Jordi now has a cool new pick-and-place machine, which will let us massively increase our production of boards. This video shows the first ArduPilot Mega IMU shields coming off the production line! Shipments went out to the dev team today, and pre-order customers should start getting theirs later this week.
Jordi now has a cool new pick-and-place machine, which will let us massively increase our production of boards. This video shows the first ArduPilot Mega IMU shields coming off the production line! Shipments went out to the dev team today, and pre-order customers should start getting theirs later this week.
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/***************************************/
//NAVIGATION: PARAMETERS
//Note: Some Gains are now variables
//4-1
#define HEAD_MAX 4500 // The maximum commanded bank angle (left and right) degrees*100
//4-2
#define PITCH_MAX 1000 // The maximum commanded pitch up angle degrees*100
//4-3
#define PITCH_MIN -1500 // The maximum commanded pitch down angle degrees*100
//4-4
#define XTRACK_GAIN 00 // amount to compensate for crosstrack (degrees/100 per meter)
//4-5
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100
//4-5
#define LOITER_RADIUS 40 // radius in meters of a Loiter
//4-6
#define REMEMBER_LAST_WAYPOINT_MODE 0 // If set 1 = will remember the last waypoint even if you restart the autopilot.
// 0 = Will start from WP 1 (not 0) every time you switch into AUTO mode.
//4-7
#define WP_ALTITUDE_RADIUS 10 // (meters) accuracy needed to find our waypoint in meters [not implemented]
//4-8
#define ABSOLUTE_WAYPOINTS 1 // 0 = relative, 1 = absolute [not yet implemented in config utility; must use waypoint writer in test suite to configure]
//4-9
#define AP_STICK_MIXING 1 // 0 = no mix, 1 = mix. Mixing lets you "nudge" when in auto modes
/***************************************/
//ATTITUDE: ROLL GAINS [Start with changes of no more than 25% at a time]
//5-1 IMPORTANT!! Servo Gain values will be 100 times less than equivalent gains for ArduPilot 2.5
#define SERVO_ROLL_P .006 // Primary value to tune - overall proportional term determines how much rudder/aileron you use to turn
//5-2
#define SERVO_ROLL_I .0 // roll PID integrator gain (value should generally be low)
//5-3
#define SERVO_ROLL_D 0.0 // roll PID derivative gain (for advanced users - should be zero for most airframes)
//5-4
#define SERVO_ROLL_INTEGRATOR_MAX 500 //Maximium integrator value in degrees * 100
//5-5
#define ROLL_SLEW_LIMIT 0 // Use to limit slew rate of roll servo. If zero then slew rate is not limited
// Value is degree per second limit
/***************************************/
//ATTITUDE: PITCH GAINS [Start with changes of no more than 25% at a time]
//6-1 IMPORTANT!! Servo Gain values will be 100 times less than equivalent gains for ArduPilot 2.5
#define SERVO_PITCH_P .006 // Pitch Proportional gain
//6-2
#define SERVO_PITCH_I .0 // Pitch integrator gain (value should generally be low)
//6-3
#define SERVO_PITCH_D 0.0 // Pitch derivative gain (for advanced users - should be zero for most airframes)
//6-4
#define SERVO_PITCH_INTEGRATOR_MAX 500 //Maximum integrator value in degrees * 100
//6-5
#define PITCH_COMP .10 //Pitch compensation vs. Roll bank angle.
// NOTE!! The implementation of pitch compensation has been changed.
// The optimal value for your airframe will likely differ between 2.5 and 2.6
/***************************************/
//NAV: ROLL GAINS [Start with changes of no more than 25% at a time]
//7-1
#define NAV_ROLL_P .6 // Primary value to tune - overall proportional term determines how aggressively we bank to change heading
//7-2
#define NAV_ROLL_I .0 // roll PID integrator gain (value should generally be low)
//7-3
#define NAV_ROLL_D 0.0 // roll PID derivative gain (for advanced users - should be zero for most airframes)
//7-4
#define NAV_ROLL_INTEGRATOR_MAX 500 //Maximium integrator value in degrees * 100
/***************************************/
//NAV: PITCH GAINS [Start with changes of no more than 25% at a time]
//8-1
#define NAV_PITCH_P .65 // Overall proportional term determines how aggressively we change pitch to maintain airspeed
//8-2
#define NAV_PITCH_I .0 // PID integrator gain (value should generally be low)
//8-3
#define NAV_PITCH_D 0.0 // PID derivative gain (for advanced users - should be zero for most airframes)
//8-4
#define NAV_PITCH_INTEGRATOR_MAX 500 //Maximium integrator value in degrees * 100
/***************************************/
//ENERGY HEIGHT: THROTTLE OUTPUT GAINS [Start with changes of no more than 25% at a time]
//9-1
#define THROTTLE_P .32 //Proportional
//9-2
#define THROTTLE_I .04 //Integrator
//9-3
#define THROTTLE_D 0.0 //Derivative
//9-4
#define THROTTLE_INTEGRATOR_MAX 20 // (0-125) 70=50% Integrator limit.
//9-5
#define THROTTLE_SLEW_LIMIT 0 // Use to limit slew rate of throttle output. If zero then slew rate is not limited
// Value is throttle value (0-125) per second limit
/***************************************/
//FLY BY WIRE AIRSPEED: THROTTLE OUTPUT GAINS
//10-1
#define THROTTLE_FBW_P .32 //Proportional
//10-2
#define THROTTLE_FBW_I .04 //Integrator
//10-3
#define THROTTLE_FBW_D 0.0 //Derivative
//10-4
#define THROTTLE_FBW_INTEGRATOR_MAX 20 // (0-125) 70=50% Integrator limit.
I am happy to leave the 406 behind for some projects but think it works well for other projects and want to feel that my investment was used.
I am pleased/relieved that after a difficult few months the 406 is finally working with imu and/or ardupilot and in a way that doesn't require the xbee and 406 baud rates to be changed when I change the config. So this already feels more plug and play (sort of).
The point I was trying to make, not very well, about header files is that the community doesn't seem to have a place on this site to register them or the configuration to which they apply. It would also be useful to have a voting system so we can see how many people have tried a configuration (header) and agreed that it works.
Finally you menttioend you are flying faster planes such as fun jets these days, do you have ardupilot .h files for these planes with the imu or are you just working on the mega now?
Thanks again, love the new machine, want to continue to invest and want to get the very best out of each purchase I make. Good luck, Tim
Earl
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