Developer

Ardupilot 2.5 Release Candidate

I was finally able to test 2.5 over the weekend and added a few tweaks to the code.
Here's what I hope is the final release.

As the new Manual gets formatted, you can view it at: http://code.google.com/p/ardupilot/wiki/ArduPilot25
Until the content is finally moved over the 2.4 manual is still a great resource.

Ardupilot_25_RC2.zip

Bonus - If you look check out the Waypoint_writer_25.pde file in the test suite, you can upload relative waypoints. This isn't supported in the config tool yet.

Jason


UPDATE -
A lot of people were having trouble with the GPS code and LEDs. I reworked the GPS parsers today to iron out some things. They were nothing that would interfere with flight, but I highly recommend using this new version. I've also added the ability to scale down your plane's roll based on airspeed. This should help planes that turn faster when they go slower. We may tweak this a bit in the future, so I'm looking for feedback on it. Note you can always turn it off in your header file with this line:
//6-4
#define AIRSPEED_TURN_P 1
see the header file for more instructions


Views: 326


Developer Comment by jasonshort on February 2, 2010 at 12:32pm
2.5.1 is not going to be ready for a while. It's not flyable at this moment.
Comment by Nippy on February 2, 2010 at 1:07pm
Jason, tried your last file, but got the same compile error.
Then I declared GPS_timer in the Ardupilot_25rc-tab:
static unsigned long GPS_timer = 0;
it solved the comile error, but I still get the same behavior as described - solid blue LED, everywere.

Developer Comment by jasonshort on February 2, 2010 at 2:00pm
Hi, That actually won't work.
Try this version. GPS_EM406.pde.zip
Comment by Nippy on February 2, 2010 at 2:59pm
Ok, tried the new GPS-file and it compiled ok. But still no luck on the blue LED.
If I power the board, with no jumper on, it lights upp (solid) after about 2 sec every time.
If I remove the GPS, the light goes out as expected...

Developer Comment by jasonshort on February 2, 2010 at 3:13pm
You are doing an "in-air" start. The GPS doesn't wait for lock when the pin is not there. It's too busy flying the plane.

That behavior sound right. Two seconds after removing the GPS, your light will go out. If you loose GPS for longer than ten seconds, we assume the GPS has failed entirely and the plane will begin to loiter blindly.

Jason

Developer Comment by Randy on February 2, 2010 at 8:47pm
Perhaps it's been mentioned before but what's the plan for porting ArduPilot code to work with the new ArduPilotMega board? ..and in particular with ArduPilotMega with the IMU inplace of the IR Sensors?

3D Robotics Comment by Chris Anderson on February 2, 2010 at 9:49pm
Randy,

ArduPilot Mega is a major new product and has a lot of people working on development. The code bases of ArduPilot, ArduIMU, the PPM decoder, GCS, ArduStation and other products are all going to be evolved for the product. The development you're seeing for our released products is creating a foundation for Mega, but this is not a simple matter of a port. We'll be announcing everything here when it's ready for beta testing.
Comment by Nippy on February 2, 2010 at 11:05pm
Jason, Ok. But shouldn't led blue LED eventually go out if i looses lock?
If I do a proper field setup and get sat lock it never goes off, even in the most impossible conditions.
v246 turned of the light back and forth. Now I can't tell if i really have sat lock or not.
Thanks for helping!
Comment by marco on February 3, 2010 at 4:38am
Hello Jason,
Here is the log in debug mode.

Everithing here looks good.
I have the same behavior with the blue led of GPS.
Could be I have a poor GPS signal.
As I can see in flight Ardu is very busy in attitude control and in AUTO or RTL mode the sticks are very autoritative, as in FLY BY Wire mode.

Thanks a lot
marco

Init Ardupilot 2.5.0
wp_total 4
options 0
wp_radius 20
Debug mode enabled
Startup: Air
debugging - Init Location
Loaded WP index:0
prev_WP: 455671200 89974290 17600
next_WP: 455671200 89974290 35200
wp_total: 4
home: 455671200 89974290 17600
wp #1 455665900 89975500 2500
wp #2 455669500 89980400 2500
wp #3 455675500 89978600 2500
wp #4 455677500 89971400 2500
!!!LAT:45567120,LON:8997429,SPD:13,CRT:0,ALT:0,ALH:352,CRS:0,BER:0,WPN:0,DST:0,BTV:0,RSP:0,***
wp_distance error, loc: 455671200, 89974290 next_WP 455671200, 89974290
wp_distance error, loc: 455671232, 89974288 next_WP 455671200, 89974290
wp_distance error, loc: 455671264, 89974288 next_WP 455671200, 89974290
Reached WP:0
moving on to waypoint: 1
Now going to WP:1
Loaded WP index:1
prev_WP: 455671296 89974288 17607
next_WP: 455665900 89975500 20100
!!!LAT:45567248,LON:8997462,SPD:13,CRT:7,ALT:0,ALH:201,CRS:22,BER:174,WPN:1,DST:73,BTV:0,RSP:0,***
!!!LAT:45567360,LON:8997575,SPD:13,CRT:110,ALT:1,ALH:201,CRS:47,BER:181,WPN:1,DST:85,BTV:0,RSP:0,***
!!!LAT:45567427,LON:8997744,SPD:13,CRT:110,ALT:2,ALH:201,CRS:72,BER:189,WPN:1,DST:94,BTV:0,RSP:0,***
!!!LAT:45567440,LON:8997940,SPD:13,CRT:110,ALT:3,ALH:201,CRS:97,BER:197,WPN:1,DST:99,BTV:0,RSP:0,***
!!!LAT:45567392,LON:8998124,SPD:13,CRT:110,ALT:4,ALH:201,CRS:122,BER:206,WPN:1,DST:99,BTV:0,RSP:0,***
!!!LAT:45567296,LON:8998262,SPD:13,CRT:110,ALT:5,ALH:201,CRS:147,BER:215,WPN:1,DST:96,BTV:0,RSP:0,***
!!!LAT:45567168,LON:8998329,SPD:13,CRT:110,ALT:6,ALH:201,CRS:172,BER:223,WPN:1,DST:88,BTV:0,RSP:0,***
!!!LAT:45567030,LON:8998312,SPD:13,CRT:110,ALT:7,ALH:201,CRS:197,BER:230,WPN:1,DST:77,BTV:0,RSP:0,***
!!!LAT:45566908,LON:8998219,SPD:13,CRT:110,ALT:8,ALH:201,CRS:217,BER:235,WPN:1,DST:63,BTV:0,RSP:0,***
!!!LAT:45566812,LON:8998079,SPD:13,CRT:110,ALT:9,ALH:201,CRS:231,BER:238,WPN:1,DST:48,BTV:0,RSP:0,***
!!!LAT:45566736,LON:8997914,SPD:13,CRT:110,ALT:11,ALH:201,CRS:240,BER:240,WPN:1,DST:32,BTV:0,RSP:0,***
Reached WP:1
moving on to waypoint: 2
Now going to WP:2
Loaded WP index:2
prev_WP: 455666848 89977664 18817
next_WP: 455669500 89980400 20100
!!!LAT:45566675,LON:8997739,SPD:13,CRT:110,ALT:12,ALH:201,CRS:247,BER:37,WPN:2,DST:38,BTV:0,RSP:2,***
!!!LAT:45566649,LON:8997546,SPD:13,CRT:110,ALT:13,ALH:201,CRS:271,BER:49,WPN:2,DST:50,BTV:0,RSP:0,***
!!!LAT:45566684,LON:8997356,SPD:13,CRT:110,ALT:14,ALH:201,CRS:296,BER:60,WPN:2,DST:60,BTV:0,RSP:0,***
!!!LAT:45566771,LON:8997205,SPD:13,CRT:110,ALT:15,ALH:201,CRS:321,BER:72,WPN:2,DST:68,BTV:0,RSP:0,***
!!!LAT:45566896,LON:8997120,SPD:13,CRT:110,ALT:16,ALH:201,CRS:346,BER:85,WPN:2,DST:71,BTV:0,RSP:0,***
!!!LAT:45567033,LON:8997119,SPD:13,CRT:110,ALT:17,ALH:201,CRS:11,BER:97,WPN:2,DST:72,BTV:0,RSP:0,***
!!!LAT:45567158,LON:8997200,SPD:13,CRT:110,ALT:18,ALH:201,CRS:36,BER:109,WPN:2,DST:69,BTV:0,RSP:0,***
!!!LAT:45567248,LON:8997348,SPD:13,CRT:110,ALT:19,ALH:201,CRS:61,BER:121,WPN:2,DST:63,BTV:0,RSP:0,***
!!!LAT:45567286,LON:8997537,SPD:13,CRT:110,ALT:20,ALH:201,CRS:86,BER:133,WPN:2,DST:54,BTV:0,RSP:0,***
!!!LAT:45567264,LON:8997731,SPD:13,CRT:110,ALT:22,ALH:201,CRS:111,BER:145,WPN:2,DST:42,BTV:0,RSP:0,***
!!!LAT:45567187,LON:8997895,SPD:13,CRT:97,ALT:23,ALH:201,CRS:133,BER:156,WPN:2,DST:28,BTV:0,RSP:0,***
Reached WP:2
moving on to waypoint: 3
Now going to WP:3
Loaded WP index:3
prev_WP: 455671232 89979720 19969
next_WP: 455675500 89978600 20100
!!!LAT:45567081,LON:8998018,SPD:13,CRT:65,ALT:23,ALH:201,CRS:139,BER:346,WPN:3,DST:53,BTV:0,RSP:0,***
!!!LAT:45566998,LON:8998176,SPD:13,CRT:43,ALT:24,ALH:201,CRS:114,BER:338,WPN:3,DST:66,BTV:0,RSP:0,***
!!!LAT:45566969,LON:8998368,SPD:13,CRT:29,ALT:24,ALH:201,CRS:89,BER:328,WPN:3,DST:75,BTV:0,RSP:0,***
!!!LAT:45567001,LON:8998559,SPD:13,CRT:19,ALT:24,ALH:201,CRS:64,BER:318,WPN:3,DST:81,BTV:0,RSP:0,***
!!!LAT:45567088,LON:8998712,SPD:13,CRT:13,ALT:24,ALH:201,CRS:39,BER:307,WPN:3,DST:83,BTV:0,RSP:0,***
!!!LAT:45567209,LON:8998800,SPD:13,CRT:8,ALT:24,ALH:201,CRS:14,BER:297,WPN:3,DST:82,BTV:0,RSP:0,***
!!!LAT:45567347,LON:8998806,SPD:13,CRT:6,ALT:24,ALH:201,CRS:349,BER:287,WPN:3,DST:77,BTV:0,RSP:0,***
!!!LAT:45567472,LON:8998728,SPD:13,CRT:4,ALT:24,ALH:201,CRS:324,BER:277,WPN:3,DST:68,BTV:0,RSP:0,***
!!!LAT:45567564,LON:8998582,SPD:13,CRT:2,ALT:24,ALH:201,CRS:299,BER:268,WPN:3,DST:56,BTV:0,RSP:0,***
!!!LAT:45567609,LON:8998396,SPD:13,CRT:2,ALT:24,ALH:201,CRS:279,BER:260,WPN:3,DST:42,BTV:0,RSP:0,***
!!!LAT:45567612,LON:8998199,SPD:13,CRT:1,ALT:24,ALH:201,CRS:264,BER:255,WPN:3,DST:27,BTV:0,RSP:0,***
Reached WP:3
Done, Heading home
Loaded WP index:0
prev_WP: 455676032 89981016 20097
next_WP: 455671200 89974290 35200
##6| RTL
!!!LAT:45567603,LON:8998101,SPD:13,CRT:1,ALT:24,ALH:201,CRS:259,BER:252,WPN:0,DST:19,BTV:0,RSP:0,***
!!!LAT:45567555,LON:8997917,SPD:13,CRT:0,ALT:24,ALH:201,CRS:239,BER:218,WPN:0,DST:61,BTV:0,RSP:0,***
!!!LAT:45567468,LON:8997764,SPD:13,CRT:0,ALT:24,ALH:201,CRS:223,BER:213,WPN:0,DST:46,BTV:0,RSP:0,***
!!!LAT:45567360,LON:8997642,SPD:13,CRT:0,ALT:24,ALH:201,CRS:213,BER:211,WPN:0,DST:31,BTV:0,RSP:0,***
Reached WP:0
##7| LOITER
!!!LAT:45567270,LON:8997565,SPD:13,CRT:0,ALT:24,ALH:200,CRS:208,BER:212,WPN:0,DST:19,BTV:0,RSP:0,***
!!!LAT:45567152,LON:8997466,SPD:13,CRT:0,ALT:24,ALH:200,CRS:216,BER:30,WPN:0,DST:15,BTV:0,RSP:1,***
!!!LAT:45567062,LON:8997318,SPD:13,CRT:0,ALT:24,ALH:200,CRS:241,BER:39,WPN:0,DST:30,BTV:0,RSP:0,***
!!!LAT:45567024,LON:8997129,SPD:13,CRT:0,ALT:24,ALH:200,CRS:266,BER:51,WPN:0,DST:43,BTV:0,RSP:0,***
!!!LAT:45567046,LON:8996936,SPD:13,CRT:0,ALT:24,ALH:200,CRS:291,BER:63,WPN:0,DST:55,BTV:0,RSP:0,***
!!!LAT:45567123,LON:8996773,SPD:13,CRT:0,ALT:24,ALH:200,CRS:316,BER:75,WPN:0,DST:63,BTV:0,RSP:0,***
!!!LAT:45567241,LON:8996672,SPD:13,CRT:0,ALT:24,ALH:200,CRS:341,BER:87,WPN:0,DST:69,BTV:0,RSP:0,***
!!!LAT:45567379,LON:8996651,SPD:13,CRT:0,ALT:24,ALH:200,CRS:6,BER:99,WPN:0,DST:72,BTV:0,RSP:0,***
!!!LAT:45567510,LON:8996715,SPD:13,CRT:0,ALT:24,ALH:200,CRS:31,BER:111,WPN:0,DST:71,BTV:0,RSP:0,***
!!!LAT:45567609,LON:8996851,SPD:13,CRT:0,ALT:24,ALH:200,CRS:56,BER:124,WPN:0,DST:67,BTV:0,RSP:0,***
!!!LAT:45567657,LON:8997034,SPD:13,CRT:0,ALT:24,ALH:200,CRS:81,BER:136,WPN:0,DST:59,BTV:0,RSP:0,***
!!!LAT:45567648,LON:8997230,SPD:13,CRT:0,ALT:24,ALH:200,CRS:106,BER:148,WPN:0,DST:49,BTV:0,RSP:0,***
!!!LAT:45567580,LON:8997402,SPD:13,CRT:0,ALT:24,ALH:200,CRS:130,BER:159,WPN:0,DST:36,BTV:0,RSP:-2,***
!!!LAT:45567484,LON:8997545,SPD:13,CRT:0,ALT:24,ALH:200,CRS:132,BER:176,WPN:0,DST:23,BTV:0,RSP:-1,***
!!!LAT:45567401,LON:8997701,SPD:13,CRT:0,ALT:24,ALH:200,CRS:123,BER:215,WPN:0,DST:18,BTV:0,RSP:1,***
!!!LAT:45567318,LON:8997857,SPD:13,CRT:0,ALT:24,ALH:200,CRS:135,BER:256,WPN:0,DST:23,BTV:0,RSP:0,***
!!!LAT:45567200,LON:8997960,SPD:13,CRT:0,ALT:24,ALH:200,CRS:160,BER:284,WPN:0,DST:31,BTV:0,RSP:0,***
!!!LAT:45567062,LON:8997983,SPD:13,CRT:0,ALT:24,ALH:200,CRS:185,BER:305,WPN:0,DST:39,BTV:0,RSP:0,***
!!!LAT:45566931,LON:8997921,SPD:13,CRT:0,ALT:24,ALH:200,CRS:210,BER:323,WPN:0,DST:46,BTV:0,RSP:0,***
!!!LAT:45566832,LON:8997787,SPD:13,CRT:0,ALT:24,ALH:200,CRS:235,BER:340,WPN:0,DST:51,BTV:0,RSP:0,***
!!!LAT:45566780,LON:8997604,SPD:13,CRT:0,ALT:24,ALH:200,CRS:260,BER:356,WPN:0,DST:54,BTV:0,RSP:0,***
!!!LAT:45566790,LON:8997408,SPD:13,CRT:0,ALT:24,ALH:200,CRS:285,BER:12,WPN:0,DST:54,BTV:0,RSP:0,***
!!!LAT:45566854,LON:8997236,SPD:13,CRT:0,ALT:24,ALH:200,CRS:310,BER:29,WPN:0,DST:52,BTV:0,RSP:0,***
!!!LAT:45566963,LON:8997119,SPD:13,CRT:0,ALT:24,ALH:200,CRS:335,BER:45,WPN:0,DST:48,BTV:0,RSP:0,***
Comment by marco on February 3, 2010 at 4:59am
Excuse me Jason, after posting the log I took a look at the bearing values.

Am I wrong or the bearing from Wp 0 to Wp1 should less than 180 degrees? And from Wp1 to Wp2 should be about 320 degrees? Can you verify if that is actually rigth?
Thanks a lot again

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