Aquí teneis la última revisión del codigo
http://code.google.com/p/multiwii/source/browse/trunk/dev_version/MultiWii_dev20110526.zipnew in dev version:
GUI: introduction of MAG 3 axis raw values
MAIN SOFT: new altitude hold
the multi must be nearly altitude stable before the activation of altitude hold.
a dead band is then created around the throttle value. (+/-50)
P indicates the proportion of throttle that must be changed regarding the altitude difference
if too high, the multi will oscillate
if too low, the multi won't stabilize
I is not used
D is not used
GUI: improvment by Hamburger
improvement to the devices list in the gui and that got me to tuning it a bit more.
- list is still too short for my amount of known devices - some vertical space is unused,
so longer box is possible
- on mac, for each bt-device I get two device files:
cu.name and tty.name. using the tty.name is recommended by arduino documentation,
so do not add the cu.name devices to list
- remove leading tty. from names to use limited space for readability.
LCD: improvment by Hamburger: exit without save from EEPROM menu
I use the LCD quite extensively for viewing values - especially with development versions.
Therefore the need to exit the LCD config loop without doing a complete write to eeprom was on my mind.
The eeprom is limited to only 100.000 write cycles.
MAIN SOFT: New angle calculation by ziss_dm
it's a completly new approach wich gives a constant cycle time and a representation in all attitude.
ALL: thanks to Cass3825, new optional arming procedure via an AUX switch
this option is activated only if at least one checkbox is checked on the line "ARM"
the motors won't arm if the copter is plugged while the tx switch is in the armed position.
you must switch to disarm position then back to arm position in order to arm the motors.
Another 'feature' worth mentioning is that changes in the switch position are only
acknowledged when the throttle stick is all the way down.
This prevents accidentally arming the motors at mid or full throttle.
One downside is that the motors will not disarm unless the throttle stick is all the way down.
MAIN SOFT: thanks to a bug detected by ziss_dm, improved ITG3200 initialisation and better results
ALL: it's now possible to calibrate the MAG from the GUI
once activated, the LED will flash very fast for 30s
you have exactly 30s to move the multi in all possible direction
(one full turn on each axis is sufficient)
There is no order to respect, but it is important to cover every directions.
MAIN SOFT: code modularization,
it's easier to change the I2C address or orientation of sensors
with a #define in the sensor part
MAIN SOFT: BI-COPTER PIN 6 servo correction
Dilber MC Theme by HarzeM modified by Madcortina