ArduPilot (Legacy) main page
[This original ArduPilot board, now called the "Legacy ArduPilot" is no longer produced or officially supported by the DIY Drones dev team, and this page is maintained just for historic reasons. However, there are still many users of it out there and it still works fine. The user group for Legacy ArduPilot users, for both thermopile and IMU use, is here.]
ArduPilot is a full-featured autopilot based on the Arduino open-source hardware platform. It uses infrared (thermopile) sensors or an IMU for stabilization and GPS for navigation. It is the autopilot used to win the 2009 Sparkfun Autonomous Vehicle Competition.
The hardware is available from Sparkfun for $24.95. An expansion board ("Shield") kits that includes an airspeed sensor, a 3.3v power regulator for 3.3v GPS modules and other sensors and cables and connectors for easy attachment of the XY and Z sensors, is available from our own store for $57.20.
User f
ArduPilot features include:
- Can be used for an autonomous aircraft, car or boat.
- Built-in hardware failsafe that uses a separate circuit (multiplexer chip and ATTiny processor) to transfer control from the RC system to the autopilot and back again. Includes ability to reboot the main processor in mid-flight.
- Multiple 3D waypoints (limited only by memory)
- Altitude controlled with the elevator and throttle
- Comes with a 6-pin GPS connector for the 4Hz uBlox5 or 1hz EM406 GPS modules.
- Has six spare analog inputs (with ADC on each) and six spare digital input/outputs to add additional sensors
- Supports addition of wireless modules for real-time telemetry
- Based on a 16MhZ Atmega328 processor. Total onboard processing power aprox 24 MIPS.
- Very small: 30mm x 47mm
- Can be powered by either the RC receiver or a separate battery
- Four RC-in channels (plus the autopilot on/off channel) can be processed by the autopilot. Autopilot can also control four channels out.
- LEDs for power, failsafe (on/off), status and GPS (satellite lock).
Resources:
ArduPilot requires the free Arduino IDE to edit and upload the code to the ArduPilot board.
The code is currently optimized for the Mutiplex EasyStar three-channel powered glider and FMA sensors, but can be modified for other aircraft and sensors. It uses the rudder/ailerons and elevator to maintain level flight and navigate to GPS waypoints. It supports a desktop setup utility and ground station software. It also includes a "fly-by-wire" mode that simply stabilizes RC flight. The main code is ArduPilot2.x.zip in the download section of our Google Code repository, where x is the latest version.
What you need to make a fully-functional autopilot:
- ArduPilot board
- Shield expansion kit with airspeed sensor
- GPS module (uBlox5 recommended)
- XY and Z sensors or ArduIMU+
- FTDI cable for programming
- [Optional] Two Xbee modules for wireless telemetry. This one in the air and this one with this antenna on the ground/laptop side. You'll also need two Xbee adapter boards. You can connect the airborne Xbee adapter to Ardupilot Mega with jumper wires.
Open source extras:
- If you want to build your own board from scratch, the necessary files and component lists are here.
- [Note: you shouldn't need this, since this code is loaded on the ArduPilot board at the factory] Latest multiplexer code (for the board's second processor, an Attiny, which runs the failsafe system) is here.
Instructions for loading this code are here.
Recommended UAV setup:
Airframe option one: Hobbico SuperStar (49" wingspan, $95, shown above). This is an inexpensive, good flying high-wing trainer with ailerons. It can be hand launched in a park or take off from a runway, and replacement parts are readily available in case of a crash. If you want much better performance with this aircraft, you can upgrade it to a brushless motor, speed controller and a LiPo battery. [If you don't already have one, you'll also need a balancing charger and power supply.] Note: any stable aircraft with both ailerons (for stabilization) and rudder (for navigation) can work, so feel free to experiment with what you've got.
Airframe option two (recommended for ArduPilot 2.x): EasyStar (shown above). Performance can be improved with the modifications described in this post.
You'll also need:
- A six or seven channel RC transmitter and receiver, with at least one toggle switch (ideally three-position but two-position will work, too, although you will have to mix channels to have access to both autopilot modes in the air), such as the Futaba 7C.
- Some servos (at least three for ArduPilot 1.0; at least two for ArduPilot 2.x) and at least three female-to-female servo cables to connect the RC receiver to ArduPilot.
Cool optional extras for your UAV:
- A GPS logger to record your mission and play it back in Google Earth
- A tiny video camera to record the flight
- A wireless video setup to see realtime video from the air
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3D Robotics Comment by Jordi Muñoz on August 6, 2009 at 3:42pm -
Danilo,
You need X-CTU to program your Xbee's:
http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=125
The software is a GUI easy to use. Don't forget to check the "Always Update Firmware" to permanently save your stuff.
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3D Robotics Comment by Jordi Muñoz on August 6, 2009 at 3:49pm -
BTW Danilo,
The max speed of XCS is 9600 bps.
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Comment by Danilo Marques Figueiredo on August 6, 2009 at 4:00pm -
I have X-CTU , I see in IDE that I receiving data, but the gorund station don't work yet.
I have to install some ground station driver?!!!
And other thing , Idid one order 28/07 and I didn't receive it yet.The number of order is 1425, see this for me please...
Regards.
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3D Robotics Comment by Jordi Muñoz on August 6, 2009 at 4:06pm -
Your order was sent. I have the experience that in Brazil takes up to 1 month to arrive. But is not fault of USPS is fault of the Brazilian postal service. And BTW your own me 63 dlls of your first order. Paypal refund your payment because they say you have made an illegal transaction, but they refund you the money after i sent you the package (and i said great! Thanks Paypal).
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Comment by Danilo Marques Figueiredo on August 6, 2009 at 4:06pm
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the IDE showing some simbols that I don't know what is....rs..
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3D Robotics Comment by Jordi Muñoz on August 6, 2009 at 4:07pm -
And BTW Danilo, please never post anything about the store issues here and never ask me question about this in the store (viseversa). Please...
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3D Robotics Comment by Jordi Muñoz on August 6, 2009 at 4:11pm -
What you see in the terminal is called "Russian+Chinese and some Arabic". Means you don't setup the baud speed correctly.
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Comment by Danilo Marques Figueiredo on August 6, 2009 at 4:13pm
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Sorry for the order information!!rs....
What I have to see exactly in the terminal?!!!
With ardupilot at328 and XCS modules what's the correct baud rate?!
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Comment by Danilo Marques Figueiredo on August 6, 2009 at 4:16pm
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The IDE baud rate is the same that I put in module, in this case at X-CTU?!!!
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Comment by Earl on August 6, 2009 at 4:18pm -
I think I can help on the XBee problem. I have 2.4Ghz XBee's I use. One on AP and one on hardware GS. I have seen times when XBee's refused to talk to each other. To solve the problem I use X-CTU. My system is set up for 57600 baud. I have XBP24. It can also function as an XBP24-DM. That's XBee's proprietary DIGI-MESH mode. Either one works. The object of the XBee's is to establish a serial com link at xxx baud rate in a somewhat secure mode. That is they must be 'paired' to communicate with each other. Both must have the same 'ID - VID' 4 digit numbers. Also the SH - Serial number High and SL - Serial number Low , write the number of each down on paper. Now, using X-CTU , fill in the DL - Destination Address High and DL - Destination Address Low with each others SN. That is so the units only try to talk to each other and not someone elses's XBee. Now the baud rate on each one must be the same. In my case, I am set for 57600 baud. ALSO, real important, is the program the XBee's are using are set to the baud rate you want. The AP set to 57600 (or whatever baud you want), compiled and downloaded to your AP unit, and the hardware ground station or software (Labview Ground Station) set to your baud rate the XBee's are set to. Whewwww....
I hope I did not ramble on too much and I hope this helps.
Earl
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