Replies to This Discussion

Permalink Reply by Paul Mather on April 27, 2011 at 8:35pm

Please try 1.2.76. I believe I have finally fixed the read routine.

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Permalink Reply by Robb Smith on April 27, 2011 at 9:01pm

Thanks happy.  What was the problem?  One other thing I have noticed is that in the APM PID window the XTrack gain is set to around 20 for stable simulation flight.  So I am simulating perfectly fine, then I open up the HK program and wirelessly connect and immediately the plane starts zigzagging.  I then change the XTrack gain from HK to 1 and it is back to fine....  Weird.

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Permalink Reply by Paul Mather on April 28, 2011 at 6:01am

Hmmm....I too have seen the zigzag.... I attributed it to the fact that all lat and long values had 0 for the 6th digit. Are you seeing my GCS changing the Xtrack gain?

 

The problem I was a typo in my parsing routine. I changed > to >= and it fixed a bunch of problems.

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Permalink Reply by Robb Smith on April 28, 2011 at 6:25am

No, your GCS does not change the Xtrack gain.  It reads it as perfectly as I set it using the APM Planner.  I think it has to do with the actual interpretation of the Xtrack gain.  Awhile back the default value for Xtrack gain in the APM Planner was like 300 and I was getting the zigzag.  This was fixed and it was pointed out that it should be between 1 and 10.  I actually have mine around 20 right now so that the HIL follows the flightplan tightly but does not zigzag using the APM Planner as a GCS through the XBees.  I then close the APM Planner on my laptop and open HK GCS.  As soon as I connect the HIL immediately starts to zigzag.  I read the configuration and then change the Xtrack gain to 1 or 5 and voila.  It goes away.  I think the 'weight' of the Xtrack gain is different between the two ground stations.  Try it out and tell me if it happens to you....

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Permalink Reply by Paul Mather on April 28, 2011 at 6:48am

I've sent an email to Doug asking if my ranges are correct. My value was set to 100....which is way above 10...

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Permalink Reply by Robb Smith on April 28, 2011 at 7:06am

I'm almost certain now that something is up with one of the two GCS' Xtrack multiplier.  They are not scaled equally somehow.  There may be another issue that is causing it but the apparent outcome is the scaling error between the two programs.

Permalink Reply by Paul Mather on April 28, 2011 at 10:38am

I just talked to Doug....the number itself includes two decimal places. but is stored as an integer. So 2.33 would be 233 in the APM. My GCS has a multiplier built in so 1.2.77 will have this corrected. You enter it as a decimal value between 0 and 10 and it will multiply/divide by 100 for you. So what should happen is if you open your parameters in my GCS it will show 2.33 and in Michael O's planner it will show 233 (I think).

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Permalink Reply by Robb Smith on April 28, 2011 at 9:11pm

I will have to check this out tomorrow.  I will run a HIL and look at both.  Thanks again Happy!

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Permalink Reply by Robb Smith on April 29, 2011 at 4:43pm

As I am currently without power I cannot run a HIL at the moment to check Xtrack gain differences between APM planner and HK GCS.  I can, however, tell you that the waypoint read problem is definitely fixed.  My problem now is, as stated on another thread, after it reads everything and zeros in on current GPS position it crashes.  It may just be me as I'm may be experiencing a problem with my APM's gyros.  I will update as I can...

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