Moderator Comment by Brian on May 2, 2011 at 10:45pm

Jason, Thanks for taking the time.  I know there are a lot of APL (ArduPilot Legacy) fliers out there.  I'd be happy to test but am currently grounded due to a motor failure this weekend.  By the time I get it fixed, if you still need help I'll try it out.

Comment by DaveyWaveyBunsenBurner on May 2, 2011 at 11:11pm

Top job! There are a lot of APs out there, Ill get this uploaded ASAP

Thanks Jason.

Comment by Christof Schmid on May 3, 2011 at 1:13am

To bad I changed to APM 2 weeks ago. But I will get that right first.

 

Best

Christof

 

 

Comment by Dario Lindo Andres on May 3, 2011 at 6:49am

Hi Jason!!

Thanks for your awesome job! I can test your changes with my IRE (http://diydrones.com/profiles/blogs/ardupilot-range-video-osd), but for now weather is too windy here in Spain.

Regards!

Dario.

Developer Comment by jasonshort on May 3, 2011 at 7:25am

Be sure to do plenty of ground testing before any flights. Elevons are not tested or probably working at all. Once everything else checks out I'll get elevoms going.

Comment by healthyfatboy on May 3, 2011 at 7:29am

I assume you have to use the IMU with this or can you still use it with the thermopiles? I was going to try and test it out until I saw that the elevons aren't working yet and I've got it on a delta wing right now. I suppose I should get all the AP functions working on v2.7 first before I move on but once I get there, I would be willing to test some.

I thought I was completely old tech with my APL and thermopiles but maybe I'll get another update!

Thanks Jason.

Comment by Jim on May 3, 2011 at 8:23am

Thanks Jason.  I've been hoping that there was life in the old APL.  Your efforts are very appreciated.

 

Jim

Developer Comment by jasonshort on May 3, 2011 at 8:38am

The elevons *may* work. You can definitely try. This works with thermopiles or the IMU. I've not tested the IMU yet.

Jason

Developer Comment by Mark Colwell on May 4, 2011 at 2:10pm

I will give it a try on my Stryker II test bed with IMU & mag compass.

Comment by Andrew Brygin on May 11, 2011 at 4:53am

In order to get ArduPilot_2_8 compiled with GPS_PROTOCOL_IMU, I needed to make following changes:

* add gps driver initialization to lines 54 -57:

#elif GPS_PROTOCOL == GPS_PROTOCOL_IMU
        AP_GPS_IMU     g_gps_driver(&Serial);

* replace obsolete decode_gps on line 300 with following code:

                update_GPS();
                roll_sensor = ((AP_GPS_IMU*)g_gps)->roll_sensor;
                pitch_sensor = ((AP_GPS_IMU*)g_gps)->pitch_sensor;

 

Is AP_GPS_IMU a right class to operate with ArduIMU here?

 

Thanks,

Andrew

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