V1.5 Changelog

#define MOTOR_STOP
- this is an alternative method to stop immediately the motors when the throttle command is in low position
- HEX6 added
motor pin :
- //REAR_R => PIN 9
- //FRONT_R => PIN 10
- //REAR_L => PIN 11
- //FRONT_L => PIN 3
- //FRONT => PIN 6
- //REAR => PIN 5

anti gyro glitch:

the time we neutralize data after a hard reset is increased. The impact of gyro glitches is greatly reduced. I can even fly safely with a bad WMP copy doing a hard reset every 5s.

suppression of throttle rate pid curve:

replaced by only one relevant value.
PID can decrease proportionally between [1500-2000] throttle position (helps to prevent wobbling in fast translation).

internal soft simplification:

stable mode is greatly improved.

support of ADXL345 I2C acc.

Benefit:
- the loop time WMP+ADXL345 is reduced, allowing a better stability, comparable to a WMP only conf.
- Obviously, ADXL345 must not be connected with a with a NK setup.
- The integration of BMA020 I2C acc should be easy because the code frame is ready.

when a NK is detected, the LED blink is much longer after the init step => it's a way to visualize the good detection of a nunchuk.

support of BMP085 I2C barometer.

Known issue:

Note:

if you use a NK or a ADXL345 acc. You must do a manual calibration to see good results in gui
- stable mode with NK should indicate 0 / 0 / 200 acc values
- stable mode with ADXL345 should indicate 0 / 0 / 250 acc values
- If you have a constant +/- 400 values on the graph, the calibration is not done.
for the WMP+ADXL345 setup: (+/-BMP085 for curious)
- D12 +1 diode is used to poser the WMP
- a 3.3V is used to power the ADXL345 (stabilized alim or multiple LED from a 5V source)
- to reset parameters to default: just upload an old version and the new again.
this version is compatible with everything designed before (WMP only conf or WMP+NK)

Navigation menu