Die neue Multiwii version 2.3 ist online. Damit können jetzt auch Wegpunkte gesetzt und somit eine vorab programmierte Route abgeflogen werden.
Changelog / Veränderungen aus der txt-Datei der neuen MultiWii 2.3:
main changes 2.2 -> 2.3 ***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