git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii@204 026…

…79b44-d973-9852-f2fa-63770883b36c

EEPROM.pde

@@ -1,6 +1,6 @@
 #include <avr/eeprom.h>
 
-static uint8_t checkNewConf = 142;
+static uint8_t checkNewConf = 143;
 
 typedef struct eep_entry_t{
   void *  var;
@@ -19,6 +19,7 @@ static eep_entry_t eep_entry[] = {
 , &rcExpo8, sizeof(rcExpo8)
 , &rollPitchRate, sizeof(rollPitchRate)
 , &yawRate, sizeof(yawRate)
+, &dynThrPID, sizeof(dynThrPID)
 , &activate, sizeof(activate)
 , &accZero, sizeof(accZero)
 , &magZero, sizeof(magZero)
@@ -55,9 +56,9 @@ void checkFirstTime() {
   P8[ROLL] = 40; I8[ROLL] = 30; D8[ROLL] = 15;
   P8[PITCH] = 40; I8[PITCH] = 30; D8[PITCH] = 15;
   P8[YAW]  = 80; I8[YAW]  = 0;  D8[YAW]  = 0;
-  P8[PIDALT]  = 40; I8[PIDALT]  = 0;  D8[PIDALT]  = 10;
-  P8[PIDVEL]  = 0; I8[PIDVEL]  = 0;  D8[PIDVEL]  = 0;
-  P8[PIDLEVEL] = 120; I8[PIDLEVEL] = 45;
+  P8[PIDALT]  = 40; I8[PIDALT]  = 10;  D8[PIDALT]  = 10;
+  P8[PIDVEL]  = 90; I8[PIDVEL]  = 0;  D8[PIDVEL]  = 19;
+  P8[PIDLEVEL] = 90; I8[PIDLEVEL] = 45;
   P8[PIDMAG] = 40;
   rcRate8 = 45; // = 0.9 in GUI
   rcExpo8 = 65;

IMU.pde

@@ -269,6 +269,4 @@ void getEstimatedAltitude(){
   Delta = InstAcc * dt + (Kp1 * Kt) * AltError;
   EstAlt += ((EstVelocity + Delta * 0.5f) * dt + (Kp2 * Kt) * AltError);
   EstVelocity += Delta;
-  // Debug
-  //magADC[1] = EstVelocity*1000.0f/3.0f;
 }

Output.pde

@@ -225,13 +225,16 @@ ISR(TIMER0_COMPB_vect) { //the same with digital PIN 6 and OCR0B counter
 
 
 void mixTable() {
-  int16_t maxMotor;
-  uint8_t i;
+  int16_t maxMotor,a;
+  uint8_t i,axis;
 
-//  int16_t tmp = 4*max(max(abs(rcCommand[ROLL]),abs(rcCommand[PITCH])),50);
-//  #define PIDMIX(X,Y,Z) rcCommand[THROTTLE] +constrain(axisPID[ROLL]*X + axisPID[PITCH]*Y,-tmp,+tmp) + YAW_DIRECTION * axisPID[YAW]*Z
   #define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL]*X + axisPID[PITCH]*Y + YAW_DIRECTION * axisPID[YAW]*Z
 
+  //limit big wobble issues
+  for(axis=0;axis<2;axis++) {
+    a = abs(rcCommand[axis]);
+    axisPID[axis] = constrain(axisPID[axis],-MAX_CORRECTION-a,+MAX_CORRECTION+a);
+  }
   #if NUMBER_MOTOR > 3
     //prevent "yaw jump" during yaw correction
     axisPID[YAW] = constrain(axisPID[YAW],-100-abs(rcCommand[YAW]),+100+abs(rcCommand[YAW]));
@@ -243,9 +246,9 @@ void mixTable() {
     servo[1]  = constrain(1500 + YAW_DIRECTION * (axisPID[YAW] - axisPID[PITCH]), 1020, 2000); //RIGHT
   #endif
   #ifdef TRI
-    motor[0] = PIDMIX( 0,+4/6, 0); //REAR
-    motor[1] = PIDMIX(-1,-1/6, 0); //RIGHT
-    motor[2] = PIDMIX(+1,-1/6, 0); //LEFT
+    motor[0] = PIDMIX( 0,+4/3, 0); //REAR
+    motor[1] = PIDMIX(-1,-2/3, 0); //RIGHT
+    motor[2] = PIDMIX(+1,-2/3, 0); //LEFT
     servo[0] = constrain(TRI_YAW_MIDDLE + YAW_DIRECTION * axisPID[YAW], TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
   #endif
   #ifdef QUADP

Sensors.pde

@@ -28,6 +28,11 @@
   //#define ITG3200_ADDRESS 0XD2
 #endif
 
+#if !defined(MS561101BA_ADDRESS) 
+  #define MS561101BA_ADDRESS 0xEE //CBR=0 0xEE I2C address when pin CSB is connected to LOW (GND)
+  //#define MS561101BA_ADDRESS 0xEF //CBR=1 0xEF I2C address when pin CSB is connected to HIGH (VCC)
+#endif
+
 uint8_t rawADC[6];
 static uint32_t neutralizeTime = 0;
 

config.h

@@ -30,14 +30,20 @@
 #define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP
 //#define I2C_SPEED 400000L   //400kHz fast mode, it works only with some WMP clones
 
-//#define PROMINI  //Arduino type
-#define MEGA
+#define PROMINI  //Arduino type
+//#define MEGA
 
 //enable internal I2C pull ups
-//#define INTERNAL_I2C_PULLUPS
+#define INTERNAL_I2C_PULLUPS
 
 //****** advanced users settings   *************
 
+/* this parameter defines the maximum correction per axis multiwii can output before mixing the output to different motors
+ this parameter becomes inactive as soon as the stick are far from the center position in order to keep acro abilities 
+ reducing this parameter can avoid big wobbles and allows higher PID settings
+*/
+#define MAX_CORRECTION 100
+
 /* Failsave settings - added by MIS
    Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated.
    After FAILSAVE_DELAY time of pulse absence, the level mode is on (if ACC or nunchuk is avaliable), PITCH, ROLL and YAW is centered
@@ -71,7 +77,7 @@
 //                   for other boards, I'm not sure, the info was gathered via rc forums, be cautious
 
 //#define FFIMUv1         // first 9DOF+baro board from Jussi, with HMC5843
-#define FFIMUv2           // second version of 9DOF+baro board from Jussi, with HMC5883
+//#define FFIMUv2           // second version of 9DOF+baro board from Jussi, with HMC5883
 //#define FREEIMUv1       // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
 //#define FREEIMUv035     // FreeIMU v0.3.5 no baro
 //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS