3D Robotics Comment by Chris Anderson on July 23, 2010 at 11:41pm

Sweet! Will try to fly it this weekend.

I'll also try the HIL sim, and once I get it working, I'll add it to the manual.

Developer Comment by Ryan Beall on July 24, 2010 at 12:15am

Your read airspeed subroutine could be written slightly different such that it ouputs negative airspeeds. That way you see which side of the offset you are on and offers more intel as to what the sensor is seeing. Could also include math for the "ratio" so user's can see what is going on. At least in the setup so you can change the density directly instead of having to run through all of the calcs. Less confusing and more tunable.

Just my 2cents - Great work. I'd also change up the alt_estimator a little. IE all of the constants should be in the config file because average aoa may vary significantly and for use in faster GPS's the algorithm gain time constant may also want to be fiddled with.

if (d_press < 0)
{
airspeed = -sqrt(-2*d_press*144/density); //airspeed in fps
}
else
{
airspeed = sqrt(2*d_press*144/density);
}

Moderator Comment by Nathaniel Caner on July 24, 2010 at 8:12am

Jason,

What happened to the following:

//2-7
#define THROTTLE_IN 1 // (boolean) Disables throttle input when set to 0
//2-8
#define THROTTLE_OUT 1 // 1 = throttle, 0 = no throttle output at all! (good for saving fingers on the bench.)

Has it moved elsewhere ,names changed, been eliminated, or missed? It was quite useful for bench testing.

Nathaniel

Developer Comment by jasonshort on July 24, 2010 at 8:59am

Hi Nathaniel,

Now that the throttle pin issue is solved, I made throttle in permanently on. This was to simplify a lot of the code. 

I took throttle_out, out well but I cam add that one back in. I forgot that it was useful for testing.

Developer Comment by Mark Colwell on July 24, 2010 at 9:29am

Very nice work! I really look forward to flying with m/s airspeed and smoothed altitude hold..
This version deserves a new 2.7 just for X_plane SIM, and the flight testing of FBW mode.

Moderator Comment by Nathaniel Caner on July 24, 2010 at 1:56pm

Jason,

That makes perfect sense to remove the throttle_in, and having the throttle_out would be a good safety measure for bench testing (providing I can remember to set it!).

Thanks for all the great work you have done bringing this version to fruition, and thanks goes out to all the other contributors who help make Ardupilot the great open source platform it has become. A special thanks goes out also to Christof Schmid for his extensive testing on 2.6 with his informative and well presented testing reports.

Thanks,

Nathaniel

Comment by Christof Schmid on July 24, 2010 at 3:16pm

Hi Jason

I am looking forward to fly the 2.7. after my vacation. Thanks for the great work.

Best
Christof

Comment by Christof Schmid on July 24, 2010 at 3:24pm

Oh, it would be great if you could open the 2_7 SVN and maybe set the 2_6_2 to the latst release of 2_6_2

Thanks
Christof

Comment by Christof Schmid on July 25, 2010 at 2:25am

Thanks for the SVN

Christof

3D Robotics Comment by Chris Anderson on July 25, 2010 at 10:59am

With Airspeed Sensor = 1, I get a compile error:

'alt_energy_error' was not declared in this scope In function 'void read_control_switch()'

Comment

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