Sadly we have no documentation and, as far as I know, nobody except Tridge has used it. Still given Tridge's track record on building great software I suspect it works well and if it doesn't, I'm sure we can fix it. So to not let this piece of code go to waste, I'd like some help from people who are interested to give it a try and help me figure out how it works.
Here's the little that I know:
So if you want to give it a try please do and stick any findings, questions or issues below. Alternatively Issues can go into the issues list.
I'll start sticking things into the wiki as they become clear.
I think the idea to use the vehicle's home location if the AT doesn't have a GPS and the location parameters haven't been set is a good ease-of-use enhancement. Feel free to add the home location enhancement to the to-do list.
Using the AT's baro to adjust the vehicle's ground pressure param to take account of baro drift is also a great idea. I'm sure Tridge updates that ground-pressure value on long flights, i don't know how exactly but I'd suspect the AT is used somehow.
Thats what I did with mine initially./
First 3D fix it sees on startup with more than 8 sats it records as Tracker Base, I have a menu option to reset it if it doesn't look right, Height was sometimes a bit off. Just needed to make sure the multicopter was next to the Tracker on startup.
Any idea what kind of control unit for the pan and tilt in the image above is?
I am trying to operate two servos for the antenna tracker using mini arduino and the MP. It is working well at the calibration section, however, while I am running a flight log, the servo is not responding.
does it works only at online flight or thereis some way to make it work offline?
mini arduino? not sure quite which flight controller that is..
it's only controlling the antenna pan/tilt servos, using data from the mission planner.
I've been off looking at at AC3.2 mostly but I started back at the Antenna Tracker again a bit today. I found that I needed to set the PROXY_MODE parameter to "1" so that messages are forwarded on from the Pixhawk I'm using to control the antenna tracker servos to my mission planner ground station. I've updated the wiki page here.
I can now connect to the vehicle with the mission planner (passing through the AT) including reading parameters, etc.
There's still some weirdness, like the mission planner is complaining on it's console that it's seeing a lot of messages that aren't meant for. Basically I think there's some IDs being set incorrectly during the message forwarding.
I can tell that the Pixhawk on the AT is receiving the position updates from the vehicle but I haven't checked if it will move the servos correctly or not yet.
At the moment, I also don't see a way for the MP to send messages to both the AT and the vehicle so I think we will need MichaelO to enhance the MP. I think he'll be ok to do that for us though.
I did my first test with the Antenna Tracker today. It does indeed work! I did a distance test after making the video and flew my copter out about 500m. My TX/RX failsafed at that point and the vehicle came home so I'm still unsure of the maximum telemetry range but I now know that it's further than my TX/RX. I was actually quite surprised that my TX failsafed that soon.. it happened just as I placed my TX down on a table so perhaps the TX's antenna was suddenly at a bad angle or something.