A blog of my experiences with ArduPilot
Having messed around with RC craft for the last 20 years or so and having built and flown all kinds of 'craft' from 1/4 scale to 28g (1oz) planes - heli's, boats and cars too, I thought the ArduPilot project seemed a interesting new avenue to try.
Started on my AP (ArduPilot) project with the arrival of my Arduino168 board, wasn't sure I wanted to commit a plane yet so tried it in an RC car. ArduPilot board /EM406 GPS, v1.0 software,… Continue
Added by Graham Dyer on April 15, 2009 at 1:30am —
This is finally the post for my headtracking system. I still have some tweaking ahead, but here is the present situation.
It is based on following components:
- Arduino compatible board (I use a spare ArduPilot board) in the airframe
- Arduino compatible board on the ground (I use a Arduino Pro Mini from Sparkfun)…
Added by Reto on March 29, 2009 at 2:00pm —
After the 1st test flight and seeing the plane wobble too much ive edited the code to make the following changes...
#define roll_P .8 //roll PID proportional
Rudder to sensitive
#define roll_P .5 //roll PID proportional
No wobble at all but wont turn...
#define roll_P .65 //roll PID proportional
Still too sensitive but much better then .8 & seems to turn with… Continue
Added by Max on March 23, 2009 at 11:07pm —
ArduPilot 2.0 uses the same hardware as ArduPilot 1.0 but new software to do both the navigation and stabilization functions itself, with no need for a FMA Co-Pilot (although we still use the FMA XY… Continue
Added by Chris Anderson on February 26, 2009 at 12:00am —
If at any point you've managed to crash the ArduPilot code so badly that you've nuked the bootloader, don't worry: you can reload it. You'll need an AVR programmer
The best way to reload the bootloader is with the Arduino IDE, which is pretty straightforward. Just plug in your AVR programmer and select Burn Bootloader/ w/ AVRISP mk II. If you've already loaded AVR Studio, you may get an error… Continue
Added by Chris Anderson on February 21, 2009 at 10:00pm —
Thanks to Rusty's detective work
, I think we've fixed the GPS lock bug (the blue LED was turning off even when the module was showing valid data). New code is here
(Basically every instance of "if (fix_position == 0x01) ..." should have been "if (fix_position >= 0x01)..." It turns out that there are three valid fix values: 1,2… Continue
Added by Chris Anderson on February 21, 2009 at 6:00pm —
Some people have had questions about ArduPilot's FTDI port. Basically, it's a standard FTDI port but we don't use the power pin. That means that you can't power the board from the FTDI cable, and every time you're using the FTDI cable it must be powered by another source, such as your ESC, battery or whatever else you'd normally use. The reason we don't use the FTDI's power is to avoid power conflict with the board when you're using the FTDI cable as a serial monitor during regular ArduPilot… Continue
Added by Chris Anderson on February 10, 2009 at 10:40am —
We have now fully diagnosed the ArduPilot MUX firmware problem, and it turns out there were two problems, not one. The early boards were flashed with the wrong firmware, which was fixed on 1/26, but the boards after that until 2/5 continued to have a second problem, which is that the CKDIV8 fuse in the Attiny45 chip wasn't cleared at the factory, as it was supposed to be. What does the CKDIV8 fuse do? It divides the internal 8Mhz clock speed by 8, so the Attinys ship from the manufacturer with… Continue
Added by Chris Anderson on February 7, 2009 at 12:29am —
For months i have been slowly investigating and "developing" an accurate, efficient nav code (for slow power 8-bit uControllers), finally i just finish my new navigation algorithm, is super faster and smaller.... =).
Before the functions were like this:
int get_gps_course(float flat1, float flon1, float flat2, float flon2)
//I've to spplit all the calculation in… Continue
Added by Jordi Muñoz on February 1, 2009 at 10:30pm —
We've been describing ArduPilot as a navigation-only autopilot and saying that it needs the FMA Co-Pilot to provide stabilization. But that's actually not true--we just hadn't written the stabilization code yet. ArduPilot is powerful enough to handle both functions,… Continue
Added by Chris Anderson on January 29, 2009 at 11:00pm —
This is a quick video tutorial to explain how to re-flash the attiny45 in ardupilot boards. You can also tweak the attiny code if you wish...
But first you need to fallow this steps:
1.-Buy an AVRISP MKII programmer, you can buy one in… Continue
Added by Jordi Muñoz on January 27, 2009 at 2:00pm —
This is the first post in what I hope will be a mini-series on doing hardware-in-the-loop simulations with ArduPilot. A simulation is something you do to test your autopilot on the ground, where you won't get in trouble. It's an absolutely necessary thing when you're… Continue
Added by Chris Anderson on January 25, 2009 at 11:00pm —
You may have noticed that we had wireless telemetry in our flight testing
last week. It's really easy to add.
The first thing to keep in mind is that you should use Xbee modules in a… Continue
Added by Chris Anderson on January 18, 2009 at 11:30pm —
Great day of flight testing ArduPilot today. Jordi and I were joined by Jack Poller, and we spent the whole day debugging code, tweaking gains and otherwise building towards the aim of the day, fully autonomous flight. Good news: ArduPilot works great in the air, we… Continue
Added by Chris Anderson on January 16, 2009 at 10:00pm —
ArduPilot code, modified version for use on Microsoft Visual Studio. Compatibility with Arduino studio still maintained.
Also contains parser of KML files, for importing fly paths drawn in Google Earth.
1) Download and extract ArduPilot_20090211.zip
2) Download… Continue
Added by Michal B on January 12, 2009 at 5:30am —
Great news! ArduPilot is now available to buy at Sparkfun. The price is $24.95 (or buy 100 at $19.96 each ;-)). Note: there is a limited number available now, but Sparkfun can make more… Continue
Added by Chris Anderson on January 6, 2009 at 10:00am —
Jordi's finished the first beta
of ArduPilot, in anticipation of the board's commercial release. Changes and improvements include:
- The code is now hosted in a proper code repository (Google Code) for version control and to allow others to contribute to the project. You can find it here.
- RTL (return to launch) and waypoint modes are user selectable
Added by Chris Anderson on December 29, 2008 at 8:37am —
If you're trying to upload code with Arduino and you get an error message that looks something like this: Continue
"Problem uploading code.....
avrdude: stk500_getsync(): not in sync: resp=0x78
avrdude: stk500_disable(): protocol error, expect=0x14,…
Added by Chris Anderson on December 26, 2008 at 4:00pm —
To load the failsafe firmware on ArduPilot's Attiny chip, you need to do the following.
You'll need an ICSP AVR programmer. We recommend AVRSIP2
. Connect… Continue
Added by Chris Anderson on December 22, 2008 at 12:30pm —
We fixed some bugs in the ArduPilot's failsafe code, which runs on the board's second processor, an Attiny45. It now works great, and has a secret "reboot the autopilot" feature. Just toggle the autopilot enable switch on your transmitter five times fast, and it will reset the Atmega168. Great for times when you don't want to land just because a random bug froze the autopilot. Otherwise it just does what it's supposed to do: transfer control from RC to autopilot and back again on command--every… Continue
Added by Chris Anderson on December 21, 2008 at 10:10pm —