Mahowii is pretty stable, improved and extended version of Multiwii.
Switch branches/tags
Clone or download
Pull request Compare This branch is 14 commits ahead of multiwii:upstream_shared.
1
Latest commit f88aa93 Dec 1, 2016
Permalink
Failed to load latest commit information.
Alarms.cpp release 2.4 Nov 25, 2016
Alarms.h - (partial) fix gps serial problem with extra commands Jan 8, 2015
AltHold.cpp release 2.4 Nov 25, 2016
AltHold.h release 2.4 Nov 25, 2016
EEPROM.cpp release 2.4 Nov 25, 2016
EEPROM.h - cosmetic: reformat/standardize code indent, suppress all tab symbol Oct 6, 2014
GPS.cpp release 2.4 Nov 25, 2016
GPS.h release 2.4 Nov 25, 2016
IMU.cpp release 2.4 Nov 25, 2016
IMU.h release 2.4 Nov 25, 2016
INS.cpp release 2.4 Nov 25, 2016
INS.h release 2.4 Nov 25, 2016
LCD.cpp release 2.4 Nov 25, 2016
LCD.h - lcd.config: do not display MAG.P without MAG Sep 15, 2014
MahoWii.cpp release 2.4 Nov 25, 2016
MahoWii.h release 2.4 Nov 25, 2016
Math.cpp release 2.4 Nov 25, 2016
Math.h release 2.4 Nov 25, 2016
Output.cpp release 2.4 Nov 25, 2016
Output.h Finish cpp/h migration. This version should complie again. Jul 5, 2013
Protocol.cpp release 2.4 Nov 25, 2016
Protocol.h - split Serial into Serial(core UART management) & Protocol Aug 11, 2013
README.md description changes Nov 30, 2016
RX.cpp release 2.4 Nov 25, 2016
RX.h - make SPEKTRUM / SUMD / SBUS RX code more generic via SERIAL_RX def Nov 3, 2014
Sensors.cpp release 2.4 Nov 25, 2016
Sensors.h - tune a little bit GYRO_SCALE for ITG3050 Nov 4, 2014
Serial.cpp release 2.4 Nov 25, 2016
Serial.h - restore MSP ACK messages for 0 length responses except for MSP_SET_… Nov 4, 2014
Telemetry.cpp release 2.4 Nov 25, 2016
Telemetry.h FRSKY support for OpenTX added Jul 18, 2015
config.h release 2.4 Nov 25, 2016
def.h release 2.4 Nov 25, 2016
mahowii.ino release 2.4 Nov 25, 2016
release_note.txt release 2.4 Nov 25, 2016
types.h release 2.4 Nov 25, 2016

README.md

=================================== MahoWii rev 2.4

Hi guys!

Here is the latest revision of my favorite hobby project based on Multiwii project. In two words: it's pretty stable, improved and extended version of Multiwii.

Changes:

  • INS (inertial navigation system) integrated with GPS and Baro

  • predefined PIDs to fly out of the box for frames 330 and bigger

  • completely different precise althold integrated with INS

  • right altitude management by setting desired vario (vertical speed) with throttle stick

  • single PID controller for hovering and altitude management

  • stable hovering trottle estimator/corrector by I-part of alt PID controller

  • smart land detector

  • reduced effect of air-cushion to avoid incorrect raw baro values and jumps near the ground accordingly (integrated with INS)

  • controllable by desired vario (vertical speed) landing

  • new SAFE_ALT_DURING_AH define. It helps to protect descending less than specified in define altitude. Activated when SAFE_ALT box activated in GUI.

  • precise, rapid, sensitive to external perturbations (wind, pushes) GPS-INS position hold (INS_PH_NAV_ON define)

  • possibility to fly with activated position hold and stop at predicted point on stick release (tunable by Pos-I value at GUI)

  • wait for target altitude at RTH and WP navigation

  • skip whole RTH cycle if distance less than RTH_RADIUS meters and make a landing

  • safe and soft takeoff on RTH and WP Navigation

  • for safety prevent arm if RTH or NAV switched on

  • new auto config defines for UBLOX and MTK3339 modules

  • precised gyro calibration + 3 axis acel calibration + filtered mag calibration to avoid min/max noise values

  • frsky telemetry adopted for er9x-frsky TX firmware

  • 50hz PID output for althold, gps modes

  • cycle time independent final PID controller

  • optimized math

  • a lot of fixes

For more details please read release_note.txt, see config.h and also here http://forum.rcdesign.ru/blogs/83206/blog22332.html

Tips and tricks:

This firmware was optimized for AIOP (ALL IN ONE PRO Flight Controller), or other with Atmega1280/2560 + mpu6050 + ms5611 + hmc5883 (but take care about pinout). But you can try to play with other sensors also.

Videos from my friend's youtube channel: https://www.youtube.com/user/artnesterof/videos

Blogs:

Enjoy! ;)

Donate