Thanks Mark that makes sense, we need to just concentrate on throttle and throttle alone.
Chris thank you for the forum etiquette reminder. The posts were fast given we we had discovered the algo at the exact same time i replied and implemented it in code, i've attached our algo. i think you might be on to something as far as making it a scaling variable that can change as the flight conditions change.

using System;
namespace Quad.Net.Commons.Utilities
{
    public class Scale
    {
        private readonly double[] _coefficients;
        private readonly double _offset;

        public Scale(double offset, params double[] coefficients)
        {
            _coefficients = coefficients;
            _offset = offset;
        }

        public double Calculate(double value)
        {
            double output = 0;

            for (int i = 0; i < _coefficients.Length; i++)
            {
                output += Math.Pow(value + _offset, i) * _coefficients[_coefficients.Length - i - 1];
            }
            return output;
        }
    }
}
namespace Quad.Net.Tests
{
    [TestFixture]
    public class ScaleTests
    {
        [Test]
        public void TestQuadratics()
        {
            Scale scale = new Scale(-1500, 0.0000008, 0, 0, 0);
            Assert.AreEqual(scale.Calculate(1000),-100);
        }
    }
}

lol, guess i responded too quickly, thank you for your suggestions

understand it now, we just compensated in code rather than on tx, that will allow any tx to connect and we should be able to calibrate for it

Chris, what do you mean by dual rates and expo on TX, we are trying to compensate for some odd things in tx right now, is there a concept we're missing

we think its tx, everything else looks good in code now we just need to cool the rx down, chris take a look at the scale PID and RX, we're cleaning it up now

Hi Chris, Take a checkout of ours and tell me if you want to merge a bit where you think necessary, it looks like we're a bit further and if you have any experience writing control loops or quad code, the more help the better

https://code.google.com/p/quadnet/

Hi guys, Long time, I have fallen into an abyss of work and have not been able to track back at all here. Last bit of progress was a generic plug and play driver system that is 90% finished. Luke and I touched base the other day and as my work schedule slows we will be back to contributing. Will post back here as soon as I can Brandon

yea we wanted to start simple, but 9dof is next step, euler is something we ae implementing at that point, i have a stub for euler and tait and would love if you could expand that.

updated source to clarify usage, escs are taken out

the esc code is depricated, we dont use it, the starting point is from the fez panda implementation right now. If logging is taken out ie(send in a null logger, or take out the write from the control loop) we have no GC hit at all given everything is declared up front, the telemetry data is for debugging. just because its abstract doesnt mean its heavy, it means its flexible. we have maxed out at 500hz, the config allows you to set the hz for each update whenever you want within the loop, you can set your imu, your radio and pid hz, we are still finding out what is the optimal times to run each

well we're dealing with some hardware issues but have just put in an rx scale to tone it down, basically a parabola on the stick control

Day 2 of hardware testing with new code (in total 2 weeks old) on NETMF, IT HOVERS! Video tomorrow!

Chris, that is exactly what we are looking for, if it were possible to get a faster line to the handlers send in delegates of our own to those handlers and was wrapped in a nice library i think we'd be laughing with a fast enough hz to do anything that can be done in arduino, therein lies the bottleneck, like i said there are ways around GC. I did some more research on F# the other day and saw how people have fooled the compiler to use VB and have found a way to do it in F# but for purposes of simplicity within this project i've decided to use C# and when i get to optimizing (if need be) might switch out some of the loops for F3 for speed.
Magoocas,
I am impressed, i think we found our starting point and might want to involve Luke in what we are trying to do. if you've looked at source control you can see the implementational way in which im approaching.
We have
the Quad.Net solution with:
Framework (contains interfaces like IPWM)
Framwork.Implementations.SecretLabs (implementations like SecretLabs.NETMF.Hardware.PWM)
This allows for us to swap out framework specific implementations, ie using fez's custom framework
Hardware (contains generic interfaces for things like motors, gyros and escs)
Hardware.Implementations (implemntations of hardware like HobbyKings ss2530 ESC)
Hardware.Implementations.Secretlabs (implementations for things specific to netduino board, things like Pins)
Quad.Net.FlightController (main entry point but in the form of interfaces, requires an implemntation, like fez or netduino)
Quad.Net.FlightController.Netduino (specific implementation of netduino board and its settings)

Example of Netduino Implemntation with a speedcontroller

using System.Threading;
using Quad.Net.ElectricSpeedController;
using Quad.Net.Framework.Implementations.SecretLabs.PulseWidthModulation;
using Quad.Net.Framework.PulseWidthModulation;
using Quad.Net.Hardware.ElectricSpeedController;
using Quad.Net.Hardware.Implementations.ElectricSpeedController.Implementations;
using Quad.Net.Hardware.Implementations.SecretLabs.Pin;
using Quad.Net.Hardware.Pin;
using SecretLabs.NETMF.Hardware.Netduino;

namespace Quad.Net.FlightController.Implementations.Netduino
{
    public class Program
    {
        public static void Main()
        {
            ICpuPin pin = new CpuPin(Pins.GPIO_PIN_D9);
            ISpeedControllerSettings electricSpeedControllerSettings = new HobbyKingSs2530Settings(pin);
            IPWM pwm = new SecretLabsPWM(pin);
            Controller controller = new Controller(electricSpeedControllerSettings,pwm);

            for (int i = 0; i <= 100; i++)
            {
                controller.ElectricSpeedController.SetThrottle(i);
                Thread.Sleep(50);
            }
        }

    }
}

What i have tried to accomplish with this is a framework where any contributor can swap out hardware, gyros or microcontroller that supports netmf and specific implementations of framework, fez vs secretlabs

What i'm hoping will happen is a user can throw a new esc in, implement an ESC interface specific to that esc, and fly 5 minutes later, or a board or a gyro or eventually other sensors, if we keep this generic enough we could add features and hardware very quickly and segregate the project in a more agile framework than what is being done in other projects as well as allow for various combinations of hardware software with little or no effort. Everyone else code that i have veiwed ha been scary dependent on hardware or assumptions and thus why the project falls down

well after checking out the feziQuad i took all their code and implemented it in my framework, main control loop, PID, obviously not testing with hardware and have no test coverage yet but its fairly slick if i do say so myself, it has his implementation of PID minus the windup, want to understand its implications first, i have not implemented his gyro, esc, or radio yet either. If we got in touch with Cummings, we could test this

If i get hardware and some skills with soddering i could be up and running right now, I cleaned up alot of his code as well

Magoocas, its in source control

Here's an entry point to give u an idea

using Quad.Net.Commons.Configuration;
using Quad.Net.ElectricSpeedController;
using Quad.Net.Framework.Implementations.SecretLabs.PulseWidthModulation;
using Quad.Net.Framework.PulseWidthModulation;
using Quad.Net.Hardware.ElectricSpeedController;
using Quad.Net.Hardware.Gyro;
using Quad.Net.Hardware.Implementations.ElectricSpeedController.Implementations;
using Quad.Net.Hardware.Implementations.Gyro;
using Quad.Net.Hardware.Implementations.Radio;
using Quad.Net.Hardware.Implementations.SecretLabs.Pin;
using Quad.Net.Hardware.Pin;
using Quad.Net.Hardware.Radio;
using SecretLabs.NETMF.Hardware.Netduino;

namespace Quad.Net.FlightController.Implementations.Netduino
{
    public class Program
    {
        public static void Main()
        {
            IConfiguration settings = GetStaticSettings();

            //Assumes one type of speed controller on quad
            ISpeedControllerSettings speedControllerSettings = new HobbyKingSs2530Settings();
            
            ICpuPin pinFrontESC = new CpuPin(Pins.GPIO_PIN_D9);
            IPWM pwmFront = new SecretLabsPWM(pinFrontESC);
            SpeedController electricSpeedControllerFront = new SpeedController(speedControllerSettings, pwmFront);

            ICpuPin pinRearESC = new CpuPin(Pins.GPIO_PIN_D8);
            IPWM pwmRear = new SecretLabsPWM(pinRearESC);
            SpeedController electricSpeedControllerRear = new SpeedController(speedControllerSettings, pwmRear);

            ICpuPin pinRightESC = new CpuPin(Pins.GPIO_PIN_D7);
            IPWM pwmRight = new SecretLabsPWM(pinRightESC);
            SpeedController electricSpeedControllerRight = new SpeedController(speedControllerSettings, pwmRight);

            ICpuPin pinLeftESC = new CpuPin(Pins.GPIO_PIN_D6);
            IPWM pwmLeft = new SecretLabsPWM(pinLeftESC);
            SpeedController electricSpeedControllerLeft = new SpeedController(speedControllerSettings, pwmLeft);


            Motors motors= new Motors(electricSpeedControllerFront,electricSpeedControllerRear,electricSpeedControllerRight,electricSpeedControllerLeft);
           

            AxesController axesController = new AxesController(settings);
            IGyro gyro = new DefaultGyro();
            IRadio radio = new DefaultRadio();
            ControllerLoopSettings loopSettings = new ControllerLoopSettings(settings);
            Controller controller = new Controller(motors, axesController, gyro, radio, loopSettings);
                      

        }

        private static IConfiguration GetStaticSettings()
        {
            InMemoryConfiguration config = new InMemoryConfiguration();
            config["PitchDerivativeGain"] = "-.5";
            config["PitchItegralGain"] = "0";
            config["PitchProportionalGain"] = "1.2";

            config["RollDerivativeGain"] = "-.5";
            config["RollItegralGain"] = "0";
            config["RollProportionalGain"] = "1.2";

            config["YawDerivativeGain"] = "0";
            config["YawItegralGain"] = "0";
            config["YawProportionalGain"] = "3";

            config["RadioLoopFrequency"] = "25";
            config["SensorLoopFrequency"] = "300";
            config["MotorLoopFrequency"] = "300";
            config["LoopUnit"] = "2";

            return config;

        }
    }
}

just looked at the source there for feziquad, is that the one that you have flying in that video????? the code is very simple and I like how its organized, I like alot of things in there. If thats the one thats flying i am impressed

I am not a DDD expert but i try to use their methodologies

Magoocas, Fellow Canuck. The aeroquad software is pretty good. I've looked through a few of their classes and they've done agreat job with some of the avionics and physics concepts. A big part of what i am trying to accomplish in this project is a nice domain of those concepts, they seem to have mashed them together quite a bit, I come from DDD and want to apply that technique here. A port would be great and we can just try and organize it better. I have been inundated with my day job and my own $ making projects the last 2 weeks, but I'm about to order all my parts and start with the three gyro concept which will be just the stab part, not the full 9 degrees of freedom concepts. I will PM you for SVN repository

basically you read from one 3 axis gyro or 3 one axis gyro and from a 4 channel reciever and four escs which will be controlled via PWM

below is the simple data used by the reciever and gyro(s)

namespace Quad.Net.Avionics
{
    public class AircraftPrincipalAxes
    {
        /// <summary>
        /// http://en.wikipedia.org/wiki/Aircraft_principal_axes
        /// </summary>
        private int _pitchAngle;
        private int _rollAngle;
        private int _yawAngle;

        public AircraftPrincipalAxes(int pitchAngle, int rollAngle, int yawAngle)
        {
            _pitchAngle = pitchAngle;
            _rollAngle = rollAngle;
            _yawAngle = yawAngle;
        }

        public int PitchAngle
        {
            get { return _pitchAngle; }
        }

        public int RollAngle
        {
            get { return _rollAngle; }
        }

        public int YawAngle
        {
            get { return _yawAngle; }
        }

    }
}

using Quad.Net.Avionics;

namespace Quad.Net.Hardware.Radio
{
    public interface IRadio
    {
        int Throttle { get; }
        AircraftPrincipalAxes GetAxes();
    }
}

using Quad.Net.Avionics;

namespace Quad.Net.Hardware.Gyro
{
    public interface IGyro
    {
        AircraftPrincipalAxes GetReading();
    }
}

these classes would be tied to the events coming off those 6 or 8(gyro implementation specific) pieces of hardware and updating their values within the control loop

you beat me to it Chris, thanks.

As chris said there are a bunch of IMU's that cacn calculate speed, angle acceleration, but the simnplest is to start with a 3 axis gyro and then the aim is to get more complicated later, eventually implementing 5-9 degrees of freedom

Yea when i implemented your code i realzied I did that in my implementation, it can be remedied with a quick change to the control loop by calling the old update method explicitly and an alter of the GetReading() method not to call the update. I did a very quick and dirty with your implementation just as show of the style, the returning new AircraftPrinciplaAxes(...) each time is not efficient and can be remedied quick, but i didnt go into specifics there. If you make the change to the update and the return objects of AircraftPrinciplaAxes being held in memory and updating constantly GC will be exacctly what it s was in your old implementation

I also think there is a reason that the original thread is in the top 5 most viewed threads in netduino forum, other people want to see it too

Chris, as always your optimism is fantastic. Part of the reason for this project is that i want to understand the concepts, so for me, this is a bit of exploration on the way in which these work (not just the quad but boards and simple EE work). At the end of the day if it doesnt work, i can convert that code to native, but as it stands this is the easiest way for me to define the domain. I honestly appreciate your input and experience with three quads, if it fails, it fails, if it works, you owe me a beer and one of your tricopters for me to pull the guts out of and put my .net microcontroller in and experiment with a tri. I was really hoping to use your experience in this project but i can see it will just be naysaying, so I will continue without.

source updated, gc issue resolved as well as redundant update calls, precision is fixed as well as PID using windup guard was not properly implemented, if you can implement radio u should be solid, its the exact same code now

https://code.google.com/p/quadnet/ First stab at it, dont mind the pun

As posted on another forum page http://forums.netdui...o-quadrocopter/ I've started a new quadrocopter project. Its just a start and I'm sure will not be easy but I look forward to working with this community to get it moving. As well I am trying to make this hardware and implementation of framework agnostic. So potentially it could run on Netduino or other .netmf boards, but of course we'll be working towards the netduino application first and foremost, it will also be run with a plug and play config so we can add in support for different types of hardware / gyros / escs / acceleometer, magnetometer, altimeter etc. PM if interested and look at the source which as it stands right now is just structure of the project that i have set up in my head.