APv2.1 No Navigation

I have been working with the ArduPilot trying to get it to work for same time now.
Having unsuccessfully tried v1 I acquired the FMA sensors and set up v2.

I am using a Mac and can load the software without problems.
The FMA sensors are working fine, providing good stabilisation on the EasyStar I am using as a test platform.
The GPS gets a lock ok, and using serial.print lines in the code I have verified that I am getting values from the navigation routines.

The problem:
I can not get any rudder reaction for navigation.
When AP or RTL is activated the plane just keeps going in a straight line. It does not attempt to turn.

My test flying area is the back paddock, and after checking the Google locations of the calculated waypoints in the code, they proved unsuitable, so I manually entered test waypoints.

My Questions:
Can I manually enter waypoints? Is this the problem I am having?
do I HAVE to use the Ground Station software to enter waypoints?
I am in Australia, so is there any changes I need to make to the code to allow for being 'down under'?

The code is well commented and easy to read EXCEPT for the heading calculations which are using hard coded values. So this is as far as I have got with testing through the code.

Would it be possible to add comments on the heading calculations so we can know what those values are and the purpose of each calculation?

Tags: absent, ardupilot, failed, movement, navigation, no, rudder, v2.1

Views: 18

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3D RoboticsPermalink Reply by Chris Anderson on April 29, 2009 at 8:46pm
--You have to use the utility to enter waypoints in 2.1

--I've got no idea why it's not navigating. Are you sure you've got GPS lock? (solid blue LED).

--We haven't had any reports of it not working in the Southern Hemisphere. At this point we have literally hundreds of successful autonomous flights, so I'd be surprised if it were a code problem.
Permalink Reply by Mike Boland on April 29, 2009 at 9:35pm
Thank you for your prompt reply Chris.

I am currrently loading Labview and will use the Ground Sation utility to load the waypoints and test again.

Will report the findings.

PS: All LED's are operating as specified, GPS included with a steady blue LED.

3D RoboticsPermalink Reply by Chris Anderson on April 29, 2009 at 9:45pm
You don't need the ground station to load the waypoints. You do it with the config utility.
Permalink Reply by Mike Boland on April 29, 2009 at 10:08pm
I will see how I go using Virtual PC as I don't run windows machines here, only Macs.
Permalink Reply by Mike Boland on April 30, 2009 at 1:52am
That config utility will not run on the WinXP or Win2000 I have tried.
I get an error message about a missing 'mscoree.dll'

Does this mean anything to you?
Is there some software I need to install before being able to use the config utility?

Thanks again for your assistance.

3D RoboticsPermalink Reply by Chris Anderson on April 30, 2009 at 6:59am
On real PCs or under Virtual PC?

I'm afraid we don't have Macs and are unable to test on them.

You might want to use ArduPilot 2.0.1 instead, which does not require this setup utility.
Permalink Reply by Mike Boland on April 30, 2009 at 10:56pm
I initially tried it under Virtual PC on a Mac.
But thinking that this may be what it did not like I have tried to run it on WinXP Pro running on a PIII.
'The application has failed to start because the application configuration is incorrect. Reinstalling the application may fix the problem.'
Which is exactly the same message that was displayed under VPC.
Only Win2000 actually gives the more detailed message the 'mscoree.dll can not be found'.
As the application is just an exe downloaded and dragged onto the desktop, I fail to see how 'reinstalling' will have any effect.

Surely you have better advice than 'Give Up'.

3D RoboticsPermalink Reply by Chris Anderson on April 30, 2009 at 11:05pm
Mike, this is beta software, released for free while still in development. We'll try to support you as best we can, but we only run Vista, so it's hard for us to reproduce your error. Can you get access to a Vista machine?

Again, if you don't like this configuration, we really recommend you stick with 2.0.1, which is totally cross-platform.
Permalink Reply by automatik on April 30, 2009 at 11:31pm
@Mike
config utility was written in C# and from description of your problem it sounds to me that this might be related to .NET issue., ie. it might not be installed on your Win machine. Try installing .NET framework, restart your computer and try to run config utility again

.NET
http://msdn.microsoft.com/en-us/netframework/default.aspx

HTH,
automatik

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