Developer

New version of Mega Posted

http://code.google.com/p/ardupilot-mega/downloads/list

This is a new version of Mega for Alpha testers to try out. Please use this thread to let me know if you are having issue or questions.

Enjoy,
Jason


Things left to do:
- Move the Reverse servo functions to the hardware switches
- finish binary GCS
- uplink parser
- magnetometer support
- better integration of baro sensor

What this release has:
- A complete waypoint command set including Auto Launch, Loiter N times, Loiter N seconds, Land, etc.
- missed waypoint detection
- All flight modes are available.
- Xplane integration with the IMU library for tetsing
- a Waypoint Writer for manually uploading commands - sorry, no GCS yet!


Here are the commands:

CMD_WAYPOINT   - normal autopilot waypoints
CMD_LOITER - enter Loiter mode around the specified coordinates
CMD_LOITER_N_TURNS - enter Loiter mode around the specified coordinates N times
CMD_LOITER_TIME - enter Loiter mode around the specified coordinates N seconds
CMD_RTL - enter RTL mode - come home
CMD_LAND_WP - enter landing mode, got to the specified coordinates
CMD_TAKEOFF - enter takeoff mode, height and pitch defined

CMD_CH_MODE - change flight mode - see defines for corresponding numbers
CMD_RESET_INDEX - start over waypoint commands
CMD_GETVAR_INDEX - return the variable referenced by an index code
CMD_SENDVAR_INDEX - send a variable value referenced by an index code
CMD_TELEMETRY - toggle telemetry on or off

CMD_THROTTLE_CRUISE - set the value of the throttle for cruising
CMD_AIRSPEED_CRUISE - set the value of the target airspeed in meters/second
CMD_LAND - set the pitch, target airspeed, and throttle cruise for landing
CMD_RESET_HOME - resets home to current location

CMD_PAYLOAD_0 - not implemented
CMD_PAYLOAD_1 - not implemented

CMD_KP_GAIN - set the value
CMD_KI_GAIN - set the value
CMD_KD_GAIN - set the value
CMD_KI_MAX - set the value
CMD_KFF_GAIN - set the value
CMD_RADIO_TRIM - set the value
CMD_RADIO_MAX - set the value
CMD_RADIO_MIN - set the value

Here is an example of a command set to launch, loiter 4 times and land. I used special CMD_LAND_WP waypoints for two reasons. They keep the flight mode in "Land" which lets me override the pitch with my own special value. Then it lets me stage my landing in multiple steps. As I reach each waypoint, the next CMD_LAND function is executed and I pitch the nose up and cut the throttle at the last minute.


// 1 pitch 20°, Altitude meters
CMD_TAKEOFF, 20, 0, 0, 100
// 2 Loiter 4 turns around this waypoint
CMD_LOITER_N_TURNS, 4, 37.621392, -122.374660, 80
// 3 Extra point for line up
CMD_WAYPOINT, 0, 37.622354, -122.378007, 40
// 4 Pitch 20°, reduce airspeed to 10 m/s, throttle to 30%, track WP on
CMD_LAND, 20, 10, 30, 1
// 5 This is a special intra-waypoint to keep us in landing mode
CMD_LAND_WP, 0, 37.623880, -122.381736, 30
// 6 Pitch 20°, reduce airspeed to 5 m/s, throttle to 0%, track WP on
CMD_LAND, 20, 5, 0, 1
// 7 This is a special intra-waypoint to keep us in landing mode
CMD_LAND_WP, 0, 37.626073, -122.387028, 20
// 8 Pitch 30°, reduce airspeed to 0 m/s, throttle to 0%, track WP off
CMD_LAND, 30, 0, 0, 0
// 9 our final destination
CMD_LAND_WP, 0, 37.628123, -122.392101, 0

Views: 57

▶ Reply to This

Replies to This Discussion


DeveloperPermalink Reply by jasonshort on September 13, 2010 at 7:42pm
Hi,
So I redesigned that a few weeks ago and now it based on radius to the landing waypoint.

CMD_LAND_OPTIONS pitch deg, airspeed m/s, throttle %, distance to WP

These commands need to come AFTER the last waypoint and are triggered when the last parameter is met.

Negative pitch values are fine.

Here is an example with the new format:

{CMD_LAND, 0, 0, 37.628574, -122.393102},
{CMD_LAND_OPTIONS, 0, 5, 30, 300},
{CMD_LAND_OPTIONS, 0, 5, 10, 100},
{CMD_LAND_OPTIONS, 30, 0, 0, 20},
Permalink Reply by Steve Jackson on September 27, 2010 at 9:12pm
It looks like there is a mismatch between the APM_Config.h.example and config.h

The example file states:
// The default is to disable air start.
//
//#define ENABLE_AIR_START 0

but the config.h file has:
#ifndef ENABLE_AIR_START
# define ENABLE_AIR_START ENABLED
#endif

I'm not sure if I'm reading this right, but it looks like Air Start is Enabled by default.

Steve

3D RoboticsPermalink Reply by Chris Anderson on September 27, 2010 at 9:14pm
Steve, as always, if you've found a bug please file an issue. The developers aren't usually reading all the forums and comments.

RSS

Social Networking

Top Content 

1 APM 2.5 from hobbyking

APM 2.5 from hobbyking
2 Alt_hold and loiter acting crazy

Alt_hold and loiter acting crazy
3 Looking for best laptop screen to see in the sun

Looking for best laptop screen to see in the sun
4 APM Copter 2.9.1.b has been released

APM Copter 2.9.1.b has been released
5 New micro-cameras emulate insects' compound eyes

New micro-cameras emulate insects' compound eyes
6 Hobby King Ardupilot

Hobby King Ardupilot
7 B go Beyond Quadcopter/Car convertable

B go Beyond Quadcopter/Car convertable
8 ArduPlane 2.73 released

ArduPlane 2.73 released
9 Thirty Days (#17): 12-rotor close up

Thirty Days (#17): 12-rotor close up
10 Mapping Mission Ride Along

Mapping Mission Ride Along

Contests

Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.

A list of all T3 contests is here. 

Groups

Advertisement

© 2013   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service