Ardupilot V2.0 test flight movies - Now with onboard Video [Archive]

chancesAU

Mar 21, 2009, 11:25 PM

zlite

Mar 22, 2009, 12:00 AM

Hi,
Just got the maiden done for my ardupilot v2.0, just thought id share my quick video.

http://www.youtube.com/watch?v=IvR3QM0iTPw

All in all very impressive considering there was around 15knot winds.

Max

Looks good! That is indeed a big rudder--I think that wobbling is saying you need to bring the gains down a bit ;-)

dmgoedde

Mar 22, 2009, 09:03 PM

I've seen the same wobble in other motor gliders with only rudder. You'll do well to just reduce the roll response gain to about 2/3 of current value. I also suspect that part of the issue is that the "closed loop" feedback between roll axis sensing and rudder control is partly not so closed loop; rudder does not directly modulate roll nearly so clean as ailerons would. This is why with AttoPilot I don't recommend to use it on planes lacking ailerons, and even went so far as to joke that I am anti-motor glider. Tha was a joke, and several people have used thermopile Atto with motor gliders to great success.

congratulations! That's a peppy little platform.

zlite

Mar 22, 2009, 09:12 PM

I also suspect that part of the issue is that the "closed loop" feedback between roll axis sensing and rudder control is partly not so closed loop; rudder does not directly modulate roll nearly so clean as ailerons would.

I'm sure that's right, and we get much cleaner performance with the Funjet, which does have ailerons (but is harder to fly in RC mode, which is why we released the EasyStar version first). Next week we'll release the ArduPilot 2.1 code, which uses the Z sensor. We get much better linear response with that, and it will help dampen the overcontrol, too.

Mick Molloy

Mar 22, 2009, 10:22 PM

Hi,
Just got the maiden done for my ardupilot v2.0, just thought id share my quick video.

All in all very impressive considering there was around 15knot winds.

Max

Congrats on the first flight Max

I hope to have my Ardupilot in the post box today, I ordered it on the 10-3-09 so it should be here by now..

Mick

chancesAU

Mar 23, 2009, 12:22 AM

Congrats on the first flight Max

I hope to have my Ardupilot in the post box today, I ordered it on the 10-3-09 so it should be here by now..

Mick

Thanks Mick,
Yea I paid $22usd from both sparkfun & FMA to get them here with UPS express... I hate waiting! :)

Let me know how you go, im eagerly awaiting v2.1 :)

Mick Molloy

Mar 23, 2009, 12:32 AM

Thanks Mick,
Yea I paid $22usd from both sparkfun & FMA to get them here with UPS express... I hate waiting! :)

Let me know how you go, im eagerly awaiting v2.1 :)

I paid the extra also.. :mad:

Will have to cath up for an Ardupilot flyin ..

Mick

chancesAU

Mar 24, 2009, 02:10 AM

After the 1st test flight and seeing the plane wobble too much ive edited the code to make the following changes...

Original code
#define roll_P .8 //roll PID proportional
Rudder to sensitive

1st test
#define roll_P .5 //roll PID proportional
No wobble at all but wont turn...

2nd test
#define roll_P .65 //roll PID proportional
Still too sensitive but much better then .8 & seems to turn with alot of authority, would roll violently in the cross wind (was about 10-20knots) but would always level out.

Ill have to go down 1st thing in the morning when there is no wind, might also drop it down to .6 and see how it flys.

Max

_helitron_

Mar 24, 2009, 03:07 AM

chancesAU

Mar 24, 2009, 09:35 AM

Hi,

how about adding some (two) little minipots/trimmers (adjustable resistors) to the free analog in for adjusting the most important PID params ? I'd put a little scale around the pots with min and max values and some points and would attach it reachable somewhere in the cockpit or on the outside of the plane. Only my 2cts.

I'll try to add this to my ArduPilot for the maiden next weekend.

Erwin

I wish I could do that, I got some ideas too but im going to try and do it myself & see how hard it is...

Also going to get a camera on the plane asap so I can record from the cockpits perspective, should be easier to see what its doing... plus then I dont need someone pointing the camera for me from the ground :)

_helitron_

Mar 24, 2009, 11:25 AM

Good luck furthermore, Max :) !

Erwin

chancesAU

Mar 26, 2009, 01:53 AM

Update on my test flights.

#define roll_P <b>.6</b> //roll PID proportional
This is what im leaving it on I think as it seems to turn good and not wobble so much. (looking from the ground)

Couple of problems, the RTL mode works good but the plane seems to come back over the top and then keep going, I would have thought it would start to circle over top?
It has been very windy so I need to try this in calm weather *looks out the window* possibly this afternoon, if not tomorrow.

Ive got 2 new videos to show, both showing the effects of the changes in the code.

1st video is from the ground & 2nd video is onboard the plane.

From the ground
http://vimeo.com/3860402

Onboard video
http://www.youtube.com/watch?v=PJF-A3bJGuA

Max

Mick Molloy

Mar 26, 2009, 07:25 AM

Max great work I see your using a black stork too, what camera and tx r u using

I was going to solder up my Ardu tonight but am stuck fixing a timing belt issue on the mrs car...

chancesAU

Mar 26, 2009, 08:54 AM

Max great work I see your using a black stork too, what camera and tx r u using

I was going to solder up my Ardu tonight but am stuck fixing a timing belt issue on the mrs car...

Hey thanks Mick, camera is a kx191 and the TX is a 500mw immersionRC 2.4gig.
For that flight I was using a snazzy little 3db linksys wifi antenna with a connector to suit on the plane and on the ground I had a 5db "netgear" omni on 1 foot of shielded cable laying flat on the bonnet of the van.
Was really surprised with the quality of the link for how it was setup, I dont have my patch antenna at the moment :(

Perhaps we can meet up for a fly tomorrow?? Ive been talking to Chris & he is keen :D

Mick Molloy

Mar 26, 2009, 08:59 AM

Sounds great

Mick Molloy

Mar 26, 2009, 09:05 AM

Hey thanks Mick, camera is a kx191 and the TX is a 500mw immersionRC 2.4gig.
For that flight I was using a snazzy little 3db linksys wifi antenna with a connector to suit on the plane and on the ground I had a 5db "netgear" omni on 1 foot of shielded cable laying flat on the bonnet of the van.
Was really surprised with the quality of the link for how it was setup, I dont have my patch antenna at the moment :(

Perhaps we can meet up for a fly tomorrow?? Ive been talking to Chris & he is keen :D

You can make your own 2.4ghz Patch
http://www.rc-cam.com/gp_patch.htm

airmcn_3

Mar 26, 2009, 07:35 PM

I will bring my 2.4 patch for you to try out today. See you a bit later. Should be fun.

Chris

chancesAU

Mar 28, 2009, 01:36 AM

Hey thanks guys that was great!
Here is the video from the day, going to setup some waypoints and test them out tomorrow morning with any luck... wind here is too wild today.

http://vimeo.com/3889893

Mick Molloy

Mar 28, 2009, 11:48 PM

How did the flyin go this morning Max?

chancesAU

Mar 28, 2009, 11:53 PM

lol... I think it would have gone bad if I went. 25knots was the high 3 hours ago so far, its got to be bad over your way too??
It sucks, not sure when the next opportunity will be.
How's your ardu going?
Did you get the GPS sorted out?

Mick Molloy

Mar 29, 2009, 12:01 AM

airmcn_3

Mar 29, 2009, 09:41 PM

Ardu is going well I went to solder my ardu together ad realized I left my glasses at work.. (sux not having 20/20 anymore) so Chris soldered it up for me.. I got a new iron for the job from Jaycar and it blew up after about 30 seconds of use big flash and pop then nothing.. Will be programing it soon...

Good Job Max!

Looking forward to the next time :D

Mick, lets get the funky chicken going....... We can try out this new AP unit in there.

Chris

Mick Molloy

Mar 29, 2009, 10:12 PM

Autochicken Beta 1 is ready to fly... now just need the rain to stop

dmgoedde

Mar 30, 2009, 06:01 AM

Let's see a pick of the chicken

Mick Molloy

Mar 30, 2009, 06:38 AM

Let's see a pick of the chicken

Behold Autochicken just need to sort out a gps lead.

chancesAU

Mar 30, 2009, 07:06 AM

LOL :) that thing is madness... cant wait to see it fly

ios

Mar 30, 2009, 07:18 AM

Behold Autochicken just need to sort out a gps lead.

Oh my Gosh !!!! I want one too !!!!!!!!! :D

_helitron_

Mar 30, 2009, 07:27 AM

A pic from July 2008 out of the formerly hidden MSN Atto beta thread. Have planned to try it with Atto 1.6 at that time but didn't found the time then unfortunately. Perhaps a sister/brother of yours Mick :D.

Erwin

airmcn_3

Mar 30, 2009, 08:51 PM

Now were talking......

http://www.youtube.com/watch?v=lUcTvhyof8I&feature=related

_helitron_

Mar 31, 2009, 12:49 AM

:D :D :D

Erwin

saabguyspg

Jun 24, 2009, 02:45 PM

hey guys, I am trying to set up adru 2.2 and I have the sheild board on but I can't get anything to load onto the board.

I have installed the drivers, checksted the close on rts and when I upload to the board it just hangs up. The sheild resets and that's it.... no more love.

Any ideas? I have been struggling with this and other issues for weeks now and any advice is greatly appreciated.

Steve

saabguyspg

Jun 26, 2009, 02:18 PM

ok so I can upload code now if i disconnect the gps (it is supposed to do it by itself with the sheild board) next to do will be install in the plane and somehow adjust the parameters for the mutiplex mentor.

Psionic001

Jun 27, 2009, 09:00 AM

A lot of people are having the upload issue with the 406 and the shield, and having to still unplug the GPS.

I think Jordi will have to review the code IMO.

ok so I can upload code now if i disconnect the gps (it is supposed to do it by itself with the sheild board) next to do will be install in the plane and somehow adjust the parameters for the mutiplex mentor.

zlite

Jul 12, 2009, 07:57 PM

Just an update for those who were having trouble with the ArduPilot configuration utility. It turns out it was a problem with with the Sparkfun FTDI cable (the official DIY Drones cable was fine). The software has now been updated (http://diydrones.com/profiles/blogs/ardupilot-config-tool-fixed) to fix that.

You may still need to unplug the GPS while uploading code, as per the manual. The shared-serial feature depends on the GPS module used and is not recommended under most circumstances. It's a pretty minor step and shouldn't be a big inconvinience for most people.

Also, we'll be selling XY and Z sensors in the DIY Drones store (http://store.diydrones.com/) starting in the next day or so.