Discussion ArduPilot 2.2 software released -- now with built-in stabilization!

[chicken hawk]

Originally Posted by zlite

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.

Ah Nuts! It took me an hour to download and unzip 14 last night but thanks for the work your doing on this and also for letting me know about the serial problems. I'll try to get 13 tonight.

[chicken hawk]

Hey, New question. I searched around and cant find anything (usually means it's right under my nose). My sensor seems to be backwards, when the elevator should go up, it goes down. Where do I fix that in the code?
Thanks
Ryan

[13brv3]

Originally Posted by chicken hawk

Hey, New question. I searched around and cant find anything (usually means it's right under my nose). My sensor seems to be backwards, when the elevator should go up, it goes down. Where do I fix that in the code?
Thanks
Ryan

Hi Ryan,

If I'm not mistaken, on the servo tab, look for the code shown below. Change "90+pitch" to "90-pitch", and I believe it will reverse your direction of throw from the AP.

Rusty (anything I say about code is dangerous)



/************************************************** ***********************
You must change this if you have another kind of aircraft...
************************************************** ***********************/
void pulse_servos(int roll, int pitch) //Normal mode
{
pulse_servo_1(90+roll);
pulse_servo_2(90+pitch); //invert sign if you want to reverse the servo...
}

[chicken hawk]

Thanks Rusty I'll give it a try.
Ryan

[chicken hawk]

Yup! That did it! The bench test looks good now. I'll test fly it again tomorrow. Thanks again Rusty

[chancesAU]

Hi all,
Didnt really want to post any problems here yet as its most likely something silly ive done (and I dont want to sound dumb hehe) but hopefully someone will reply by the time I get home today

Ok so ardu arrived and I hastefully soldered up the breakaway pins to it.
Connected the sparkfun FTDI to upload the code (v13 of audrino) & it was failing (only power light showing), anyway went through the debugging page at diy - nothing worked.

I left it connected for 5 min & when I looked down at the ardu heaps of lights were going crazy?? anyway tried to upload the code and I noticed the tx/rx lights on the FTDI were going off - cool!
It uploaded fine apparently so I made up some cables to hook up the RX to the ardu and took it outside to get the sat lock....

Ok here is where I found some problems, first the 3 way toggle on ch5 does nothing to any lights on the ardu, checked the servo against the switch on my transmitter (9CAP) and it seems to be working fine.
Also no matter which way the toggle switch is on my transmitter I dont seem to have normal control of my elevator or ailerons/rudder, the lights on the ardu seem to turn on and off as I move the stick... hmm maybe ardu thinks my elevator is the toggle switch?... The elevator surface sorta does its own thing, If I move the elevator all the way up on my TX it does nothing then suddenly goes to full throw, when I move the elevator stick down the control surface stays still and the MUX light seem to turn off when its about 75% down.

Does any of this sound weird to anyone?
Im going to re-flash the ardu when I get home incase something went weird & check everything but im pretty sure I followed the instructions perfectly and im using all the recommended hardware.

Thanks,
Max

[zlite]

Originally Posted by chancesAU

Hi all,
Ok here is where I found some problems, first the 3 way toggle on ch5 does nothing to any lights on the ardu, checked the servo against the switch on my transmitter (9CAP) and it seems to be working fine.
Also no matter which way the toggle switch is on my transmitter I dont seem to have normal control of my elevator or ailerons/rudder, the lights on the ardu seem to turn on and off as I move the stick... hmm maybe ardu thinks my elevator is the toggle switch?... The elevator surface sorta does its own thing, If I move the elevator all the way up on my TX it does nothing then suddenly goes to full throw, when I move the elevator stick down the control surface stays still and the MUX light seem to turn off when its about 75% down.

Two questions: are you powering the board independently when you've got the FTDI cable connected? (You can't power the board with that cable).

And are you absolutely sure you've got your gear connected EXACTLY like the diagram below?

[pardus]

Which switch have you assigned to CH5? Normally on the 9CAP CH5 is assigned to switch G, the only 3 way switches on the 9CAP or 9CHP are switch C and switch E. If you haven't changed it you may have to re-assign the switch.

[chancesAU]

Originally Posted by pardus

Which switch have you assigned to CH5? Normally on the 9CAP CH5 is assigned to switch G, the only 3 way switches on the 9CAP or 9CHP are switch C and switch E. If you haven't changed it you may have to re-assign the switch.

Hi,
Well I was using ch5&6 for pan/tilt so I assigned ch8 to switch E (and connected to ctrl on ardu).
When this didnt work I removed the pan and tilt and just had the basics connected, ch1 rudder, ch2 elevator, ch3 ESC & ch5 ctrl.
when I looked at the transmitters servo menu channel 5&8 now move with the 3 way switch so I dont think thats the problem.
Im just about to pack it all in the car and play with it some more...

The wiring diagram above is the exact same one I used to connect everything but im just going to start again from scratch and see how I go.

Ill let you know how I go in a few hours

Thanks for all the responses!

Max

[chicken hawk]

Sorry but I have another question. I flew a Slow Stick today with the 2.0 code. It was all over the place. It almost looked like it was swimming in the sky. I think the sensitivity for the FMA sensor was too high. Is there a way to adjust it in flight? Does anyone know were to adjust it in the code?
Ryan

[chicken hawk]

I found it. I played around with it for a few flights. Still not very consitant but I'll keep playing with it.

[zlite]

Originally Posted by chicken hawk

Sorry but I have another question. I flew a Slow Stick today with the 2.0 code. It was all over the place. It almost looked like it was swimming in the sky. I think the sensitivity for the FMA sensor was too high. Is there a way to adjust it in flight? Does anyone know were to adjust it in the code?
Ryan

That code is optimized for the EasyStar--you will definitely have to tweak the settings for your plane. They're in the first tab, and look like this:

#define roll_abs .2 //Set point absolute proportional... I don't know how to explain it...
#define roll_P .8 //roll PID proportional
#define roll_I 1.5 //roll PID integrator
#define roll_min -55 //PID output limit in servo degrees
#define roll_max  55 //PID output limit in servo degrees

#define pitch_P .6 
#define pitch_I .5
#define pitch_min -70
#define pitch_max  70

Tweak these for your plane.

[skygizmo]

Hello i am new in UAV world and looking to get a ardupilot to try. but I have a small question Is ardupilot able to make a waypoint task (eg to take a photo or releasing Payload) when it comes to a selected waypiont?
is anyone have any examples of what i mean?
I am fairly new to c + + so I would like some help.

thanks in advance

[brakar]

Received the ArduPilot today. Now just waiting for the sensors and FMA-stuff to arrive.

Meanwhile, I have a few questions:
- will the hardware-setup be the same for software release 2.1 as for 1.0 and 2.0? (additional Z-sensor)
- will it pay off to wait for the 2.1 software to arrive before setting up the board
- is there modified and tested code for a 4 servo trainer available anywhere? (like SIG Kadet LT40, AviaStar, HobbiStar etc.)


brakar

[zlite]

Originally Posted by brakar

Received the ArduPilot today. Now just waiting for the sensors and FMA-stuff to arrive.

Meanwhile, I have a few questions:
- will the hardware-setup be the same for software release 2.1 as for 1.0 and 2.0? (additional Z-sensor)
- will it pay off to wait for the 2.1 software to arrive before setting up the board
- is there modified and tested code for a 4 servo trainer available anywhere? (like SIG Kadet LT40, AviaStar, HobbiStar etc.)

--The hardware is the same. You just solder on three more connectors for the Z sensor.
--Not really. The only difference between the 2.0 and 2.1 code is the in-field calibration process.
--Right now the code is optimized for the EasyStar, but you can use it on other airframes by tweaking the roll and pitch gains appropriately. This is true for all autopilots--each has to be tweaked to suit the aircraft it's flying one. ArduPilot 2.0 does not use the rudder in a 4-channel plane.