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=================================== 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! ;)

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Mahowii is pretty stable, improved and extended version of Multiwii.

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