Replies to This Discussion

Permalink Reply by Sebastian Gralla on November 23, 2010 at 9:32am

read the sourcecode, it will tell you ;)
it supports it

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Permalink Reply by Neil Smith on November 24, 2010 at 6:49am

Is it just these two lines that need to have to // moved?

#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms (front and right)

Smitty

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Permalink Reply by Sebastian Gralla on November 24, 2010 at 9:49am

yes, but don't change the physical orientation of the APM

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Permalink Reply by Antonio on November 24, 2010 at 11:29am

Hi,
What are the pros and cons for mounting the APM at 45 degress to forward when in X mode. I build the pre-release and had X mode with the APM pointing forward out facing the center of the 2 front arms. I would have though this would provide more accurate sensing when you command pitch and rolls inputs. Any comments welcome.
Regards,
Tony

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Permalink Reply by Sebastian Gralla on November 25, 2010 at 8:09am

there is no difference (just the physical way of mounting)
control is the same

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Permalink Reply by Antonio on November 25, 2010 at 1:04pm

Hi,
There is one problem, im X mode now with the board loacated at 45 degrees in the configurator the artificial horizon os not accurate as to what the quad is doing. If you put in just left and right roll imputs you see the pitch go down and then up.
This is also shows in the raw sensor data screen under rolls and pitch angles.
Can this be fixed.
Regards,
Tony

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Permalink Reply by Sebastian Gralla on November 25, 2010 at 3:24pm

which code are you running?
RC1 or svn code?

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Permalink Reply by Antonio on November 25, 2010 at 4:07pm

Hi,
I am running RC1 code and configurator 1.2.2.
Regards,
Tony

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Permalink Reply by Sebastian Gralla on November 26, 2010 at 8:59am

don't turn the APM!!
just change the code and it will fly

the APM has the same orientation as in + mode

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Permalink Reply by Antonio on November 26, 2010 at 9:43am

Im not turning the board. The board runs along the same axis as the front and rear arms in + mode. You can then make a small change in the software to fly in X mode and NOT change the board, this is great and works fine.

When in X mode and viewing the raw sensor data in the configurator via XBee while flying you can see that when you put in pure forwards and backwards commands the sensor data show roll and pitch angle changes. The configurator only knows about the board sitting front to back and not 45 degrees when in X mode.

Tony

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Permalink Reply by Sebastian Gralla on November 26, 2010 at 10:24am

that's true
it is because the APM just mixes the RC input channels to fly in X mode
it does not know that the front is between two arms

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Permalink Reply by Neil Smith on November 27, 2010 at 11:24am

I have made the change in the code and now having a problem uploading the code. I did the first upload with Vista and since have upgraded to Win 7 so not sure how I did it the first time. I have read and reread the manual several times and have tried all sorts or directory changes and still cant get it to work. The manual isnt very clear and it also dosnt mention anything about needing to be in a folder named "Arducopter_alpha_RC1". This is what I am getting when trying to compile:

I have made the change in the code and now having a problem uploading the code. I did the first upload with Vista and since have upgraded to Win 7 so not sure how I did it the first time. I have read and reread the manual several times and have tried all sorts or directory changes and still cant get it to work. The manual isnt very clear and it also dosnt mention anything about needing to be in a folder named "Arducopter_alpha_RC1". This is what I get when trying to compile:

Arducopter_alpha_RC1.cpp:102:21: error: APM_ADC.h: No such file or directory
Arducopter_alpha_RC1.cpp:103:20: error: APM_RC.h: No such file or directory
Arducopter_alpha_RC1.cpp:104:23: error: DataFlash.h: No such file or directory
Arducopter_alpha_RC1.cpp:105:25: error: APM_Compass.h: No such file or directory
Arducopter_alpha_RC1.cpp: In function 'void setup()':
Arducopter_alpha_RC1:293: error: 'APM_RC' was not declared in this scope
Arducopter_alpha_RC1:312: error: 'APM_ADC' was not declared in this scope
Arducopter_alpha_RC1:313: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1:323: error: 'APM_Compass' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void loop()':
Arducopter_alpha_RC1:484: error: 'APM_RC' was not declared in this scope
Arducopter_alpha_RC1:608: error: 'APM_RC' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Read_adc_raw()':
DCM:29: error: 'APM_ADC' was not declared in this scope
DCM:32: error: 'APM_ADC' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void RadioCalibration()':
Functions:74: error: 'APM_RC' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Write_Sensor(int, int, int, int, int, int, int)':
Log:17: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Write_Attitude(int, int, int)':
Log:33: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Write_PID(byte, int, int, int, int)':
Log:45: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Write_GPS(long int, long int, long int, long int, long int, long int, byte, byte)':
Log:60: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Write_Radio(int, int, int, int, int, int)':
Log:77: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Read_Sensor()':
Log:95: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Read_Attitude()':
Log:118: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Read_PID()':
Log:134: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Read_GPS()':
Log:158: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Read_Radio()':
Log:191: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void Log_Read(int, int)':
Log:212: error: 'DataFlash' was not declared in this scope
Arducopter_alpha_RC1.cpp: In function 'void sendSerialTelemetry()':
SerialCom:145: error: 'APM_RC' was not declared in this scope

I know its a problem with directorys but I cant for the life of me figure it out!

I have all the lybrary folders and sketches in a folder named "Arducopter_alpha_RC1" and it is in the Arduno folder under documents. The default lybrary folders from Arduino 021 are also in there.

Can someone please help?

Smitty

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