Replies to This Discussion

Permalink Reply by Allen Babb on October 19, 2011 at 1:45pm

You might be able to tack in a short segment that will modify the angle setpoint for the attitude PID whenever the sensor goes high.

But as far as getting the quad to remember the obstical is there, that's a little more into the AI realm of programming.

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DeveloperPermalink Reply by Randy on October 19, 2011 at 8:56pm

In stead of moving the motor directly, you should probably adjust the roll or pitch appropriately.  Then let the attitude control take care of firing the motors appropriately to achieve the required roll or pitch.

 

Jose did this originally a long long time ago on his mini quads using the same sensor (I think) as you're using.  I then integrated the code into arducopterNG but it's not in ACM but will likely be addedback at some point in the future.

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Permalink Reply by Obertan on October 22, 2011 at 11:14pm

im using the code of range finder. i forget where i upload it cause its long time ago. im trying to edit it so that i get wat i wan for my project to work.

I wan to know is it that not all code in range finder are used for obstacle avoidance? Only certain part of the code are used for avoidance am i right?

Can u guys help me to go through this project? I wan to make sure it able to work.

Thank u guys

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DeveloperPermalink Reply by Randy on October 24, 2011 at 7:01am

Obertan,

     In the AP_RangeFinder class you will find that it only provides a distance.  The code for obstacle avoidance should be in the main code.  There's a couple of other people who wanted to implement obstacle avoidance so maybe you could team up with one of them?

     Here is on of those blog posts.

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Permalink Reply by Obertan on October 30, 2011 at 11:47pm

i already reply but still no one help me

mayb u can help me? pls....

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DeveloperPermalink Reply by Randy on October 31, 2011 at 8:35am

hmm...well...I can try and talk you through it but I hope you have some programming experience and spend some time trying to understand the ACM code.

 

First thing you should do is try and get the AP_RangeFinder example sketch working for the sharp distance sensor.

 

If you've downloaded the code correctly from git and set-up your arduino preferences correctly you should see the example sketch in the arduino ide under file, examples, AP_RangeFinder, AP_RangeFinder_test.

 

you can see line 18 needs to be uncommented (and line 19 should be commented out) to start using the sharp sensor.

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Permalink Reply by Obertan on October 31, 2011 at 5:37pm

where can i get the ap_rangefinder sketch?

cause now im using thequadmini 1 29 rangefinder. im not using all the code in there. im just some codes tat need to use for my ir sensor.

i just using the filter functions, position control. is there any other thing need to upload to improve my code. i wan the motor interact wif the ir sensor. like the obstacle avoidance

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DeveloperPermalink Reply by Randy on November 1, 2011 at 5:53am

You can find the latest ACM code in the download area here.

 

The instructions on how to load it onto the APM board using the arduino idea are here.

 

Do you have a flying quad?  Have you done programming before?

 

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Permalink Reply by Obertan on November 1, 2011 at 11:13pm

sorry randy,

i dont intend to use tat kind of huge code. im now using the code from this websites

: http://diydrones.com/profiles/blogs/arduimu-quadcopter-part-iii

Im just using the ir distance code for my sensor to work.

now im going add on some code from  rangefinder to my original code. so that the motor from the quadcopter will move when one of the sensor is the near the obstacles. im trying to find out how to make the motor move and also make the motor more power than the other motor so tat is does not crash on the wall.

like te one in the video

:)

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Permalink Reply by Obertan on November 7, 2011 at 5:50am

do u still there?

i was waiting this few days for ur help. u didnt answer. i really hope u get to help me in this project

DeveloperPermalink Reply by Randy on November 7, 2011 at 6:47am

Obertan,

     I won't be able to help you with that version of the code I'm afraid.  It's a very old version and any investment of time I made in it would not contribute to the main code base which everyone else is working on.

     Sorry, I can't be of more help.

-Randy

Permalink Reply by Obertan on November 7, 2011 at 7:08am

its ok.

is there anyone else able to help me?

i really need to sove my problems

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