3D Robotics Comment by Chris Anderson on February 1, 2010 at 6:53pm

Ah, I was accidentally looking at code from last week. Glad to see that you anticipated my needs!

Could post your PWM values for the Futaba 7C?

Comment by evilmacaw on February 1, 2010 at 9:06pm

jasonshort,
can you explain what you did to make your Futaba 7C work with the 2.5 code please ,it is the only radio i have to work with .maybe put the explanation in the manual so us less than sharp types can implement it

Developer Comment by jasonshort on February 1, 2010 at 9:30pm

To setup the Futaba 7c you need to do two things.

To set the control switch:
1: End Position Menu:
Set Ch5 to this:
> 140% > 63%

To setup the Failsafe:
Set End Point of Ch3 to 140%
1: End Position Menu:
Set Ch3: to this:
> 100% > 140%

2: Failsafe Menu
- Rotate the dial to F/S
- Press and hold the dial to set it

3: Return to End Position Menu:
Set Ch3 back to this:
> 100% > 100%

Comment by marco on February 2, 2010 at 11:15am

Hello,
I tried out version 2.5 with my Easystar.
Stabilize and fly by wire really OK.

GPS EM406 in Sirf mode get solid Fix very quickly.

When I try Auto or RTL mode the plane gose straight or after a large turn mostly towards the direction
shown by the red arrow in the picture ang in general away from the waypoints.

Could be something in the getbearing() routine?
My waypoint are Lat Nord and Long East

Here is my config file:

/***************************************/
/*ArduPilot 2.5 Header file, good luck!*/
/***************************************/

//Hardware Configuration
#define SHIELD_VERSION -1 // Old (red) shield versions is 0, the new (blue) shield version is 1, -1 = no shield
#define AIRSPEED_SENSOR 0 // (boolean) Do you have an airspeed sensor attached? If not throttle will restricted to altitude error.

// Flight Modes
// these Flight modes can be changed to either here or directly in events.pde
// options are MANUAL, STABILIZE, FLY_BY_WIRE, AUTO, RTL, LOITER
#define POSITION_1 MANUAL
#define POSITION_2 AUTO
#define POSITION_3 RTL


// Airframe settings
//1-1
#define GPS_PROTOCOL 1 // 0 = NMEA, 1=SIRF, 2=uBlox, 3 = IMU Choose protocol
//1-2
#define REVERSE_ROLL 1 //To reverse servo roll, PUT -1 to invert it!!!
//1-3
#define REVERSE_PITCH 1 //To reverse servo pitch, PUT -1 to invert it!!!
//1-4
#define REVERSE_THROTTLE 0 // 0 = Normal mode. 1 = Reverse mode...
//1-5
#define INTPUT_VOLTAGE 5200.0 // (Millivolts) voltage your power regulator is feeding your ArduPilot to have an accurate pressure and battery level readings. (you need a multimeter to measure and set this of course)
//1-6
#define BATTERY_EVENT 0 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
//1-7
#define MIXING_MODE 0 //Servo mixing mode 0 = Normal, 1 = V-tail (v tail not tested yet).

// IR sensors
//2-1
#define ENABLE_Z_SENSOR 1 // 0 = no Z sensor, 1 = use Z sensor (no Z requires field calibration with each flight)
//2-2
#define XY_SENSOR_LOCATION 0 //XY Thermopiles Sensor placement
//Mounted on top: 0 = cable in front, 1 = cable behind
//Mounted on botton: 2 = cable in front, 3 = cable behind
//2-3
#define PITCH_TRIM 0 //(Degrees +- 5) allows you to offset bad IR placement
//2-4
#define ROLL_TRIM 0 // (Degrees +- 5) allows you to offset bad IR placement


// RADIO
//3-1
#define SET_RADIO_LIMITS 0 // 0 = no, 1 = set the limits of the Channels with the radio at launch each time
//3-2
#define SET_RADIO_TRIMS 1 // 0 = no, 1 = set the trims of the Channels with the radio at launch each time
//3-3
#define RADIO_TYPE 0 // 0 = sequential PWM pulses(Fasst, Spektrums), 1 = simultaneous PWM pulses (Corona RP8D1)
//3-4
#define CH1_MIN 1079 // (Microseconds) Range of Ailerons/ Rudder
//3-5
#define CH1_MAX 1885 // (Microseconds)
//3-6
#define CH2_MIN 1097 // (Microseconds) Range of Elevator
//3-7
#define CH2_MAX 1899 // (Microseconds)
//3-8
#define CH3_TRIM 1015 // (Microseconds) Trims are normally set automatically in setup.
//3-9
#define THROTTLE_IN 0 // (boolean) Disables throttle when set to 0
//3-10
#define THROTTLE_OUT 0 // 1 = throttle, 0 = no throttle at all! (good for saving fingers on the bench.)


//NAVIGATION: HEADING
//Note: Some Gains are now variables
#define HEAD_P .714 //Heading error proportional (same used to move the rudder)... DO not add too much or you will oscillate left and right. (drunk driver effect)
//4-1
#define HEAD_I .095 //heading error integrator. Do not add too much or you will overshoot.
//4-2
#define HEAD_MAX 3500 //(Degrees *100) The maximum output in degrees to control the roll setpoint
//4-3
#define HEAD_MIN -3500 //(Degrees *100) The min output in degrees to control the roll setpoint
//4-4
#define HEAD_I_MAX 1000 //(Degrees *100) The maximum output in degrees to control the roll setpoint
//4-5
#define HEAD_I_MIN -1000 //(Degrees *100) The min output in degrees to control the roll setpoint
//4-6
#define XTRACK_GAIN .2 // amount to compensate for crosstrack - use debug mode to find correct value
//4-7
#define LOITER_RADIUS 20 // radius in meters of a Loiter
//4-8
#define REMEMBER_LAST_WAYPOINT_MODE 0 //If set 1 = will remember the last waypoint even if you restart the autopilot. 0 = Will start from zero everytime you restart the system.
//4-9
#define WP_ALTITUDE_RADIUS 10 // (meters) accuracy needed to find our waypoint in meters


//NAVIGATION: ALTITUDE
//5-1
#define ALTITUDE_PITCH_P 1.5 //Altitude error proportional, pitch setpoint
//5-2
#define ALTITUDE_PITCH_MAX 500 // most the plane will pitch up in degrees to raise altitude
//5-3
#define ALTITUDE_PITCH_MIN -1500 // (Degrees *100) most the plane will pitch down in degrees to lower altitude


//NAVIGATION: SPEED GAINS
//6-1
#define ALTITUDE_THROTTLE_P 1.33
//6-2
#define ALTITUDE_AIRSPEED_MAX 15 //(0-125) Maximum extra speed for gaining altitude
//6-3
#define ALTITUDE_AIRSPEED_MIN -15 //(0-125) Maximum reduded speed for loosing altitude



//ATTITUDE: ROLL GAINS
//7-1
#define ROLL_P .55 // START WITH THIS VALUE TO TUNE - overall proportional term determins how much rudder you use to turn
//7-2
#define ROLL_I .1 // roll PID integrator
//7-3
#define ROLL_Ps .6 // Controls rate of rudder turn - direct proportional effect; value of 1 = no dampening
//7-4
#define ROLL_Is .2 // Controls rate of rudder turn - speed at which the non proportional effect happens - .2 = 5 seconds
//7-5
#define ROLL_MIN -2500 // maximum output of Rudder
//7-6
#define ROLL_MAX 2500 // maximum output of Rudder


//ATTITUDE: PITCH GAINS
//8-1
#define PITCH_P .65 // Pitch Proportional
//8-2
#define PITCH_I .35 // Pitch integrator
//8-3
#define PITCH_COMP .30 //<------Very important, Pitch compensation vs. Roll bank angle.


//ATTITUDE: THROTTLE OUTPUT GAINS
//9-1
#define THROTTLE_ABSOLUTE 3 //Absolute
//9-2
#define THROTTLE_P .32 //Proportional
//9-3
#define THROTTLE_I .04 //Integrator
//9-4
#define THROTTLE_I_MAX 50 // (0-125) 50=70% Integrator limit.
//9-5
#define THROTTLE_CRUISE 25 // (0-125) %throttle, or (int)target airspeed for cruising
//9-6
#define THROTTLE_MAX 60 // (0-125) 70 = 56% maximum throttle


/*****************/
/*Debugging Stuff*/
/*****************/
//10-1
#define DEBUG 0 // 0 = no debugging, will cause plane to enter debugging simulation mode
//10-2
#define TURNRATE 65 // (degrees) how fast we turn per second in degrees at full bank
//10-3
#define CLIMBRATE_UP 1000 // (meters * 100) how fast we climb in simulator at 90°
//10-4
#define CLIMBRATE_DOWN 3000 // (meters * 100) how fast we climb in simulator at 90°

Compliments for your job and thanks a lots for any help

Comment by marco on February 2, 2010 at 11:17am

Sorry, here are the coordinates in a more readable form:

OPTIONS:66,False,True,Meters,17
HOME:45.567316,8.997277,82
45.56659,8.99755,82
45.56695,8.99804,82
45.56755,8.99786,82
45.56775,8.99714,82

Tanks again

Developer Comment by jasonshort on February 2, 2010 at 11:39am

Thanks,
Could you also run this in the debug mode? I will do that tonight as well.
Jason

Comment by Nippy on February 2, 2010 at 11:58am

Thanks for the update! It looks promising!

I just loaded v2.5 on the board and did the needed modifications:

#define SHIELD_VERSION -1 // I have no shield, just the red board
#define GPS_PROTOCOL 1 // I've got the EM406 module

I think there is something strange with the blue GPS FIX-LED (unless the led behavior hasn't changed now).

1. I put the jumper on and start it up. The blue LED flashes until GPS lock. Then it goes solid.
2. I do the radio setup and then reboot.
3. Now, the blue led goes solid again - Everything seems to work!

But, now I got suspicious. Even if I put the GPS module in a shielded metal box - there's still a solid blue LED.
I'm testing inside my apartment and with v2.46 the blue LED would always go out if I got to far from the windows.
With V2.5 I can't get it to turn off! ;-)

I would be nice to always have a solid GPS-lock, but I think something is wrong.

Am I missing something?

3D Robotics Comment by Chris Anderson on February 2, 2010 at 12:08pm

Nippy,

I think Jason fixed that in the latest code rev. Are you using the most recent version?

Comment by Nippy on February 2, 2010 at 12:24pm

Jason, I replaced the file but got compile error:
In function 'void GPS_join_data()':
error: 'GPS_timer' was not declared in this scope In function 'void waypoint_event(byte)':

Chris, I'm using the Ardupilot_2.5.0rc.zip ZIP-file from the top of this page.

I see there's a v251 in the repository. Is it possibly fixed there?
- Thanks!

3D Robotics Comment by Chris Anderson on February 2, 2010 at 12:30pm

Nippy, no just stick with Jason's code on this one. (While you're waiting for him to fix that line, you can always declare the variable yourself for testing)

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