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3D RoboticsPermalink Reply by Chris Anderson on March 7, 2010 at 1:25pm

At this point you shouldn't have to touch or know about the code at all. If you just follow the manual carefully, you should be fine.

If you're using non-standard hardware like a 2-channel RC unit, you're definitely going to run into trouble.

But you're right: start with the GPS. You are using the bind plug, right? And the RC is connected?

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Permalink Reply by Chip on March 7, 2010 at 2:37pm

RC is connected, I have no problem with RC pass-through which from what I understand is manual mode. Steering and throttle work as controlled, I've just kept the drive motor disconnected for now.

The bind plug.. Maybe that's where my mistake is. I didn't include one because I thought it was for all of the aircraft calibration. Will I need to put a jumper across D6/Ground?

My goal is to develop the car platform. I had a buggy so I figured I'd save money in learning as well. I'd like to write a tutorial, add features, etc. But everyone has to start somewhere...

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3D RoboticsPermalink Reply by Chris Anderson on March 7, 2010 at 2:58pm

Yes, you need that--the bind plug triggers the process that programs the EM406 into binary mode. Going forward we may dispense with it, but for now it's required. If you don't follow the instructions to the letter, you're going to have trouble.

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Permalink Reply by Chip on March 7, 2010 at 3:11pm

Wow... That was easy. You're right, I can't ignore anything. GPS appears to be working now... Now to try the autopilot. Thanks a ton.

DeveloperPermalink Reply by jasonshort on March 7, 2010 at 5:51pm

Hey do you guys need any help? I can help modify the code to do want your asking. It's actually pretty easy.

there is a function called

    void set_servo_mux(boolean mode)

set_servo_mux(true) will take over the mux no matter what the control switch says.

In the main loop - comment out this line:

// read_control_switch();

the function set_mode will force Ardupilot into full auto mode.

    set_mode(AUTO);

While in AUTO, you should be able to override the steering. I assume you would want to control the throttle yourself, so I would run the throttle directly into the CH3 Mux Input.

I would also think dead reckoning would be very useful and accurate for a car. I will leave it to you, but the navigation function has all the code you need to dead reckon your turns.
Let me know if you need any more help.

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Permalink Reply by Chip on March 22, 2010 at 2:48pm

Thanks for the advice, that's good stuff to know. I haven't had a chance to work on this for the past couple of weeks.. I want to get the throttle to be controlled by the program, but for testing having manual control would be better. I'm considering getting a three or four channel radio to make things easier... I'm hoping to add an encoder to the wheel to help with the dead reckoning as well. Once I get the navigation going good.. Then I need to worry about collision avoidance. but one step at a time.

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Permalink Reply by Chip on April 9, 2010 at 1:57pm

I bit the bullet and bought a four channel pistol radio and receiver. Makes the process go a lot smoother.

This radio
http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXYYC3&P=7
Has one two position and one three position switch. I figured it would be good for adding features as well.

Still working on the settings file to get it navigating properly, will update when I get it working.

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Permalink Reply by Brian Critchlow on May 21, 2010 at 3:00pm

Do I have to have the expansion shield to run in 2ch mode? I was hoping to avoid paying for the extra components for now while I test on the ground.

thanks!

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