ArduPilot 2.2 software released -- now with built-in stabilization! - Page 4

jmralves · Mar 16, 2009, 01:35 PM

Folks,

What are the symptoms of a bad thermopyle in a fma sensor?
How can I know if a thermopyle is "dead" or can be recovered?

Sorry for the OT, trying to recover a sensor for a Ap2.0,
TIA

zlite · Mar 16, 2009, 01:45 PM

Quote:

Originally Posted by jmralves

What are the symptoms of a bad thermopyle in a fma sensor?
How can I know if a thermopyle is "dead" or can be recovered?

You can use the test code at the bottom of this post to measure your thermopile response. Just hold your hand against each side so the heat from your hand simulates the sensor "looking up". You should get similar readings from all four sides.

boyisabird · Mar 16, 2009, 02:31 PM

Hi-
I'm really interested in this project. I was originally thinking of just getting the new FMA Co-pilot II, but with the possibilities of adding some logic and potentially storage the ArduPilot sounds really fun... especially the DIY aspect.

So my question is, will ArduPilot work with the new FMA Co-pilot as sensors, or should I just pick up the old CPD4 + Z?
Thanks
Dave

zlite · Mar 17, 2009, 12:32 AM

Quote:

Originally Posted by boyisabird

Hi-
I'm really interested in this project. I was originally thinking of just getting the new FMA Co-pilot II, but with the possibilities of adding some logic and potentially storage the ArduPilot sounds really fun... especially the DIY aspect.

So my question is, will ArduPilot work with the new FMA Co-pilot as sensors, or should I just pick up the old CPD4 + Z?
Thanks
Dave

It won't work with the new Co-Pilot sensors (they're digital, not analog). No need for the whole CPD4--just buy the XY and Z sensors.

Kisssys · Mar 17, 2009, 08:58 AM

I've got a box full of GPS's but no EM-406. I've got 2 Loco, 1 ublox, 2 EB-85's. I've got everything to try out Ardupilot 2 including a Z sensor except the GPS, I hate to buy another GPS. How is the code coming for the other GPS's. Is there that much saved if you operated the baud at 115200 and decode NMEA.

Anyway this platform is just what I have been looking for. I write code but don't enjoy it. I'd much rather just modify for my small differences.

Keep this going strong, I'm excited about the possibilities.

Kisssys

pardus · Mar 17, 2009, 10:11 AM

Excuse my ignorance, I know what an XY sensor is but what is a z-sensor and what is it's purpose in ArduPilot?

zlite · Mar 17, 2009, 02:32 PM

Quote:

Originally Posted by Kisssys

I've got a box full of GPS's but no EM-406. I've got 2 Loco, 1 ublox, 2 EB-85's.

We hope to switch back to a NMEA parser in 2.1. Maybe another few weeks. There are a few other priorities ahead of this, since most people have the recommended 406

zlite · Mar 17, 2009, 02:34 PM

Quote:

Originally Posted by pardus

Excuse my ignorance, I know what an XY sensor is but what is a z-sensor and what is it's purpose in ArduPilot?

The Z sensor looks up and down and is used to automatically calibrate the XY sensors. If you use it, you don't need to go through the in-field calibration process.

Dimitris76 · Mar 17, 2009, 06:01 PM

Quote:

Originally Posted by zlite

If you disconnect the GPS, switching on the autopilot puts it in what we call "fly-by-wire" mode, which is similar to FMA Co-Pilot stabilization. ArduPilot basically flies the plane, and you just steer it manually. Like a F-16 ;-)

I mean, what would happen when we turn off the MUX via the control channel in order to fly manually? Do we still have attitude stabilization like with stock Co-pilot? I am guessing no, since the ATmega168 is bypassed and the inputs ae connected straight to the outputs, right?

Could we please have a flight mode with BOTH manual control AND stabilization? Pleaseeeee....

Dimitris

zlite · Mar 17, 2009, 06:11 PM

Quote:

Originally Posted by Dimitris76

I mean, what would happen when we turn off the MUX via the control channel in order to fly manually? Do we still have attitude stabilization like with stock Co-pilot? I am guessing no, since the ATmega168 is bypassed and the inputs ae connected straight to the outputs, right?

Could we please have a flight mode with BOTH manual control AND stabilization? Pleaseeeee....

Dimitris

We'll take the suggestion under advisement but just to repeat the obvious: this is open source software. If you want the feature you can have the feature: just code it in yourself. The stabilization mode is right there in the software, so you just need to assign the modes so that it's invoked when you want it.

Right now it's like this:

With GPS connected:
Toggle down: manual
Toggle middle: waypoint
Toggle up: RTL

With GPS not connected:
Toggle down: manual
Toggle middle: not used
Toggle up: stablization

Changing those assignments is a pretty easy matter in the code.

chicken hawk · Mar 17, 2009, 07:55 PM

Is anyone else getting the message "error: call of overloaded 'print(float&)' is ambiguous" when trying to upload the 2.0 code to the board? I had no problems with 1.0. I tried to look on DIY for help but the site is down.
Thanks for any help you can offer.
Ryan

gwh · Mar 17, 2009, 08:41 PM

Ryan,

Check your version of the Arduino IDE. You need to be on at least version 13, 14 is the current version. I get that error when I use version 12.

chicken hawk · Mar 17, 2009, 11:16 PM

Quote:

Originally Posted by gwh

Ryan,

Check your version of the Arduino IDE. You need to be on at least version 13, 14 is the current version. I get that error when I use version 12.

Ahh, That must be it. I'm using 12 right now. I guess I better update.
Thanks a ton GWH. More questions coming soon.

zlite · Mar 18, 2009, 01:44 AM

Quote:

Originally Posted by chicken hawk

Ahh, That must be it. I'm using 12 right now. I guess I better update.
Thanks a ton GWH. More questions coming soon.

Stick with 13. We're getting some funky serial behavior in 14, and until we figure out what's causing it, you're safer with 13.

13brv3 · Mar 18, 2009, 07:18 AM

Greetings,

I've spent a bunch of time with two different V2 setups now, and I'm not confident that the IR sensors are getting calibrated properly. I'm using the recommended equipment, and following the calibration procedure, but the elevator servo concerns me.

After cal, when the sensor is level and I engage the AP, the elevator is almost never neutral. Sometimes it's just a little off, and sometimes it's off almost full deflection. Almost always, it's off in the down direction, and I fear that my first autopilot controlled maneuver is going to be an outside loop

I'm starting to wonder if this seemingly erratic behavior isn't isn't normal under these conditions (stationary, on the ground, GPS probably still refining it's position). It almost must be, since I have two complete setups mounted on cardboard that are doing the same thing, but I'd sure feel better if someone could confirm this.

Thanks,
Rusty

Mar 17, 2009, 08:58 AM	#50
Kisssys Registered User Join Date: Dec 2005 Posts: 17	Loco GPS I've got a box full of GPS's but no EM-406. I've got 2 Loco, 1 ublox, 2 EB-85's. I've got everything to try out Ardupilot 2 including a Z sensor except the GPS, I hate to buy another GPS. How is the code coming for the other GPS's. Is there that much saved if you operated the baud at 115200 and decode NMEA. Anyway this platform is just what I have been looking for. I write code but don't enjoy it. I'd much rather just modify for my small differences. Keep this going strong, I'm excited about the possibilities. Kisssys

Mar 18, 2009, 07:18 AM	#60
13brv3 Registered User Join Date: Mar 2002 Location: Navarre, FL Posts: 1,983	V2 expected behavior on the ground? Greetings, I've spent a bunch of time with two different V2 setups now, and I'm not confident that the IR sensors are getting calibrated properly. I'm using the recommended equipment, and following the calibration procedure, but the elevator servo concerns me. After cal, when the sensor is level and I engage the AP, the elevator is almost never neutral. Sometimes it's just a little off, and sometimes it's off almost full deflection. Almost always, it's off in the down direction, and I fear that my first autopilot controlled maneuver is going to be an outside loop I'm starting to wonder if this seemingly erratic behavior isn't isn't normal under these conditions (stationary, on the ground, GPS probably still refining it's position). It almost must be, since I have two complete setups mounted on cardboard that are doing the same thing, but I'd sure feel better if someone could confirm this. Thanks, Rusty

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Mar 16, 2009, 01:35 PM	#46
jmralves Registered User Join Date: Mar 2004 Location: Portugal Posts: 2,098	Folks, What are the symptoms of a bad thermopyle in a fma sensor? How can I know if a thermopyle is "dead" or can be recovered? Sorry for the OT, trying to recover a sensor for a Ap2.0, TIA

Mar 16, 2009, 02:31 PM	#48
boyisabird Registered User Join Date: Aug 2008 Location: Bay Area, CA Posts: 14	Hi- I'm really interested in this project. I was originally thinking of just getting the new FMA Co-pilot II, but with the possibilities of adding some logic and potentially storage the ArduPilot sounds really fun... especially the DIY aspect. So my question is, will ArduPilot work with the new FMA Co-pilot as sensors, or should I just pick up the old CPD4 + Z? Thanks Dave

Mar 17, 2009, 10:11 AM	#51
pardus Graham Dyer Join Date: Jul 2003 Location: Johannesburg, South Africa Posts: 292	Excuse my ignorance, I know what an XY sensor is but what is a z-sensor and what is it's purpose in ArduPilot?

Mar 17, 2009, 07:55 PM	#56
chicken hawk Plane Insane RC.com Join Date: Mar 2005 Location: Spanish Fork Utah Posts: 567	Is anyone else getting the message "error: call of overloaded 'print(float&)' is ambiguous" when trying to upload the 2.0 code to the board? I had no problems with 1.0. I tried to look on DIY for help but the site is down. Thanks for any help you can offer. Ryan

Mar 17, 2009, 08:41 PM	#57
gwh Registered User Join Date: Dec 1996 Location: Fort Worth, Texas Posts: 1,434	Ryan, Check your version of the Arduino IDE. You need to be on at least version 13, 14 is the current version. I get that error when I use version 12.