Developer Comment by Jean-Louis Naudin on August 18, 2012 at 11:18pm

Here a video of an autonomous mission flight with a Maxi Swift flying wing piloted by the firmware ArduPlaneNG v2.x R5 with an All In One Pro (AIOP) full IMU board. The video has been taken with an EVO HD Cam sports video camera. The flight plan has been defined with 5 waypoints and runs in closed loop around the airfield.

The wind was blowing at 15 km/h gusting 20 km/h.

Comment by Rana on August 19, 2012 at 4:09am

JLN, nice video but frame rate seems to be low.

Developer Comment by Jean-Louis Naudin on August 19, 2012 at 4:12am

You will find here my working setup of my Turnigy ER9x transmitter that I am using with my Maxi Swift flying wing and the ArduPlaneNG 2.x R5 with the AIOP.

You will find also the tested in flight PIDs parameters.

Developer Comment by Jean-Louis Naudin on August 19, 2012 at 5:27am

Hello Rana,

Its a big size video because the flight time of this autonomous mission is big in spite that I have shorted the total duration (>30 min flight).

So, I recommend to preload the video (click on PAUSE) and wait the grey bar loading to be full, then click on PLAY... So, you will be able to watch the video at full speed.

Developer Comment by Jean-Louis Naudin on August 19, 2012 at 5:48am

 

Here some technical infos about the Differential Pressure sensor MPXV7002DP used for the airspeed measurement with the pitot tube. You will find the filtering components recommended to add at the output of the sensor for a good measurement.

The full datasheet can be downloaded HERE

Developer Comment by Jean-Louis Naudin on August 22, 2012 at 3:32am

Here a video of an autonomous mission flight with a Maxi Swift flying wing piloted by the firmware ArduPlaneNG v2.x  R5 with an All In One Pro (AIOP) full IMU board. In this test flight the STABILIZE and AUTO mode and the RTL mode has been tested. The video has been shorted due the total duration of the flight and only one closed loop turn has been showed here. The video has been taken with an EVO HD Cam sports video camera. The flight plan has been defined with 6 waypoints (2km turn) and runs in closed loop around the airfield.

The wind was blowing at 11km/h gusting 17 km/h.

This is a big size video, so I recommend to set to pause, wait the loading (grey bar) and then play the video. This will avoid some lag during the playing.

Comment by ct on August 23, 2012 at 6:44am

JLN,

Can you comment on what was involved in the porting process and how your version might be updated in the future with enhancements developed for the ArduPlaneNG code for APM? Is this now a separate fork of the code or is there a way to support both AIOP and APM with the same codebase?

Do you plan to port the AduRover code to the AIOP as well?

Comment by Michael on August 23, 2012 at 7:01am

Does Arduplane support failesafe with turnigy 9x radio ?

Comment by Vernon Barry on August 23, 2012 at 7:21am

Does Arduplane support failesafe with turnigy 9x radio ?

Not an easy answer. The stock 9x radio receiver doesn't directly support failsafe. In other words, it does a very specific function that cannot easily be modified when radio signal is lost. It puts out center on all channel outputs except throttle which it drops all together. In theory, this would make an ESC go into invalid signal input and beep and not spin the motor, however a servo attached to the throttle channel would appear to be dead (no longer hold position and stay at the last postion before lost signal). Point being, the PPM encoder that reads the signals from the receiver and sums them into a single input on the APM is the same for both arduplane and arducopter, but it acts like the servo and thus the loss of signal on the throttle channel while still receing valid center signal on the other channels results in the APM receiving stuck throttle. Alternatively, most 9X users upgrade the radio to use the FrSky modules which replaces the entire RF section and receiver as well and does properly support failsafes. They also have an alternate PPM firmware that can be put onto the APM board, that detects the lost thorttle signal, but there is a minor resolution loss using that firmware.

Developer Comment by Jean-Louis Naudin on August 23, 2012 at 10:45am

Here the good method for the mode switch and the use of the FailSafe for RTL. I recall that you must use a receiver which is able to handle the RSSI signal to activate a true FailSafe state on the receiver outputs (i.e: Multiplex, Graupner, JR, Hitec, Futaba receivers...)
With the mission planner you need to check that :
- the Radio 8 channel is used to switch the MODE (MANUAL, STABILIZE, AUTO) during a normal flight,
- the Radio 7 channel is used to CLEANUP the FPL (in MANUAL mode) memory and SAVE_WP (in STABILIZE mode) or RTL (in AUTO mode).

The transmitter use a 3 buttons switch to select the modes in normal flight. There are 3 positions :
- Flight Mode 6 corresponding to MANUAL (High position with PWM 1750 +),
- Flight Mode 3 corresponding to STABILIZE (Middle position with PWM 1361-1490),
- Flight Mode 1 corresponding to AUTO (Low position with PWM 0 -1230).

So, how to set the RTL mode when the receiver is switched to the FailSafe mode ?
You need simply to set the Flight Mode 2 (PWM 1231-1360) to RTL with the mission planner and with the ATV of your transmitter set the max value of the Switch mode so as to have a PWM between 1231 - 1360 µs (i.e. 1300 µs) and then store on your receiver this position as the FAILSAFE value.
So, then the transmitter is switched off the receiver set the channel 8 to this Flight Mode 2 corresponding to RTL...
Don't forget to set back the ATV of your switch mode of your transmitter to the max value corresponding to the Flight Mode 1 (AUTO mode).

That's All and this work very well with true Failsafe receivers...
Below, the screen of the mission planner radio configuration for the ArduPlaneNG v2.x R5

Comment

• ‹ Previous
• 1
• 2
• 3
• 4
• 5
• …
• 14
• Next ›
• Page