAND' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void mixTable()':
MultiWii_2.1_r1129.cpp:5599: error: 'motor' was not declared in this scope
MultiWii_2.1_r1129.cpp:5600: error: 'NUMBER_MOTOR' was not declared in this scope
MultiWii_2.1_r1129.cpp:5602: error: 'NUMBER_MOTOR' was not declared in this scope
MultiWii_2.1_r1129.cpp:5603: error: 'MAXTHROTTLE' was not declared in this scope
MultiWii_2.1_r1129.cpp:5605: error: 'MINTHROTTLE' was not declared in this scope
MultiWii_2.1_r1129.cpp:5605: error: 'MAXTHROTTLE' was not declared in this scope
MultiWii_2.1_r1129.cpp:5606: error: 'rcData' was not declared in this scope
MultiWii_2.1_r1129.cpp:5606: error: 'THROTTLE' was not declared in this scope
MultiWii_2.1_r1129.cpp:5606: error: 'MINCHECK' was not declared in this scope
MultiWii_2.1_r1129.cpp:5612: error: 'f' was not declared in this scope
MultiWii_2.1_r1129.cpp:5613: error: 'MINCOMMAND' was not declared in this scope
MultiWii_2.1_r1129.cpp: At global scope:
MultiWii_2.1_r1129.cpp:5663: error: 'RC_CHANS' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'RC_CHANS' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'ROLLPIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'PITCHPIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'YAWPIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'THROTTLEPIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'AUX1PIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'AUX2PIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'AUX3PIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5675: error: 'AUX4PIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:5676: error: 'PCINT_PIN_COUNT' was not declared in this scope
MultiWii_2.1_r1129.cpp:5676: error: 'PCINT_RX_BITS' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'uint16_t readRawRC(uint8_t)':
MultiWii_2.1_r1129.cpp:6032: error: 'rcValue' was not declared in this scope
MultiWii_2.1_r1129.cpp:6032: error: 'rcChannel' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void computeRC()':
MultiWii_2.1_r1129.cpp:6042: error: 'RC_CHANS' was not declared in this scope
MultiWii_2.1_r1129.cpp:6051: error: 'rcData4Values' was not declared in this scope
MultiWii_2.1_r1129.cpp:6052: error: 'rcDataMean' was not declared in this scope
MultiWii_2.1_r1129.cpp:6055: error: 'rcData' was not declared in this scope
MultiWii_2.1_r1129.cpp:6056: error: 'rcData' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void i2c_init()':
MultiWii_2.1_r1129.cpp:6577: error: 'I2C_PULLUPS_DISABLE' was not declared in this scope
MultiWii_2.1_r1129.cpp:6578: error: 'I2C_SPEED' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void waitTransmissionI2C()':
MultiWii_2.1_r1129.cpp:6624: error: 'i2c_errors_count' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void GYRO_Common()':
MultiWii_2.1_r1129.cpp:6700: error: 'calibratingG' was not declared in this scope
MultiWii_2.1_r1129.cpp:6705: error: 'gyroADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:6708: error: 'gyroZero' was not declared in this scope
MultiWii_2.1_r1129.cpp:6731: error: 'gyroADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:6731: error: 'gyroZero' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void ACC_Common()':
MultiWii_2.1_r1129.cpp:6756: error: 'calibratingA' was not declared in this scope
MultiWii_2.1_r1129.cpp:6761: error: 'accADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:6764: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:6768: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:6768: error: 'ROLL' was not declared in this scope
MultiWii_2.1_r1129.cpp:6769: error: 'PITCH' was not declared in this scope
MultiWii_2.1_r1129.cpp:6770: error: 'YAW' was not declared in this scope
MultiWii_2.1_r1129.cpp:6770: error: 'acc_1G' was not declared in this scope
MultiWii_2.1_r1129.cpp:6826: error: 'accADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:6826: error: 'ROLL' was not declared in this scope
MultiWii_2.1_r1129.cpp:6826: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:6827: error: 'PITCH' was not declared in this scope
MultiWii_2.1_r1129.cpp:6828: error: 'YAW' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void initSensors()':
MultiWii_2.1_r1129.cpp:8023: error: 'POWERPIN_ON' was not declared in this scope
MultiWii_2.1_r1129.cpp:8027: error: 'GYRO' was not declared in this scope
MultiWii_2.1_r1129.cpp:8028: error: 'BARO' was not declared in this scope
MultiWii_2.1_r1129.cpp:8029: error: 'MAG' was not declared in this scope
MultiWii_2.1_r1129.cpp:8030: error: 'ACC' was not declared in this scope
MultiWii_2.1_r1129.cpp:8030: error: 'acc_25deg' was not declared in this scope
MultiWii_2.1_r1129.cpp:8030: error: 'acc_1G' was not declared in this scope
MultiWii_2.1_r1129.cpp:8031: error: 'SONAR' was not declared in this scope
MultiWii_2.1_r1129.cpp:8032: error: 'f' was not declared in this scope
MultiWii_2.1_r1129.cpp: In function 'void evaluateCommand()':
MultiWii_2.1_r1129.cpp:8225: error: 'rcData' was not declared in this scope
MultiWii_2.1_r1129.cpp:8242: error: 'PIDITEMS' was not declared in this scope
MultiWii_2.1_r1129.cpp:8243: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:8250: error: 'CHECKBOXITEMS' was not declared in this scope
MultiWii_2.1_r1129.cpp:8251: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:8256: error: 'conf' was not declared in this scope
MultiWii_2.1_r1129.cpp:8273: error: 'VERSION' was not declared in this scope
MultiWii_2.1_r1129.cpp:8274: error: 'MULTITYPE' was not declared in this scope
MultiWii_2.1_r1129.cpp:8280: error: 'cycleTime' was not declared in this scope
MultiWii_2.1_r1129.cpp:8281: error: 'i2c_errors_count' was not declared in this scope
MultiWii_2.1_r1129.cpp:8282: error: 'ACC' was not declared in this scope
MultiWii_2.1_r1129.cpp:8282: error: 'BARO' was not declared in this scope
MultiWii_2.1_r1129.cpp:8282: error: 'MAG' was not declared in this scope
MultiWii_2.1_r1129.cpp:8282: error: 'GPS' was not declared in this scope
MultiWii_2.1_r1129.cpp:8282: error: 'SONAR' was not declared in this scope
MultiWii_2.1_r1129.cpp:8315: error: 'f' was not declared in this scope
MultiWii_2.1_r1129.cpp:8315: error: 'BOXARM' was not declared in this scope
MultiWii_2.1_r1129.cpp:8319: error: 'accSmooth' was not declared in this scope
MultiWii_2.1_r1129.cpp:8320: error: 'gyroData' was not declared in this scope
MultiWii_2.1_r1129.cpp:8321: error: 'magADC' was not declared in this scope
MultiWii_2.1_r1129.cpp:8335: error: 'NUMBER_MOTOR' was not declared in this scope
MultiWii_2.1_r1129.cpp:8335: error: 'motor' was not declared in this scope
MultiWii_2.1_r1129.cpp:8340: error: 'rcData' was not declared in this scope
MultiWii_2.1_r1129.cpp:8361: error: 'angle' was not declared in this scope
MultiWii_2.1_r1129.cpp:8362: error: 'heading' was not declared in this scope
MultiWii_2.1_r1129.cpp:8363: error: 'headFreeModeHold' was not declared in this scope
MultiWii_2.1_r1129.cpp:8367: error: 'EstAlt' was not declared in this scope
MultiWii_2.1_r1129.cpp:8371: error: 'vbat' was not declared in this scope
MultiWii_2.1_r1129.cpp:8372: error: 'intPowerMeterSum' was not declared in this scope
MultiWii_2.1_r1129.cpp:8385: error: 'PIDITEMS' was not declared in this scope
MultiWii_2.1_r1129.cpp:8393: error: 'CHECKBOXITEMS' was not declared in this scope
MultiWii_2.1_r1129.cpp:8399: error: 'boxnames' was not declared in this scope
MultiWii_2.1_r1129.cpp:8403: error: 'pidnames' was not declared in this scope
MultiWii_2.1_r1129.cpp:8408: error: 'intPowerTrigger1' was not declared in this scope
MultiWii_2.1_r1129.cpp:8413: error: 'PWM_PIN' was not declared in this scope
MultiWii_2.1_r1129.cpp:8446: error: 'calibratingA' was not declared in this scope
MultiWii_2.1_r1129.cpp:8460: error: 'debug' was not declared in this scope

[simone76]

azz... manca multiwii.ino?

[TermicOne]

Oggi prove in volo con la nuova dev 1129 sulla CRIUS AIO Pro con GPS e baro MS. Purtroppo c'era un sacco di vento.... ma ero troppo curioso e ho svolazzato ugualmente.

Considerazioni:

- confermo che la nuova dev configura correttamente il GPS di RCTimer che perde la memoria

- ho provato ad alzare i PID dell'Alt Hold fino a 3 - 0,020 - 60 e va tutto abbastanza bene, tenendo conto che oggi c'era un bel vento e il quad se ne andava abbastanza a spasso. Acchiappando il quad al volo e spingendolo verso il basso ora i motori reagiscono allegramente. Purtroppo a causa del vento non ho potuto verificare l'effettiva tenuta della quota in aria calma....però anche così non era per nulla male, il quad se ne stava alla quota stabilita +/- 30cm. Certo quando c'era la folata di vento non riusciva a mantenere la quota ...ma tutto sommato mi pare accettabile.

- ho attivato la nuova funzione di Alt Hold deadband sullo stick del gas e mi sembra abbastanza comoda...anche se bisogna farci un po' la mano ...all'inizio ti spaventi perchè sembra che il gas non abbia effetto...

-GPS Hold e GPS RTH funzionano come prima. Con il vento il quad se ne va abbastanza in giro intorno alla home (circa 2-3m dalla home)....però appena il vento si calma un po' lui se ne torna calmo calmo alla posizione di hold con buona precisione. Comunque anche con il vento il quad vola da solo e corregge bene le variazioni di posizione e se sei in uno spazio sufficientemente aperto si puo' tranquillamente togliere le mani dalla radio.

- bella la funzione AP (Aerial Photography). In pratica quando sei in GPS Hold puoi comunque pilotare il quad e appena molli i comandi lui si rimette in hold nella nuova posizione

- non ho provato la funzione HORIZON che magari proverò con più calma in FPV (visto che è stata sviluppata per quello scopo)

Ho letto sul forum MultiWii che mahowvik ha sviluppato la nuova funzione ALT-TO-RTH che, porta il multicoso ad una determinata quota durante l'RTH (come fa NAZA). E' già disponibile su una sua dev che si scarica da un forum russo. Sarebbe interessante provarla ma poichè è basata sulla versione 2.1 si perdono le novità della dev r1129.
Effettivamente andare a provare le novità man mano che escono è un po' un casino...

Luciano

[magnetron1]

in realtà c'è un piccolo problema col naming dei file...

[magnetron1]

eccovi l'ultima dev con tutto dentro:
MultiWii_2_1_3.zip - multiwii - MultiWii is a software to control a RC multi copter - Google Project Hosting
c'è la nuova gui con il nuovo livello orizzonte artificiale, la nuova funzione barometrica e la nuova routine barometro+sonar che dovrebbe aprire le porte anche al nuovo algoritmo di autolanding...
in fase di sviluppo ancora la routine del livellamento e del posizionamento senza gps (come il naza)...

fatemi sapere...

[TermicOne]

eccovi l'ultima dev con tutto dentro:
MultiWii_2_1_3.zip - multiwii - MultiWii is a software to control a RC multi copter - Google Project Hosting
c'è la nuova gui con il nuovo livello orizzonte artificiale, la nuova funzione barometrica e la nuova routine barometro+sonar che dovrebbe aprire le porte anche al nuovo algoritmo di autolanding...
in fase di sviluppo ancora la routine del livellamento e del posizionamento senza gps (come il naza)...

fatemi sapere...

...aiuto...mi sto perdendo... a parte il sonar e la gui il resto è uguale alla dev 1129 ...o ci sono altre cose?