Differences with the last 1.preter7
MAIN SOFT: gyro sensitivity corrected on L3G4200D
MAIN SOFT: thanks to ziss_dm, nunchuk alone integration (incompatible with WMP and seen as a standalone I2C ACC)
MAIN SOFT: bug correction with tricopter for MEGA boards #define DIGITAL_SERVO_TRI_HIGH -> 1<<4
MAIN SOFT: bug correction the mag indication was reversed
MAIN SOFT: small bug correction in angle calculation (conversion rad->1/10 deg)
GUI: thanks to Eberhard, better display of serial ports on Mac OS X and Linux
MAIN SOFT: added a small delay after ITG3200 init to have a better calibration
MAIN SOFT: possible fail-safe deactivation via #define
MAIN SOFT: thanks to zara,
vbat code simplification + low pass filter.
vbat activation via #define.
coupling alarm with status LED
MAIN SOFT: reduce the PPM sum recognition delay between 2 sequences (5ms->3ms). (might be the source of frsky PPM sum
problem)
And to summarize, all differences between 1.6 and 1.7:
there was really a huge work on this evolution
ALL: BARO is more precise, but still not perfect (1m to 2m amplitude). Note it's a code issue, not a baro component issue.
ALL: RC channels AUX2, CAM1 CAM2 added. only relevant for PPM SUM stream or MEGA boards.
On the 328p with a standard receiver, only the first 5 channels are recognized.
CAM1 and CAM2 controls are not yet implemented.
ALL: AUX1 and AUX2 switches are fully customizable via a 3 state position.
We can activate/deactivate individually level mode (ACC), baro or compass (mag).
It's a generic approach which lets other possibilities to control things in the future.
With this principle, it's possible to activate permanently the options you want even if you have only 4 channels
(replace the FORCE LEVEL option)
ALL: CAM triger option:
a servo can be connected on digital pin A2 (pro mini) to activate the trigger of a camera
the option can be activated or deactivated via the button configuration panel AUX1/AUX2
#define CAM_SERVO_HIGH 2000 // the position of HIGH state servo
#define CAM_SERVO_LOW 1020 // the position of LOW state servo
#define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms
#define CAM_TIME_LOW 1000 // the duration of LOW state servo expressed in ms
the PIN on arduino mega is also A2, but this is not the final PIN mapping
ALL CAM stab (servo tilt) button option:
the servo tilt option can be activated or deactivated via the button configuration panel AUX1/AUX2
ALL: BI COPTER is now a avatar style implementation.
on a pro mini: 9 motor left, 10 motor right, 11 servo left, 3 servo right
on mega: 3 motor left, 5 motor right, 6 servo left, 2 servo right
ALL: addition of Y4 (not tested)
on a pro mini: motors 9,10,11,3
on mega: motors 3,5,6,2
REAR1 , FRONT R , REAR2 , FRONT L
ALL: addition of HEX6X (not tested)
on a pro mini: motors 9,10,11,3,6,5
on mega: motors 3,5,6,2,7,8
REAR_R , FRONT_R , REAR_L , FRONT_L , RIGHT , LEFT
ALL: new level mode
The level mode is completely redesigned with a coherent independent trim
There a now a PI control loop for level mode based on angle estimation.
The old auto level strength value was a sort of P only control loop.
With the new code, the I term allows to refine the remaining angular error for a better angle positioning accuracy.
With an RC rate = 1, the angle at full stick is around 45deg => a flip should never happen in this mode.
MAIN SOFT: software trim for stable mode
It is now possible to adjust the trim of the level mode to match the same TX trim used for the acro mode.
1) disarm the motors
2) full throttle (must be >1900)
3) full PITCH forward/backward and full ROLL left/right (2 axis possibilities) will trim the level mode according to
the neutral angle you want to change. The status LED will blink to confirm each ticks.
MAIN SOFT: new calibration procedure
The ACC calibration differs now from the gyro calibration.
gyro calibration: it's still done at each power on. It's also possible manually as before: min throttle+full pitch
backward+full yaw left.
acc calibration: motor disarmed, full throttle up, full pitch backward+full yaw left.
MAIN SOFT: it was in 1.6 but not mentioned. it's possible to arm/disarm motors
either via min throttle + full yaw stick or full roll stick.
MAIN SOFT: anti yaw jump modification for multi with 4 motors or more
MAIN SOFT: servo range for tricopter
#define TRI_YAW_CONSTRAINT_MIN 1020
#define TRI_YAW_CONSTRAINT_MAX 2000
MAIN SOFT: thanks to Ciskje, integration of L3G4200D gyro (this Gyro is present in PIPO ISU)
MAIN SOFT: HMC5883 compass integration
MAIN SOFT: compass lock now works
the option can be activated or deactivated via the button configuration panel AUX1/AUX2
the lock is activated 1s after the stick release
the lock is maintained only if the YAW stick in centred +/- 50
In some case, especially with the 5883, the mag must be calibrated otherwise, the direction is not good.
The calibration procedure is not yet implemented.
MAIN SOFT: there was a bug on servo tilt (it came back to zero at around 45deg due to a variable overflow)
MAIN SOFT: thanks to Syberian, a bug was corrected to prevent ACC correction just before hovering.
It could explain some odd flips when using autolevel at the beginning
MAIN SOFT: thanks to ziss_dm, a bug was corrected about the ITG3200: there was a variable
overflow which occured only for high PITCH variation.
MAIN SOFT: thanks to mis_b (MIS), integration of failsafe code.
Failsafe detect absence of RC pulse on THROTTLE channel (standard PPM receiver)
If the pulse is OFF the failsafe procedure is initiated.
After configurable FAILSAVE_DELAY time of pulse absence,
the level mode is switched to ON (if ACC or nunchuk is available),
PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAVE_THROTTLE value.
This value is dependent from your configuration, AUW and some other params.
Next, afrer configurable FAILSAVE_OFF_DELAY time,
the copter is disarmed, and motors are stopped.
If RC pulse coming back before reached FAILSAVE_OFF_DELAY time,
after the small quard time the RC control is returned to normal.
The fail-safe can be deactivated via #define
MAIN SOFT: thanks to ziss_dm, nunchuk alone integration (incompatible with WMP and seen as a standalone I2C ACC)
MAIN SOFT: bug correction the mag indication was reversed
MAIN SOFT: small bug correction in angle calculation (conversion rad->1/10 deg)
MAIN SOFT: added a small delay after ITG3200 init to have a better calibration
MAIN SOFT: thanks to zara,
vbat code simplification + low pass filter.
vbat activation via #define.
coupling alarm with status LED
MAIN SOFT: reduce the PPM sum recognition delay between 2 sequences (5ms->3ms).
might be the source of frsky PPM sum problem
GUI: 3D copter attitude visualization
GUI: ACC calibration. there is now a calibrate button to calibrate the ACC directly from the GUI
(it resets the soft trim)
GUI: thanks to Eberhard, better display of serial ports on Mac OS X and Linux
GUI: the memory leak bug GUI is corrected
GUI and LCD: D is now positive (to avoid confusion in explanations)
LCD: all parameters are now customizable via the LCD thanks to the work initiated by Shirka.
This first one is still P for both ROLL&PITCH as it is the most used.
LCD: implementation of TextStar LCD tanks to Hamburger & gtrick90 code
OSD: implementation of MIS code thanks to Rurek
thanks to Rurek and mis_b, optimisation of OSD code Serial write is driven by a switchable interrupt,
minimising delay to transmit data
SITE:
http://www.multiwii.com was updated accordingly.
SPECIAL NOTE ABOUT THE PULL-UPS:
- they are now enable by default
- WARNING if you use I2C devices that don't support 5V.
- If you use a WMP alone: enable it in soft
- If you use a WMP + NK : enable it in soft
- If you use a WMP + BMP020 (5V friendly thanks to its LLC): enable it in soft
- If you use a WMP + (LLC + I2C devices): enable it in soft
- If you use a WMP + direct I2C bus connection I2C devices (not 5V friendly): disable it in soft and use external
pull-ups on 3.3V. note that most breakout boards are built with pullups already available.
) unauffindbar im Feld zu versenken, finde ich es sinnvoller auf billige Komponenten zu setzen, als sich Motoren für ~ 25+ € zu kaufen. Denn ich ärgere mich jetzt eher über meinen verlorenen Empfänger und das Board, als über die Motoren und Regler 
