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Old Mar 21, 2009, 10:25 PM
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chancesAU's Avatar
Australia
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Cool
Ardupilot V2.0 test flight movies - Now with onboard Video

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

ArduPilot v2.0 maiden flight (1 min 5 sec)


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

Max
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Old Mar 21, 2009, 11:00 PM
Chris Anderson
San Francisco/Bay Area
Joined Mar 2007
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Quote:
Originally Posted by chancesAU
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 ;-)
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Old Mar 22, 2009, 08:03 PM
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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.
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Old Mar 22, 2009, 08:12 PM
Chris Anderson
San Francisco/Bay Area
Joined Mar 2007
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Originally Posted by dmgoedde
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.
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Old Mar 22, 2009, 09:22 PM
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Mick Molloy's Avatar
Australia, VIC, Point Cook
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Quote:
Originally Posted by chancesAU
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
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Old Mar 22, 2009, 11:22 PM
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Originally Posted by Mick Molloy
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
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Old Mar 22, 2009, 11:32 PM
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Quote:
Originally Posted by chancesAU
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..

Will have to cath up for an Ardupilot flyin ..

Mick
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Old Mar 24, 2009, 01:10 AM
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My Ardupilot v2.0 code mod's

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
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Old Mar 24, 2009, 02:07 AM
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Austria, Stmk., Neudau
Joined Jun 2006
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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
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Old Mar 24, 2009, 08:35 AM
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Quote:
Originally Posted by _helitron_
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
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Old Mar 24, 2009, 10:25 AM
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Good luck furthermore, Max !

Erwin
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Old Mar 26, 2009, 12:53 AM
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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
3rd Test with the ardupilot V2.0 in my Easystar (2 min 21 sec)


Onboard video
4th Test with the ardupilot V2.0 in my Easystar - onboard video (2 min 16 sec)



Max
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Last edited by chancesAU; Mar 26, 2009 at 01:42 AM.
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Old Mar 26, 2009, 06:25 AM
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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...
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Old Mar 26, 2009, 07:54 AM
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Australia
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Originally Posted by Mick Molloy
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
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Old Mar 26, 2009, 07:59 AM
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Sounds great
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