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.
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!
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.
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.
- 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
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!