"How is your control allocation going on? Did you implement the pseudo inverse method onboard?
"
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IR sensor implementation problem
Started this discussion. Last reply by Reck Jan 16. 4 Replies 0 Likes
Hi-,Recently I tried to add IR sensors to APM board for obstacle avoidance. I am using an APM1 board, and an expansion port on the IMU shield board to receive analog-in data from an IR sensor. A…Continue
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Reck replied to Yangbo Long's discussion IR sensor implementation problem"Hi! I try to implement my IR sensors on my code and wondered where you put those lines in Attitude.pde :
if(obstacle)target_angle += 3000; // increase roll angle by 30 deg if obstacle detected, to keep away from the obstacle
Did you create a new…"
Yangbo Long replied to John Whitney's discussion all sensors are zero??? in the group ArduCopter User Group"Try upload the firmware using the mission planner, instead of the Arduino IDE. You might get it working this way."
Yangbo Long replied to Yangbo Long's discussion IR sensor implementation problem"Hi Chris, I have solved the problem by replacing AP_AnalogSource_ADC with class AP_AnalogSource_Arduino when defining object SharpIR_analog_source. Now the IR sensor works fine. But isn't the AP_AnalogSource_ADC class for APM1?"
3D RoboticsChris Anderson replied to Yangbo Long's discussion IR sensor implementation problem
"That was for the original ArduPilot (not Mega). They used differential IR sensors. These IR sensors are different, and are the ones we already use for distance/obstacle sensing on ArduRover. "
Yangbo Long posted a discussionIR sensor implementation problem
Hi-,Recently I tried to add IR sensors to APM board for obstacle avoidance. I am using an APM1 board, and an expansion port on the IMU shield board to receive analog-in data from an IR sensor. A Maxsonar is hook up too.Then I used the visual micro debugger to read out the variable values. I found that SharpIR_dist kept being 20 without any change, which means the IR sensor is never working. Any help? Thanks in advance.The codes I added in the program are as below:In the ArduCopter.pde:#define…See More
Yangbo Long replied to Seth Bourne's discussion Using Eclipse for ArduPilot Mega Development in the group Learning to program the Ardupilot Mega"Aaron,
Thank you so much. In the past, there were just a lot of errors using Eclipse. Now everything is good, errors no longer exist, only some warnings are there."
Yangbo Long commented on Igor van Airde's blog post ArduCopter: Changing from PI to PID to improve stability"@Roy,
palo sestak has told me where these objects are defined. Many thanks to him. Thank you all well.
Actually in your original assumptation, what you described is a trajectory tracking problem, i.e., tracking a desired attitude with a speed of 10…"
Yangbo Long commented on Igor van Airde's blog post ArduCopter: Changing from PI to PID to improve stability"Hi Roy,
I read the discussion and comments here. I also read the PID libraries. But I have difficulities to find these functions or objects:wrap_180, constrain, ahrs.roll_sensor, roll_rate_d_filter.applyBecause I failed to set up Eclipse on my…"
Yangbo Long replied to Seth Bourne's discussion Using Eclipse for ArduPilot Mega Development in the group Learning to program the Ardupilot Mega"How do you feel using Netbeans for code scanning? Is it convenient?"
Yangbo Long replied to rick's discussion Arducopter ESC PWM update rate"Hi Jasonshort,
I noticed that for the quadrotor configuration, pin 1-4 output 490hz pwm signals, pin 5-6 output 50hz pwm, while pin 7-8 don't output any signal (always low). If I want to add one more channel to output 490 hz pwm, what changes…"
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- A phd student, working on small UAV.
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- Nonlinear control design and implementation; over-actuated system optimization.
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