Replies to This Discussion

Permalink Reply by Abishek Hariharan on November 9, 2010 at 9:33am

I had found a similar solution on the forums and this is how ive altered the 'control_modes' file to work with AUX switch and the GEAR switch :


void read_control_switch()
{
byte switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition){

set_mode(flight_modes[switchPosition]);

oldSwitchPosition = switchPosition;

// reset navigation integrators
// -------------------------
reset_I();
}
}

byte readSwitch(void){
int pulsewidth = APM_RC.InputCh(flight_mode_channel);
int pulsewidth_a = APM_RC.InputCh(AUX2_CH);
if (pulsewidth_a < 1230 && pulsewidth < 1230) return 1;// AUTO
if (pulsewidth_a < 1230 && pulsewidth >= 1690) return 2;// RTL
if (pulsewidth_a > 1690 && pulsewidth <= 1230) return 3; //Software Manual FBW A
if (pulsewidth_a >= 1690 && pulsewidth >= 1690) return 4; // Hardware Manual
//if (pulsewidth >= 1750)
return 0;
}

void reset_control_switch()
{
oldSwitchPosition = 0;
read_control_switch();
Serial.print("MSG: reset_control_switch");
Serial.println(oldSwitchPosition , DEC);
}

void update_servo_switches()
{
// up is reverse
// up is elevon
mix_mode = (PINL & 128) ? 1 : 0;
if (mix_mode == 0) {
reverse_roll = (PINE & 128) ? 1 : -1;
reverse_pitch = (PINE & 64) ? 1 : -1;
reverse_rudder = (PINL & 64) ? 1 : -1;
} else {
reverse_elevons = (PINE & 128) ? 1 : -1;
reverse_ch1_elevon = (PINE & 64) ? 1 : -1;
reverse_ch2_elevon = (PINL & 64) ? 1 : -1;
}
}

adding
#define AUX2_CH 6
to the APM_Config.h file

• ▶ Reply

Permalink Reply by Joshua Chao on November 9, 2010 at 11:09am

At first I couldn't get the toggle to work too. I followed the manual, but my ailerons were my toggle and my toggle were my ailerons. I seems like there is a swap in the order.

My solution:

Swap the female servo wire connections:

For those connecting to the receiver,
0 -> 7
1 -> 6
2 -> 5
3 -> 4
4 -> 3
5 -> 2
6 -> 1
7 -> 0

I do the same to the connectors to the servo and ESC.
0 -> 7
1 -> 6
2 -> 5
3 -> 4
4 -> 3
5 -> 2
6 -> 1
7 -> 0

Everything works fine now. My toggle works, and during auto mode, all control surfaces work properly.

Not sure if it affects other things though.

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Permalink Reply by Mark Bateson on November 10, 2010 at 12:27pm

You are right - wow - thank you. I was getting nowhere and reversed everything from the diagram and it works! Thank you. If you look at the bottom of the board, the board is actually labeled correctly. The mistake I made is that I followed the published RC setup diagram in a literal sense. The diagram should be updated to eliminate this confusion for others.

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3D RoboticsPermalink Reply by Chris Anderson on November 16, 2010 at 8:36am

Mark, could you clarify (perhaps by uploading a picture with your suggested changes)? I'm happy to update the manual, but I don't see the error.

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3D RoboticsPermalink Reply by Chris Anderson on November 16, 2010 at 8:37am

I'm afraid I don't understand this. What numbers are you referring to? Surely not the ones printed on the APM board....

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Permalink Reply by Mark Bateson on November 16, 2010 at 12:38am

I have the same situation - all the LEDs function, the UBLOX ordered through DIY store, GPS tests fine with good LAT/LONG but when the APM board concludes self tests, calibration etc. and GPS appears to lock, I'm left with the B and C LEDs on. At this point I never get all three as indicated in the manual so the question is - do I really have a GPS lock and ready to fly? Curious, was there a clear solution to your problem GPS LED problem or have I missed something?

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Permalink Reply by Abishek Hariharan on November 16, 2010 at 12:49am

nope i havent found a solution to the GPS LED problem , Still DONT get all three to light up.

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DeveloperPermalink Reply by Mark Colwell on November 16, 2010 at 6:00am

I never get blue GPS lock LED to turn on, even though uBlox is locked! APM & OIP are beta boards No Lock indication on HappyK's new GCS either.

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3D RoboticsPermalink Reply by Chris Anderson on November 16, 2010 at 8:34am

Mark, there is no blue GPS LED on either the uBlox or APM/IMU. Only the MediaTek has an onboard blue LED. Which LED are you referring to?

We're working with HappyK's on his GPS to pass on the lock data; his current code is looking for a data string APM doesn't provide, but will soon.

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Permalink Reply by Joshua Chao on November 16, 2010 at 11:22am

Chris,

Pls see attached for the APM RC connection picture. It shows the top view.

I reversed the numbers (0-7) to followed the numbers on the bottom of APM. Also, the position of GPS, telemetry, and I2C Port has be swapped to reflect the respective position.

Regarding LED lights, initially, I only had Yellow LED and the Blue LED on MediaTek on. I had to reset the board every time I start up to get both the Yellow and Red LED up. The Green LED never comes on. But even without the Green LED, the setup seems to work fine when I tested it on the field.

Should we get the Green LED light? What might be the problem?

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3D RoboticsPermalink Reply by Chris Anderson on November 16, 2010 at 11:26am

Ah, I see. It's the confusion over top view vs bottom view. Fortunately, Mark has just sent me some awesome drawings that make these much clearer, so I'll update the manual with them.

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Permalink Reply by Joshua Chao on November 16, 2010 at 10:33pm

Thanks Chris.

So we are still wondering what does the green light mean and what have we done wrong to not get the green light. Would appreciate if you could enlighten us. Tks

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