Replies to This Discussion

Permalink Reply by chris eldred on March 7, 2010 at 9:20am

Bill, Rusty

thanks for all the help guys, I re-read the pdf's and worked out its the altitude hold and have now set it to off

Just got to be patient and wait for a calm day

regards

Chris

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Permalink Reply by jonny on March 13, 2010 at 11:17am

Billu,

Would you be so kind as to answer a few questions regarding the green UDB.
I would like to configure this board to fly a 3 cannel ( elevator, rudder, throttle ) polyheral glider

I have aquired a pickit2 programmer and intalled it on the laptop together with the MPLAB IDE 8.3

which program would you reccomend, matrixpilot?

If matrixpilot is used, what do I do with the aileron output as I can't seem to find any setup procedure for this particular application

Also can the ublox GPS be used with the old green board

Kind regards
Jonny

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Permalink Reply by William Premerlani on March 13, 2010 at 7:58pm

Hi Jonny,

Yes, I recommend MatrixPilot 2.0.3.

In order to set it up, you select settings, options, and gains in the file, options.h. Instructions are in the file. More detailed instructions are available under the Wiki tab of the project web page.

The default settings in options.h are for a plane with ailerons. To use rudder and elevator instead, turn off all of the aileron options and turn on the rudder options. For rudder, elevator, and throttle, you will use 4 inputs and 3 outputs, so set the number of input and output channels accordingly. For any control surface that you do not have, set the channel to CHANNEL_UNUSED. Be sure to set up the servo reversing options, either with the switches, or hardcoded in software.

All of the firmware, including MatrixPilot, will run on either the green board, or the red board. The uBlox GPS should work with the green board.

If you run into any problems, I suggest you post any guestions to the google group, uavdevboard.

Best regards,
Billu Bhaiya

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Permalink Reply by jonny on March 14, 2010 at 11:13am

Hi Bill

Many thanks for the quick reply, if I had been less lazy and just opened the folder! I found the optionns.h file and have started to configure for my airframe, everything seems to be working quite well so far but I expect I shall have a harder time when I progress to waypoints and trimming. I have made quite a trick isolation mount to install the board, this will then be permanently mounted inside the fuselage so I think I will need an extention cable to plug in the programmer externally for making alterations and uploading waypoints.

I was wondering how the IMU will handle bad weather? particularly wind!


Kind regards
Jonny

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DeveloperPermalink Reply by Pete Hollands on March 14, 2010 at 1:16pm

Johny,

If you turn Wind Estimation on in options. then the plane will automatically try to estimate the wind, and navigate accordingly. i.e. some of the time it will crab into the wind when it is strong.

In strong wind test, I've found that the navigation works fairly well, but that you need quite a fast rate of turn in your controls.h . Otherwise, the UDB tries to do sensible navigation, but during a slow turn, the wind will shoot the plane way down wind - and this becomes the main detractor from good navigation.

When wind estimation is turned on you should know the following issues. 1) It takes a UAV Devboard about 20 seconds of flying from take off to accurately calibrate the Yaw Gyro to compass directions (North, South, East, West etc). Once that is correct, it take a further 20 seconds or so of flying in curves (e.g. circles, but not necessarily a circle), for the plane to estimate the wind. What I do is take off, fly straight into the wind in stabilized mode for about 30 seconds, then fly around in circles for another 30 seconds, then I engage waypoint mode. At that point, the plane should be able to navigate pretty well and allow for quite a strong wind. My model flies typically at between 10 m /s and 15 m/s, and I have flown successfully in waypoint mode with wind navigation on in winds of 7 m/s .

As I said at the beginning, the main issues becomes the rate of turn of the plane.

Best wishes, Pete

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Permalink Reply by jonny on March 16, 2010 at 2:15pm

Hi Billu

I am unsure on a couple of points in regard to configuring the UDB for my airframe.
I have set the #define_ rudder navigation 1 and the
#define aileron_navigation 0

Do I also have to set define roll_stabilization to 0? I currently have it set to #define roll_stabilization 1.

Allso how will the Dev board controll roll, do I use a Y lead?

If I set the #define AILERON_OUTPUT_CHANNEL CHANNEL_UNUSED

will the code then ignore the

#define ROLLKP 0.25
#define ROLLKD 0.125
#define YAWKP_AILERON 0.100
#define YAWKD_AILERON 0.2
#define AILERON_BOOST 1.0

Kind regards
Jonny

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Permalink Reply by William Premerlani on March 16, 2010 at 4:15pm

Jonny,

Set roll stabilization to zero for your rudder-elevator controlled polyhedral high wing.

You do not need a Y lead. The board will control the rudder, which will indirectly control the roll.

If you set the #define AILERON_OUTPUT_CHANNEL CHANNEL_UNUSED

then the code will ignore the

#define ROLLKP 0.25
#define ROLLKD 0.125
#define YAWKP_AILERON 0.100
#define YAWKD_AILERON 0.2
#define AILERON_BOOST 1.0

Best regards,
Billu Bhaiya

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Permalink Reply by jonny on March 18, 2010 at 1:23pm

Hi all

Would anyone be so kind as to describe the procedure for programming the UDB with the picKit2 programmer, I have successfully downloaded the pickit2v2.50 and the mplab ide v8.30 and both are working fine, I cannot find reference to the procedure anywhere.

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DeveloperPermalink Reply by Pete Hollands on March 18, 2010 at 2:13pm

Jonny,

This video demonstration of programming the UDB might be of some help.

Pete

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Permalink Reply by jonny on March 19, 2010 at 2:29am

Hi Pete
Thank you for the reply, very nice setup, expertly done!

However I have the PICkit2 programmer? I have read getting started with pic programming several times but this only describes the procedure for the ICD2 as in your video

It would be helpful if someone who uses the pickit2 could describe the process in similar detail.

Regards
Jonny

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Permalink Reply by Riccardo Kuebler on March 19, 2010 at 3:01am

Jonny,

I use PicKit2.

A short description programming with it could be:

- Project/Open project, with MPLab and make all the setting you have to do
- Project/Build all, (build succeded)
- connect PicKit2 to the board
- Programmer/Select programmer/PicKit2 (MPLab shows PicKit2 Ready)
- Programmer/Program, (wait until UDB programmed, verified and PicKit2 Ready again)
- Programmer/Select programmer/None
- disconnect PicKit2
- Done!

Hope this help a little, anyway it is very easy.

Best regards,

Ric

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Permalink Reply by jonny on March 21, 2010 at 7:10am

Hi Riccardo
Many thanks for trying to help but my problems are starting well before your tuition starts, I cannot get mplab to open matrixnav?
When I try to build i get build failed, no source code? or could not find build tools!

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