Comment by Justin on January 25, 2012 at 6:40am

The sharp eyed may notice there was no track following between waypoints 6 and 7

this was not because of wind or anything, but because there was a speed change command between waypoint 6 and 7 this the navigator did not have a "from" bearing on its way to 7, so it just made a bee-line.

I've fixed this, but could not be bothered to re-do the screen cast.

There is a bunch of stuff I can say about LAND, TAKEOFF and Auto-trim, if anyone is interested just ask.

Moderator Comment by Alex on January 25, 2012 at 10:42am

Looks realy nice, I would be interested in testing the SITL setup, aswell as one for APMv1

Comment by Jeb Bailey on January 25, 2012 at 12:17pm

Please, do post about the auto takeoff/land.

Comment by leonardo.bueno on January 25, 2012 at 12:34pm

Justin, I'm interested in testing it in SITL mode too.

Developer Comment by Andrew Tridgell on January 25, 2012 at 2:26pm

Hi Justin, I'm back from my conference now and I'd love to have a look at your work. Could you point me at your patches?

Comment by Justin on January 26, 2012 at 12:42am

For SITL tests right now all I have is an OSX .elf, so unless you are on Mac I can't post that.

I'll post an APM1 and APM2 .hex file shortly, then upload the code so anyone can pull it down and build it.

Comment by Michael Pursifull on January 26, 2012 at 12:03pm

Justin - would't this look even nicer with a Bixler/EasyStar X-Plane model?

http://diydrones.com/forum/topics/x-plane-arduplane-bixler-easystar...

Comment by Michael Pursifull on January 26, 2012 at 12:12pm

One item that has concerned me, between my HiL and real-world flights, is that where I fly, the winds are not 8.75 at 159.8 degrees, but rather they vary from 0-8 knots, average around 4-5, and change direction slightly from second to second (though generally from the same 5-10 degree source.) Maybe I need to fly higher? I am curious about your thoughts on this.

Comment by Itay Guy on January 26, 2012 at 1:28pm

Hi , what is SITL?

and in what this project is different then the one that shows you how to connect the APM to the X-Plane

 

Comment by Michael Pursifull on January 26, 2012 at 1:35pm

Software-In-The-Loop

His project, unless I misunderstand, is a modified version of the firmware to handle tracking differently, as well as several other modifications/features, which he lists in the original post. 

The HiL (hardware in the loop) is used to make development of these features faster and less expensive (when you crash your plane, you don't have to rebuild it, you just reload it...and you can create predicable flight conditions on demand, and not wait three days for the rain and wind to pass)

The SITL is mentioned because of the difference in experience he's had between HiL and SitL. When you are simulating the sensors, pushing the data across your X-Plane, your operating system, in and out of the APM.... these things take time. Time is sensor lag, basically, and can dramatically change the flight experience. That being said, it remains an invaluable tool for development and for training. 

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