Replies to This Discussion

Permalink Reply by Jeremy on April 28, 2010 at 12:36pm

Chris, here is my .h for ardu 2.5.4

[code]
//Hardware Configuration
#define SHIELD_VERSION 1 // Old (red) shield versions is 0, the new (blue) shield version is 1, -1 = no shield
#define AIRSPEED_SENSOR 1 // 1 if an airspeed sensor is attached and pitot tube connected. 0 if not (throttle will be restricted to altitude error)
#define GROUNDSTATION 0 // 0 = Ardupilot GS,

// Flight Modes
// these Flight modes can be changed either here or directly in events.pde
// options are MANUAL, STABILIZE, FLY_BY_WIRE, AUTO, RTL, LOITER
#define POSITION_1 MANUAL
#define POSITION_2 AUTO
#define POSITION_3 FLY_BY_WIRE
// Try and run FLY_BY_WIRE to verify you have good gains set up correctly
// before you try Autopilot and wreck your plane. I'll sleep better that way...


// Airframe settings
//1-1
#define GPS_PROTOCOL 1 // 0 = NMEA, 1=SIRF, 2=uBlox, 3 = IMU, 5 = Simulated GPS mode (Debug)
//1-2
#define REVERSE_ROLL 1 //To reverse servo roll, PUT -1 to invert it!!!
//1-3
#define REVERSE_PITCH 1 //To reverse servo pitch, PUT -1 to invert it!!!
// NOTE - IF USING ELEVONS 1-2 AND 1-3 SHOULD BE 1
//1-4
#define REVERSE_ELEVONS 1 //Use 1 or -1 if you need to reverse roll direction
//1-5
#define REVERSE_CH1_ELEVON 1 //To reverse channel 1 elevon servo, PUT -1 to reverse it!!!
//1-6
#define REVERSE_CH2_ELEVON 1 //To reverse channel 2 elevon servo, PUT -1 to reverse it!!!
//1-7
#define REVERSE_THROTTLE 0 // 0 = Normal mode. 1 = Reverse mode - Try and reverse your radio first!
//1-8
#define INPUT_VOLTAGE 5090.0 // (Millivolts) voltage your power regulator is feeding your ArduPilot to have an accurate pressure and battery level readings. (you need a multimeter to measure and set this of course)
//1-9
#define BATTERY_EVENT 0 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
//1-10
#define MIXING_MODE 0 //Servo mixing mode 0 = Normal, 1 = V-tail (v tail not tested yet).


// IR sensors
//2-1
#define ENABLE_Z_SENSOR 1 // 0 = no Z sensor, 1 = use Z sensor (no Z requires field calibration with each flight)
//2-2
#define XY_SENSOR_LOCATION 0 //XY Thermopiles Sensor placement
//Mounted right side up: 0 = cable in front, 1 = cable behind
//Mounted upside down: 2 = cable in front, 3 = cable behind
//2-3
#define PITCH_TRIM 0 //(Degrees +- 5) allows you to offset bad IR placement
//2-4
#define ROLL_TRIM 0 // (Degrees +- 5) allows you to offset bad IR placement


// RADIO
//3-1
#define SET_RADIO_LIMITS 0 // 0 = no, 1 = set the limits of the Channels with the radio at launch each time
//3-2
#define RADIO_TYPE 0 // 0 = sequential PWM pulses(Fasst, Spektrums), 1 = simultaneous PWM pulses (Corona RP8D1)
//3-3
#define CH1_MIN 1000 // (Microseconds) Range of Ailerons/ Rudder
//3-4
#define CH1_MAX 2000 // (Microseconds)
//3-5
#define CH2_MIN 1000 // (Microseconds) Range of Elevator
//3-6
#define CH2_MAX 2000 // (Microseconds)
//3-7
#define CH3_TRIM 1000 // (Microseconds) Trims are normally set automatically in setup.
//3-8
#define THROTTLE_IN 1 // (boolean) Disables throttle when set to 0
//3-9
#define THROTTLE_OUT 1 // 1 = throttle, 0 = no throttle at all! (good for saving fingers on the bench.)


//NAVIGATION: HEADING
//Note: Some Gains are now variables
#define HEAD_P .8 //Heading error proportional.
//4-1
#define HEAD_I 0 //heading error integrator. Do not add too much or you will overshoot.

#define HEAD_D 0 //heading error derivitive

//4-2
#define ROLL_MAX 4000 //(Degrees *100) The maximum output in degrees to control the roll setpoint
//4-3
#define HEAD_I_MAX 500 //(Degrees *100) The maximum output in degrees to control the roll setpoint
//4-4
#define XTRACK_GAIN .3 // amount to compensate for crosstrack - use debug mode to find correct value
//4-5
#define LOITER_RADIUS 45 // radius in meters of a Loiter
//4-6
#define REMEMBER_LAST_WAYPOINT_MODE 1 //If set 1 = will remember the last waypoint even if you restart the autopilot. 0 = Will start from zero everytime you restart the system.


//NAVIGATION: ALTITUDE
//5-1
#define PITCH_P 1.5 //Altitude error proportional, pitch setpoint
//5-1
#define PITCH_I 0 //Altitude error proportional, pitch setpoint
//5-2
#define ALTITUDE_PITCH_MAX 1000 // most the plane will pitch up in degrees to raise altitude
//5-3
#define ALTITUDE_PITCH_MIN -1500 // (Degrees *100) most the plane will pitch down in degrees to lower altitude


//NAVIGATION: SPEED GAINS
//6-1
#define ALTITUDE_THROTTLE_P 1.33
//6-2
#define ALTITUDE_AIRSPEED_MAX 15 //(0-125) Maximum extra speed for gaining altitude
//6-3
#define ALTITUDE_AIRSPEED_MIN -25 //(0-125) Maximum reduced speed for loosing altitude
//6-4
#define AIRSPEED_TURN_P 1 // (.25 - 1) The amount we scale down our roll when going slow; 1 = no effect
//6-5
#define AIRSPEED_MAX_TURN_SPEED 25 // Turn full-on above this airspeed, Hint: set less than or equal to throttle_cruise
//6-6
#define AIRSPEED_MIN_TURN_SPEED 12 // Used to limit the effect

#define CRUISE_AIRSPEED 13 // If we have airspeed sensor pitch is used to maintain desired airspeed and throttle is used for climb/descent
// NOTE - Airspeed is stored and used in the program as an integer pressure value
// Use the formula: pressure = 0.1254 * speed * speed
// where speed is the airspeed in meters per second.
// For example if you want cruising airspeed to be 10 meters per second use a value of 13

//ATTITUDE: Rudder gains / Aileron gains
//7-1
#define RUDDER_P .55 // START WITH THIS VALUE TO TUNE - overall proportional term determines how much rudder you use to turn.
//7-2
#define RUDDER_I 0.0 // Roll PID integrator
//7-3
#define RUDDER_MAX 2500 // (Degrees *100) Maximum output of Rudder


//ATTITUDE: Elevator gains
//8-1
#define ELEVATOR_P .40 // Pitch Proportional- overall proportional term determines how much elevator you use to correct pitch
//8-2
#define ELEVATOR_I 0 // Pitch PID integrator
//8-3
#define PITCH_COMP .10 //<------Very important, Pitch compensation vs. Roll bank angle.


//ATTITUDE: THROTTLE OUTPUT GAINS
//9-1
#define THROTTLE_ABSOLUTE 3 //Absolute
//9-2
#define THROTTLE_P .32 //Proportional
//9-3
#define THROTTLE_I .04 //Integrator
//9-4
#define THROTTLE_I_MAX 50 // (0-125) 50 = 40% Integrator limit.
//9-5
#define THROTTLE_CRUISE 30 // (0-125) 30 = 24% throttle, or (int)target airspeed for cruising
//9-6
#define THROTTLE_MAX 100 // (0-125) 60 = 48% maximum throttle


/*****************/
/*Debugging Stuff*/
/*****************/
/*9-1
#define FAKE_BEARING 0 //If set to 1, will fake the bearing and will try to always head to the defined DESIRED_FAKE_BEARING
//9-2
#define DESIRED_FAKE_BEARING 0 //Will try to go NorthEast, you can change that to 0 = NORTH, 90 = EAST, 180 = SOUTH, 270 = WEST or whatever!
//9-3
#define FAKE_GPS_LOCK 0 //If is set to 1 will jump the GPS lock process to set home position. FOR TESTING ONLY!
//9-4
#define PRINT_WAYPOINTS 1 //If set to 1, at bootup will print all the waypoints set in the eeprom!
//9-5
#define TEST_THROTTLE 0 // If set 1 will test the throttle increasing the speed slowly.
//9-6
#define WALK_AROUND 1 //Must be "0" to test the GPS and heading against the servo and "1" for normal operation
//9-7
#define CALIBRATE_SERVOS 0// Use to move the servos center, left and right or center right and left. You must adjust using 3-1 and 3-2.
//9-8
#define TEST_SENSORS 0 // Set 1 for enable, overwrite the servos with the raw IR sensors data, to test orientation. This will overwrite everything.
//10-1
#define TURNRATE 85 // (degrees) how fast we turn per second in degrees at full bank
//10-2
#define CLIMBRATE_UP 1000 // (meters * 100) how fast we climb in simulator at 90°
//10-3
#define CLIMBRATE_DOWN 3000 // (meters * 100) how fast we climb in simulator at 90° */
[/code]


Here is the .h for 2.6
[code]
//HARDWARE CONFIGURATION
//0-1
#define SHIELD_VERSION 1 // Old (red) shield versions is 0, the new (blue) shield version is 1, -1 = no shield
//0-2
#define AIRSPEED_SENSOR 1 // (boolean) Do you have an airspeed sensor attached? 1= yes, 0 = no.
//0-3
#define GPS_PROTOCOL 1 // 0 = NMEA, 1=SIRF, 2=uBlox, 3 = ArduIMU, 5 = Simulated GPS mode (Debug)
//0-4 Ground Control Station:
#define GCS_PROTOCOL 0 // 0 = Ardupilot Text, 1 = special test, 2 = Ardupilot Binary(not implemented), 5 = Jason's GCS

//0-5 and 0-6 are for use with Thermopile sensors
//0-5
#define ENABLE_Z_SENSOR 1 // 0 = no Z sensor, 1 = use Z sensor (no Z requires field calibration with each flight)
//0-6
#define XY_SENSOR_LOCATION 0 //XY Thermopiles Sensor placement
//Mounted right side up: 0 = cable in front, 1 = cable behind
//Mounted upside down: 2 = cable in front, 3 = cable behind

//0-6
#define BATTERY_EVENT 0 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
//0-7
#define INPUT_VOLTAGE 5200.0 // (Millivolts) voltage your power regulator is feeding your ArduPilot to have an accurate pressure and battery level readings. (you need a multimeter to measure and set this of course)


// Flight Modes
// these Flight modes can be changed either here or directly in events.pde
// options are MANUAL, STABILIZE, FLY_BY_WIRE_A, FLY_BY_WIRE_B, AUTO, RTL, LOITER
//0-8
#define POSITION_1 MANUAL
//0-9
#define POSITION_2 STABILIZE
//0-10
#define POSITION_3 FLY_BY_WIRE_A
// So why isn't AUTO here by default? Well, please try and run Stabilize first,
// then FLY_BY_WIRE_A to verify you have good gains set up correctly
// before you try Auto and wreck your plane. I'll sleep better that way...

// FLY_BY_WIRE_A has manual throttle control, FLY_BY_WIRE_B = the throttle stick input controls desired airspeed.
// Fly By Wire B = Fly By Wire A if you have AIRSPEED_SENSOR 0

/***************************************/
// AIRFRAME SETTINGS
//1-1
#define MIXING_MODE 0 //Servo mixing mode 0 = Normal, 1 = Elevons (or v tail)
//1-2
#define REVERSE_ROLL 1 //To reverse servo roll, PUT -1 to reverse it!!!
//1-3
#define REVERSE_PITCH 1 //To reverse servo pitch, PUT -1 to reverse it!!!

// NOTE - IF USING ELEVONS 1-2 AND 1-3 SHOULD BE 1
//1-4
#define REVERSE_ELEVONS 1 //Use 1 or -1 if you need to reverse roll direction
//1-5
#define REVERSE_CH1_ELEVON -1 //To reverse channel 1 elevon servo, PUT -1 to reverse it!!!
//1-6
#define REVERSE_CH2_ELEVON 1 //To reverse channel 2 elevon servo, PUT -1 to reverse it!!!

//1-7
#define REVERSE_THROTTLE 0 // 0 = Normal mode. 1 = Reverse mode - Try and reverse your radio first, most ESC use low values for low throttle.

//1-8
#define PITCH_TRIM 0 //(Degrees +- 5) allows you to offset bad IR or IMU placement
//1-9
#define ROLL_TRIM 0 // (Degrees +- 5) allows you to offset bad IR or IMU placement


/***************************************/
// AIRSPEEDS
// NOTE - Airspeed is stored and used in the program as an integer pressure value
// Use the formula: pressure = 0.1254 * speed * speed
// where speed is the airspeed in meters per second.
// For example if you want cruising airspeed to be 20 meters per second use a value of 50
//2-1
#define CRUISE_AIRSPEED 13 // If we have airspeed sensor pitch is used to maintain desired airspeed and throttle is used for climb/descent
//2-2
#define AIRSPEED_FBW_MIN 8 //Minimum airspeed for Fly By Wire mode B
//2-3
#define AIRSPEED_FBW_MAX 20 //Maximum airspeed for Fly By Wire mode B

/***************************************/
// THROTTLE
// NOTE - The range for throttle values is 0 to 125
//2-4
#define THROTTLE_CRUISE 55 // Default throttle value - Used for central value. Failsafe value
// NOTE - For proper tuning the THROTTLE_CRUISE value should be the correct value to produce CRUISE_AIRSPEED in straight and level flight with your airframe
//2-5
#define THROTTLE_MAX 65 // (0-125) 70 = 56% maximum throttle
//2-6
#define THROTTLE_MIN 45 // (0-125)
//2-7
#define THROTTLE_IN 1 // (boolean) Disables throttle input when set to 0
//2-8
#define THROTTLE_OUT 1 // 1 = throttle, 0 = no throttle output at all! (good for saving fingers on the bench.)


/***************************************/
// RADIO
//3-1
#define SET_RADIO_LIMITS 0 // 0 = no, 1 = set the limits of the Channels with the radio at launch each time
//3-2
//3-3
#define RADIO_TYPE 0 // 0 = sequential PWM pulses, 1 = simultaneous PWM pulses
//3-4
#define CH1_MIN 1000 // (Microseconds) Range of Ailerons/ Rudder
//3-5
#define CH1_MAX 2000 // (Microseconds)
//3-6
#define CH2_MIN 1000 // (Microseconds) Range of Elevator
//3-7
#define CH2_MAX 2000 // (Microseconds)
//3-8
#define CH3_TRIM 1000 // (Microseconds) Trims are normally set automatically in setup.


/***************************************/
//NAVIGATION: PARAMETERS
//Note: Some Gains are now variables
//4-1
#define HEAD_MAX 4500 // The maximum commanded bank angle (left and right) degrees*100
//4-2
#define PITCH_MAX 1000 // The maximum commanded pitch up angle degrees*100
//4-3
#define PITCH_MIN -1500 // The maximum commanded pitch down angle degrees*100
//4-4
#define XTRACK_GAIN 00 // amount to compensate for crosstrack (degrees/100 per meter)
//4-5
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100
//4-5
#define LOITER_RADIUS 40 // radius in meters of a Loiter
//4-6
#define REMEMBER_LAST_WAYPOINT_MODE 0 // If set 1 = will remember the last waypoint even if you restart the autopilot.
// 0 = Will start from WP 1 (not 0) every time you switch into AUTO mode.
//4-7
#define WP_ALTITUDE_RADIUS 10 // (meters) accuracy needed to find our waypoint in meters
//4-8
#define ABSOLUTE_WAYPOINTS 1 // 0 = relative, 1 = absolute
//4-9
#define AP_STICK_MIXING 0 // 0 = no mix, 1 = mix. Mixing lets you "nudge" when in auto modes


/***************************************/
//ATTITUDE: ROLL GAINS
//5-1 IMPORTANT!! Servo Gain values will be 100 times less than equivalent gains for ArduPilot 2.5
#define SERVO_ROLL_P .006 // Primary value to tune - overall proportional term determines how much rudder/aileron you use to turn
//5-2
#define SERVO_ROLL_I .0 // roll PID integrator gain (value should generally be low)
//5-3
#define SERVO_ROLL_D 0.0 // roll PID derivative gain (for advanced users - should be zero for most airframes)
//5-4
#define SERVO_ROLL_INTEGRATOR_MAX 500 //Maximium integrator value in degrees * 100
//5-5
#define ROLL_SLEW_LIMIT 0 // Use to limit slew rate of roll servo. If zero then slew rate is not limited
// Value is degree per second limit

/***************************************/
//ATTITUDE: PITCH GAINS
//6-1 IMPORTANT!! Servo Gain values will be 100 times less than equivalent gains for ArduPilot 2.5
#define SERVO_PITCH_P .006 // Pitch Proportional gain
//6-2
#define SERVO_PITCH_I .0 // Pitch integrator gain (value should generally be low)
//6-3
#define SERVO_PITCH_D 0.0 // Pitch derivative gain (for advanced users - should be zero for most airframes)
//6-4
#define SERVO_PITCH_INTEGRATOR_MAX 500 //Maximum integrator value in degrees * 100
//6-5
#define PITCH_COMP .10 //Pitch compensation vs. Roll bank angle.
// NOTE!! The implementation of pitch compensation has been changed.
// The optimal value for your airframe will likely differ between 2.5 and 2.6


/***************************************/
//NAV: ROLL GAINS
//7-1
#define NAV_ROLL_P .6 // Primary value to tune - overall proportional term determines how aggressively we bank to change heading
//7-2
#define NAV_ROLL_I .0 // roll PID integrator gain (value should generally be low)
//7-3
#define NAV_ROLL_D 0.0 // roll PID derivative gain (for advanced users - should be zero for most airframes)
//7-4
#define NAV_ROLL_INTEGRATOR_MAX 500 //Maximium integrator value in degrees * 100


/***************************************/
//NAV: PITCH GAINS
//8-1
#define NAV_PITCH_P .65 // Overall proportional term determines how aggressively we change pitch to maintain airspeed
//8-2
#define NAV_PITCH_I .0 // PID integrator gain (value should generally be low)
//8-3
#define NAV_PITCH_D 0.0 // PID derivative gain (for advanced users - should be zero for most airframes)
//8-4
#define NAV_PITCH_INTEGRATOR_MAX 500 //Maximium integrator value in degrees * 100


/***************************************/
//ENERGY HEIGHT: THROTTLE OUTPUT GAINS
//9-1
#define THROTTLE_P .32 //Proportional
//9-2
#define THROTTLE_I .04 //Integrator
//9-3
#define THROTTLE_D 0.0 //Derivative
//9-4
#define THROTTLE_INTEGRATOR_MAX 20 // (0-125) 70=50% Integrator limit.
//9-5
#define THROTTLE_SLEW_LIMIT 0 // Use to limit slew rate of throttle output. If zero then slew rate is not limited
// Value is throttle value (0-125) per second limit


/***************************************/
//FLY BY WIRE AIRSPEED: THROTTLE OUTPUT GAINS
//10-1
#define THROTTLE_FBW_P .32 //Proportional
//10-2
#define THROTTLE_FBW_I .04 //Integrator
//10-3
#define THROTTLE_FBW_D 0.0 //Derivative
//10-4
#define THROTTLE_FBW_INTEGRATOR_MAX 20 // (0-125) 70=50% Integrator limit.

/*****************/
/*Advanced Stuff*/
/*****************/

// This section is for auto launch. This feature is not appropriate for all airframes.
// If you are using ArduIMU the minimum recommended TAKE_OFF_PITCH is 30 degrees due to linear acceleration effects on the IMU
// If your airframe cannot climb out at 30 degrees do not use this feature if using ArduIMU
//11-1
#define USE_AUTO_LAUNCH 0 // If set to 1 then in AUTO mode roll will be held to zero and pitch to TAKE_OFF_PITCH until TAKE_OFF_ALT is reached
//11-2
#define TAKE_OFF_ALT 50 // Meters. Altitude below which take-off controls apply
//11-3
#define TAKE_OFF_PITCH 33 // Pitch value to hold during take-off in degrees

// This section is for setting up auto landings
// You must have your airframe tuned well and plan your flight carefully to successfully execute auto landing
//11-4
#define SLOW_WAYPOINT 999 // When this becomes the current waypoint we will decrease cruise_airspeed to AIRSPEED_SLOW
//11-5
#define AIRSPEED_SLOW 10
//11-6
#define THROTTLE_SLOW 30 // This should be the throttle value that produces AIRSPEED_SLOW in straight and level flight
//11-7
#define THROTTLE_CUT_WAYPOINT 999 // When this becomes the current waypoint we will cut the throttle
//Set the final waypoint well beyond the touchdown zone so that it is not reached, else you will enter RTL mode or loop waypoints

/*****************/
/*Debugging Stuff*/
/*****************/
//12-1
#define TURNRATE 85 // (degrees) how fast we turn per second in degrees at full bank
//12-2
#define CLIMBRATE_UP 1000 // (meters * 100) how fast we climb in simulator at 90°
//12-3
#define CLIMBRATE_DOWN 3000 // (meters * 100) how fast we climb in simulator at 90°
[/code]


Morli- Not sure what you mean about the hot air gun. Also I have walked far away from the computer with the setup and as well it was in the air with same results nothing changes for that one.
Also dont understand why if I got the exact radio that was recomended and the RX's that came with it that I would have radio issues. The servos tested were digital futaba's and hitec hs-81. I have no access to any other radio setup though.

Hosplink I will try what you suggested but I have already checked for bad solder or connections and everything apears to be good to me.

• ▶ Reply

3D RoboticsPermalink Reply by Chris Anderson on April 28, 2010 at 1:01pm

That all looks right.

Did you say that you're using digital servos? If so, that might be the issue. I don't think anyone's ever used ArduPilot with digital servos before. (They're not designed for small aircraft like ours and are serious power hogs--generally a bad idea to use them unless you're doing some sort of precision acrobatics.)

• ▶ Reply

Permalink Reply by Jeremy on April 28, 2010 at 1:07pm

No not using them all the time I have just tried those as well as the hs-81 that I use in the e*. Was doing that just in case it had to with my servos.

• ▶ Reply

ModeratorPermalink Reply by Morli on April 28, 2010 at 1:46pm

Hi Jeremy , Ok that leaves only one other option. That is radio and Rx, I wouldn't be able to comment on ardu code, if Chris and others say it is ok then it is. Try to swap another rx or radio if possible , we can figure out whats wrong with current one later. It could simply be bad batch or one of those nasty landings that would have shook the guts of Rx. Any thing is possible ,In this part of the world we get worse to bad weather with lots of wind on week ends or holidays only, other week days are good but we can't fly :-((

• ▶ Reply

Permalink Reply by Jeremy on April 28, 2010 at 2:03pm

I will try another RX of the same type as that is the only other thing I have access to. The only way I can try another radio is to buy one and honestly after spending as much as I did on the one that is recommended by the site I cant justify spending hundreds more to just "test". I know this is all DIY but to me recommended hardware should give me easy access to getting an entry setup. The only thing I have that is not what is linked to is the motor and esc. But on the bench I do not have the motor even hooked up at this point.

I will try the second RX I have and will double check all my soldering again and will post results of all the tests I can run.

I did try the no RX that was suggested earlier, and did the way that was described and it just gave me the same results or even a little worse.

• ▶ Reply

Permalink Reply by Jeremy on April 28, 2010 at 2:29pm

Here are the results from all the tests I can run ( ran the tests with throttle at all the way down and did not touch any of the sticks, only flipped the switch where you see in results). I tried my second RX of the same make and model and same results. I also turned off anything broadcasting a 2.4 signal and no improvement. I also live in area where there are NO other signals like that bleeding into my area. My closest neighbor is 6 miles away and I know for sure that there are no other signals coming in the 2.4 range anywhere on my property from doing other projects and testing progs for school.

Results from Airframe test.
ch3_timer_trim 13
ch3_timer_trim 13
ch3_timer_trim 13
Radio IN: R:151Radio IN: R:1520 E:1514 T:1101 Analog IN: 0:518, 1: 517, 2: 505 Sensors: ir_max:40 roll:-14 pitch:-1 PWM OUT: R:1520 E:1514 T:1096
ch3_timer_trim 11
ch3_timer_trim 11
Init Ardupilot Airframe Tester 2.5.0
GPS: EM406
Startup: Ground
ch3_timer_trim 10
Radio IN: R:1519 E:1513 T:1086 Analog IN: 0:518, 1: 517, 2: 507 Sensors: ir_max:40 roll:-14 pitch:-1 PWM OUT: R:1500 E:1500 T:1160

#define CH1_MIN 1000
#define CH1_MAX 2000
#define CH2_MIN 1000
#define CH2_MAX 2000
#define CH3_TRIM 1086
#define FAILSAFE_PWM 1036
ch1_trim 1519
ch2_trim 1513

Turning On Stabilization
Throttle input is enabled
Battery Voltage input is disabled
Throttle output is enabled
##0| MANUAL

Ready to FLY.
Radio IN: R:1519 E:1513 T:1086 Analog IN: 0:510, 1: 517, 2: 504 Sensors: ir_max:40 roll:-5 pitch:7 PWM OUT: R:1500 E:1500 T:1160
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
Radio IN: R:1519 E:1514 T:1086 Analog IN: 0:509, 1: 515, 2: 504 Sensors: ir_max:40 roll:-2 pitch:6 PWM OUT: R:1519 E:1514 T:1080
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
Radio IN: R:1519 E:1515 T:1086 Analog IN: 0:508, 1: 514, 2: 504 Sensors: ir_max:40 roll:0 pitch:6 PWM OUT: R:1519 E:1514 T:1080
ch3_timer_trim 10
##2| FLY BY WIRE
ch3_timer_trim 10
Radio IN: R:1519 E:1514 T:1090 Analog IN: 0:506, 1: 513, 2: 503 Sensors: ir_max:40 roll:3 pitch:7 PWM OUT: R:1546 E:1468 T:1344
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
##1| STABILIZE
Radio IN: R:1519 E:1514 T:1090 Analog IN: 0:509, 1: 514, 2: 503 Sensors: ir_max:40 roll:-1 pitch:5 PWM OUT: R:1546 E:1468 T:1432
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
ch3_timer_trim 10
Radio IN: R:1519 E:1515 T:1090 Analog IN: 0:510, 1: 519, 2: 511 Sensors: ir_max:40 roll:-7 pitch:10 PWM OUT: R:1546 E:1469 T:1080
ch3_timer_trim 10


Radio Test:
090
MS: 20 ch1:1520 ch2:1515 ch3:1090
MS: 20 ch1:1520 ch2:1516 ch3:1090
MS: 20 ch1:1520 ch2:1516 ch3:1090
MS: 20 ch1:1520 ch2:1515 ch3:1090
MS: 20 ch1:1520 ch2:1515 ch3:1090
MS:MS: 2240 ch1:1519 ch2:1515 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087
MS: 20 ch1:1519 ch2:1514 ch3:1087


Switch Test:
Init Ardupilot Control Switch Tester 2.5.0
##0| MANUAL
##2| FLY BY WIRE
##1| STABILIZE
##2| FLY BY WIRE
##0| MANUAL
##2| FLY BY WIRE
##1| STABILIZE
##2| FLY BY WIRE
##0| MANUAL


Gps tests give expected results. Full Lock and correct long lat are displayed

Waypoint Writer:
Waypoint writer
1: 37716232, -122381200, 100
2: 37717764, -122379856, 75
3: 37717376, -122383128, 50
4: 37718860, -122381800, 25
5: 37716232, -122381200, 50
6: 37717764, -122379856, 75
7: 37717376, -122383128, 100
8: 37718860, -122381800, 75
9: 37716232, -122381200, 50
10: 37717764, -122379856, 25
11: 37717376, -122383128, 50
12: 37718860, -122381800, 75
13: 37716232, -122381200, 100
options:0
Alt to hold:76
waypoint # 1 lat: 377162320 long: -1223812000 alt: 10000
waypoint # 2 lat: 377177640 long: -1223798560 alt: 7500
waypoint # 3 lat: 377173760 long: -1223831280 alt: 5000
waypoint # 4 lat: 377188600 long: -1223818000 alt: 2500
waypoint # 5 lat: 377162320 long: -1223812000 alt: 5000
waypoint # 6 lat: 377177640 long: -1223798560 alt: 7500
waypoint # 7 lat: 377173760 long: -1223831280 alt: 10000
waypoint # 8 lat: 377188600 long: -1223818000 alt: 7500
waypoint # 9 lat: 377162320 long: -1223812000 alt: 5000
waypoint # 10 lat: 377177640 long: -1223798560 alt: 2500
waypoint # 11 lat: 377173760 long: -1223831280 alt: 5000
waypoint # 12 lat: 377188600 long: -1223818000 alt: 7500
waypoint # 13 lat: 377162320 long: -1223812000 alt: 10000
total # of points:13


Analog Sensor Test, same results as before:
A0: 506 A1: 516 A2: 505 A3: 220 A4: 226 A5: 0
A0: 505 A1: 514 A2: 504 A3: 220 A4: 222 A5: 0
A0: 505 A1: 515 A2: 504 A3: 221 A4: 223 A5: 0
A0: 505 A1: 514 A2: 504 A3: 221 A4: 222 A5: 0
A0: 506 A1: 516 A2: 505 A3: 221 A4: 223 A5: 0
A0: 505 A1: 514 A2: 504 A3: 221 A4: 222 A5: 0
A0: 505 A1: 514 A2: 504 A3: 221 A4: 223 A5: 0
A0: 505 A1: 516 A2: 504 A3: 221 A4: 222 A5: 0
A0: 505 A1: 513 A2: 504 A3: 221 A4: 222 A5: 0
A0: 505 A1: 516 A2: 504 A3: 221 A4: 223 A5: 0
A0: 505 A1: 513 A2: 504 A3: 221 A4: 221 A5: 0
A0: 505 A1: 516 A2: 504 A3: 221 A4: 222 A5: 0
A0: 506 A1: 515 A2: 504 A3: 221 A4: 222 A5: 0

Throttle test I havent run as I have not adjusted the code to make it compile properly yet.
My scheerer LRS uhf system should be here next week so I can attach that to my radio and test it with that. Best I can do for a different radio and RX

• ▶ Reply

Permalink Reply by Jeremy on April 28, 2010 at 3:58pm

Is there a way to test just the shield and just the board separately?

• ▶ Reply

3D RoboticsPermalink Reply by Chris Anderson on April 28, 2010 at 5:16pm

Jeremy, why don't you just send me your board and I'll check it out. I'm running the exact same configuration with no problem (as are hundreds of other people) so I should be able to zero in on the problem pretty quickly. Just PM me and I'll send you address details.

• ▶ Reply

Permalink Reply by Patrick Mccabe on April 28, 2010 at 6:22pm

Maybe it is the same problem i had when i sent you my board? could be a soldering issue like i had when i wasnt experienced at it.

• ▶ Reply

Permalink Reply by wilsonj on June 4, 2010 at 4:25am

Jeremy, I bet you haven't solved this issue!? I have the same problem, although I am using a 12z radio, but the same 7 channel Rx.

It is the radio!! Darn Futaba! For some reason the throttle channel causes issues. I tried everything you have, and the only thing that totally fixed the problem was to use my long range dragon link setup. I didn't want to use this until I had sorted out all the bugs, but it seems I won't have a choice.

The throttle issue is confirmed by not passing it through the ardupilot. All things work perfect then too. Except throttle of course! 8-(

Look forward to hearing your findings.

• ▶ Reply

3D RoboticsPermalink Reply by Chris Anderson on June 4, 2010 at 7:10am

Assuming you've got the right radio mode selected (0 or 1), there are only three potential problem issues with the throttle that we know of:

1) You're using the shield and have not cut the D13 pin
2) For some reason, your RC receiver is low-voltage.This is only a problem on the throttle channel, which is a hack on the current ArduPilot board and there are other things (LED and resistor) on that pin. In that case, you should use a servo amp on that channel. Our optocoupler in amp mode will do the trick.
3) You're using #define REVERSE_ROLL -1. We've had some reports of issues with that, but haven't been able to replicate yet.

• ▶ Reply

Permalink Reply by wilsonj on June 4, 2010 at 9:32am

Hi Chris,

I have tried with and without the shield. Same result.

I have not used REVERESE_ROLL.

I should add that the mux light comes on everytime the servos twitch, but only with half the intensity of what it does when I change modes. It has to be the radio, as changing nothing but the Tx/Rx combo fixes this.

I have just placed an order for the optocoupler. Although I plan on using the DL it will be interesting to see if it solves the issue.

• ▶ Reply

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