MultiWii_2.4 ออกแล้วนะครับ

• MultiWii_2.4

สำหรับผู้ที่ยังคงชื่นชอบ MultiWii   ได้ออก รุ่น 2.4

สิ่งที่ MultiWii_2.4  แตกต่างกับ flight control  ทั่วไปคือ   สามารถแก้ไข คอนฟิก ต่างๆให้เข้ากับอุปกรณ์ หรือ hardware ที่เราออกแบบ ได้

และยังสามารถเอามาใช้งานกับ ฮอ เครื่องบิน ควบคุมกล้อง   ได้อีกด้วย  

  /**************************    The type of multicopter    ****************************/

    //#define GIMBAL

    //#define BI

    //#define TRI

    //#define QUADP

    //#define QUADX

    //#define Y4

    //#define Y6

    //#define HEX6

    //#define HEX6X

    //#define HEX6H  // New Model

    //#define OCTOX8

    //#define OCTOFLATP

    //#define OCTOFLATX

    //#define FLYING_WING

    //#define VTAIL4

    //#define AIRPLANE

    //#define SINGLECOPTER

    //#define DUALCOPTER

    //#define HELI_120_CCPM

    //#define HELI_90_DEG

main changes 2.3 -> 2.4

***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

https://code.google.com/p/multiwii/

http://www.multiwii.com/forum