tag:blogger.com,1999:blog-8200098102909041178.post8803604550149067318..comments2024-03-24T09:12:10.872-04:00Comments on Shane Colton: A bit more KK2.0 modding.Shane Coltonhttp://www.blogger.com/profile/10603406287033587039noreply@blogger.comBlogger28125tag:blogger.com,1999:blog-8200098102909041178.post-14666056298480719252013-07-07T00:59:28.034-04:002013-07-07T00:59:28.034-04:00That's really interesting. I've read throu...That's really interesting. I've read through the code for v1.5 (I admit I haven't gotten around to looking at v1.6 yet) and it uses almost the same angle estimation filter as I used in v1.2modS, but with extra treatment for full 3D. (Mine was limited to about +/-45º on pitch and roll.) I've been flying v1.6 on my quad, though. Seems very snappy and autolevels nicely. I tend to run pretty low I values compared to other people, though.<br /><br />One thing I will say is that the gains in v1.2modS might be different from KK's new versions. The numbers are just software values that only relate to real life if the software treats them the same way. There could be scaling factors in there that make the new gains seems lower even though in fact they are the same. Not sure on that, though.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-74914279150491001792013-07-01T02:33:24.497-04:002013-07-01T02:33:24.497-04:00Hi Shane. Thanks. I can't seem to use the othe...Hi Shane. Thanks. I can't seem to use the other versions like 1.3 to 1.6 as the auto level settings don't hold even with no vibration on the craft. Was using a 2s battery on a 1100 kv motor with settings 40 and 100 (I) on the auto level settings. Super stable. I changed to 4s and had to changed the values to 47 and 37 (I) after much experimentation. The higher "I" values was using too much power to correct and the self level(P) was too weak for the hold. Now it is just as stable as your first version. A lot of people are still having problems with V1.6 et al, but yours still works a treat! You might be surprised as to how many people are still using V1.2 SC! Seanhttps://www.blogger.com/profile/04371710491788227402noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-56680528377287923702013-06-16T20:10:54.894-04:002013-06-16T20:10:54.894-04:00Hi Sean,
I flew with both versions and they worke...Hi Sean,<br /><br />I flew with both versions and they worked well. The only time the first version gave me trouble was in heavy wind, where the pitch/roll angles would get pushed outside the limits and get "locked" like I showed in the video above. The second version fixed that problem. I tend to keep the I value pretty low, so I didn't observe the effect you're describing.<br /><br />In any case, both versions were made obsolete be KK's v1.5 and now v1.6 update. They seem pretty solid, so I have been recommending people switch to that when they have time to do so. (It does require some re-tuning.)Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-66437934020823732862013-06-14T09:30:51.128-04:002013-06-14T09:30:51.128-04:00This comment has been removed by the author.Seanhttps://www.blogger.com/profile/04371710491788227402noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-49097485803692153522012-12-20T17:10:22.787-05:002012-12-20T17:10:22.787-05:00Hi Shane, I've been flying my KK2 around for a...Hi Shane, I've been flying my KK2 around for a while on FPV and I want to add telemetry and OSD to it. I need a firmware change for this but I can't figure out how to do it. Basically I need the KK2 to feed me info about its roll/pitch/yaw angles, battery level, etc etc. via its serial link, which I plan to then use on an Arduino Mini, a 433MHz modem and an OSD injector from Sparkfun to make an OSD and give it telemetry support. I also need to be able to write config settings on the KK2 by sending it serial commands. Would you be interested in being a part of this project? :)FritzHhttps://www.blogger.com/profile/04352644015988211923noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-62632716601468792372012-12-13T19:06:20.763-05:002012-12-13T19:06:20.763-05:00hi i`m from holand
tommorow i will flash the kk2
...hi i`m from holand<br />tommorow i will flash the kk2 <br />its for the tricopter.Anonymoushttps://www.blogger.com/profile/08958746827358939011noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-73389854293104135312012-11-18T16:21:31.153-05:002012-11-18T16:21:31.153-05:00hi everyone greetings from belgium
I have the foll...hi everyone greetings from belgium<br />I have the following problem<br />I have kk12 remap 1.2<br />if I let the copter hovering<br />continues for 5 seconds and then drops from height<br />I must take the trotlle up before he hits the ground<br />what may be a problemargonoreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-89068711172943951252012-10-12T16:15:04.216-04:002012-10-12T16:15:04.216-04:00Imagine if you pitch up 45º, then yaw to the left ...Imagine if you pitch up 45º, then yaw to the left 90º. During the yaw operation, only the z-axis gyro measures rotation, so the pitch and roll angles do not immediately change. However, the true condition is now 0º pitch, 45º roll, as measured by the accelerometers. This new condition will be updated slowly by the complementary filter. However, if the yaw is too fast for too long, it may cause control problems before the complementary filter can catch up.<br /><br />In my MultiWii code, I have dealt with this issue. But I haven't implemented the solution on the KK2.0 board yet, because I have more difficulty writing code in assembly language.<br /><br />So, the best advice for now is to avoid fast yaw while steeply tilted. Shallow banked turns seem okay to me.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-88334223565085149862012-10-12T11:05:34.129-04:002012-10-12T11:05:34.129-04:00Hi, I just flashed KK2.0 board with this firmware ...Hi, I just flashed KK2.0 board with this firmware and it's awesome! what about yaw coupling problem ? I am not familiar with technical details written here http://scolton.blogspot.sk/2012/09/fun-with-complementary-filter-multiwii.html , can you please explain, how this yaw coupling problem appears and when ? or point me to some page if it's written already<br /><br />thanks !Martin Gurnikhttps://www.blogger.com/profile/06499711698499280877noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-72506435389416745762012-10-01T14:23:04.650-04:002012-10-01T14:23:04.650-04:00Thanks, I'm glad to hear that it works well fo...Thanks, I'm glad to hear that it works well for you. I do fly with height dampening on with a very low gain (5-10) and it help me a lot with altitude control, although it makes the throttle response slower. I'm not sure how I would improve it without an absolute altitude measurement from a barometer.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-47019505488954214462012-10-01T14:20:47.906-04:002012-10-01T14:20:47.906-04:00Looks great! I really like the idea of using a dua...Looks great! I really like the idea of using a dual-rate switch to change the stick scaling when switching from rate mode to self-level mode. Otherwise, you have to turn the stick scaling down to keep the self-level from going to extreme angles but it makes the rate response too slow. I'll have to try out your solution on my fancier transmitter at some point.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-55467815464908058672012-10-01T14:17:17.075-04:002012-10-01T14:17:17.075-04:00I think the amount of overshoot depends on both th...I think the amount of overshoot depends on both the self-level gains and the rate gains (normal PI settings). It's hard to justify modifying the rate gains if you're used to flying mostly in rate mode and using self-level only as a back-up. But if you fly self-level most of the time, it could be useful to try turning down the rate P and I a little to kill off the oscillation.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-32682924041097502212012-09-30T11:36:11.394-04:002012-09-30T11:36:11.394-04:00Hi Shane, I've dropped you a PM on RCG about t...Hi Shane, I've dropped you a PM on RCG about this code train.Anonymousnoreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-1525108611083774152012-09-30T03:55:27.543-04:002012-09-30T03:55:27.543-04:00Thats an awesome improvement, thanks a lot!
Only ...Thats an awesome improvement, thanks a lot!<br /><br />Only question I have: If I use autolevel and quickly move a stick to the right, when going back to level it oscillates a bit (overshoots hard, corrects) - can you tell me what parameters affect this? I've tried autolevel gains but then it just goes back to level slower, but still oscillates<br /><br />Are the normal gain values affecting this?<br />Thanks a lot for all your workChristophhttps://www.blogger.com/profile/03397057316559428788noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-18201066857991931692012-09-29T12:03:27.523-04:002012-09-29T12:03:27.523-04:00Hi Mister Colton
In france we are someone who hav...Hi Mister Colton<br /><br />In france we are someone who have test your firmware<br />and we are all very satisfy with your work for the "self level"<br />congratulation<br />Can't you take a look on the "height dampening" and make it work find please<br />many thanks in advance<br />christopheAnonymousnoreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-14793897892567778082012-09-28T21:43:34.697-04:002012-09-28T21:43:34.697-04:00works pretty good in my tricopter - so far anyway....works pretty good in my tricopter - so far anyway...Anonymoushttps://www.blogger.com/profile/07060071168800094776noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-6747590413384114642012-09-28T08:50:21.369-04:002012-09-28T08:50:21.369-04:00Hi Shane !
Great great great job ... Finaly a Sel...Hi Shane !<br /><br />Great great great job ... Finaly a Self-level who do his job !! (Sorry for my poor English ...i'm Little Frenchie ^^)<br />No more weird reaction since the last "patch" , level soooo fast , with 60 of p-gain in AL , 40 of Stick scaling (via D/R switch on my radio , 90 in rate mode) . Some video on my Youtube channel : http://www.youtube.com/user/opossome64/<br /><br />++Opossomenoreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-28211380809159210432012-09-27T23:39:53.514-04:002012-09-27T23:39:53.514-04:00It should also work in tricopter mode, although I ...It should also work in tricopter mode, although I haven't tried it myself.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-47113156055685679442012-09-27T17:56:04.364-04:002012-09-27T17:56:04.364-04:00HI Shane - this could be a noobie question but wil...HI Shane - this could be a noobie question but will this also work with the KK2.0 in tricopter mode?<br /><br />Cheers<br /><br />jamie barrownoreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-26099045443990344492012-09-25T13:54:14.539-04:002012-09-25T13:54:14.539-04:00Hi Shane, could I say a BIG thanks for your modifi...Hi Shane, could I say a BIG thanks for your modified firmware, I am not he best pilot in the world and this mod has made the board great to fly. I have put about 15 batteries through it now with no problems at all. You have a great blog by the way. Anonymoushttps://www.blogger.com/profile/15747858061406875576noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-38251298879667208422012-09-25T11:44:25.678-04:002012-09-25T11:44:25.678-04:00Yes, it's in the LazyZero flash tool, I think....Yes, it's in the LazyZero flash tool, I think.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-46366918493863690642012-09-25T11:05:46.860-04:002012-09-25T11:05:46.860-04:00This version of firmware is in Lazysero KKTool?
Or...This version of firmware is in Lazysero KKTool?<br />Or do I need to download the firmware from here?<br />Thanks!!!Anonymoushttps://www.blogger.com/profile/06432593877115092803noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-24960386225535859012012-09-25T00:14:48.643-04:002012-09-25T00:14:48.643-04:00Anything up to 1,000Hz. Presently they use about 4...Anything up to 1,000Hz. Presently they use about 490Hz, which is the output rate of the KK2.0 and the maximum output rate possible with 1-2ms PWMs.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-46374202985271652062012-09-24T23:49:49.563-04:002012-09-24T23:49:49.563-04:00What is the refresh rate of your controllersWhat is the refresh rate of your controllersAnonymoushttps://www.blogger.com/profile/00387743212978424838noreply@blogger.comtag:blogger.com,1999:blog-8200098102909041178.post-57753355771191303532012-09-23T18:20:19.832-04:002012-09-23T18:20:19.832-04:00Yep, I use sine tables in my motor controllers ext...Yep, I use sine tables in my motor controllers extensively. The arctan function (needed for computing angle from two accelerometer axes) is a bit harder, since the range of the argument is not bounded. But there are fast arctan approximations, for sure. The stock MultiWii code uses one, I think.Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.com