Just another ArduPilot flight test... with on board & HD ground video, see tip stall recovery...

ArduPilot_251 flight test with AP Throttle control from Mark Colwell on Vimeo.


ArduPilot 251, ArduIMUv1, Shieldv1, uBlox, Elevon mixing on a Stryker II with onboard video and HD ground video, sorry no telemetry. Winds 10-15 with some gusts to 20mph. Tip stall due to low throttle center speed setting and maneuvering in Fly-By-Wire mode. Next flight I climbed to safe altitude then landed in Stabilize mode with throttle cut off. Landing was smooth in gusty conditions! Next time testing with latest rev and more power for a longer flight, maybe fly to to some waypoints too...

ArduPilot 251 test flight with AP Throttle control HD ground video from Mark Colwell on Vimeo.



Views: 176

Tags: 251, ArduIMUv1, ArduPilot, Elevon, II, Shieldv1, Stall, Stryker, Tip, mixing, More…recovery, uBlox


Moderator
Comment by Morli on March 9, 2010 at 10:12pm
Did I see flock birds in the first video ? :0) time to do some OSD + FPV ? :))

3D Robotics
Comment by Chris Anderson on March 9, 2010 at 10:31pm
So how did it go? Did you test waypoints and alt hold?

Developer
Comment by Mark Colwell on March 9, 2010 at 11:10pm
Started to charge battery and found CoG was way aft. After I moved camera I didn't compensate for weight shift. So this is most likely cause of tip stall & dive. I will add a down view camera to front bay for next flight to balance at proper CoG. Stabilize mode really helped with pitch control. I had to keep plane from porpoising.

Morli, I needed to complete more flight tests before adding weight and expensive camera with high power video Tx, 2 servos, pan & tilt mount, landing gear. I will get there soon but on a larger more stable craft.
this one is for Sparkfun's speed attempts, on board video is for post flight analysis, and fun to watch crashes.

Those geese are used to my test flights, they sometimes just stay on ground and watch...

Moderator
Comment by Morli on March 9, 2010 at 11:17pm
So now you have to watch for bird hit too or Geese have to watch out for plane hit !! :)) good luck with SF speed attempts

Developer
Comment by Mark Colwell on March 9, 2010 at 11:38pm
Chris, not yet maybe tomorrow.. weather may be worse, I am having some compile errors with latest rev too. I need Stryker to fly nice and level in Fly-by-Wire then go on to waypoints, & RTH tests.

Moderator
Comment by Alex on March 10, 2010 at 2:44am
Nice video Mark, can you tell me which on board camera you are using as I am looking to buy a nice small HD camera for my setup. Or are you only planning to add an HD camera at a later stage if so which ones are you looking at? I am currently just using a 640x480 onboard camera like this one.

http://www.merlin-digital.com/images/sports%2520camcorder%2520sml.jpg"/>

Its nice because of the shape that doesn't have a large frontal area and easy to mount anywhere.

Anyways good luck with the rest of your UAV

Developer
Comment by Mark Colwell on March 10, 2010 at 6:32am
I have 2 of these from HobbyPartz.com, after many flights and lots of video, I am very satisfied with performance. Good in low light too.

Developer
Comment by Doug Weibel on March 10, 2010 at 7:20am
Mark, what revision are you using and what compile errors are you getting. I have had several "bad" revisions with minor compile errors for configurations I havent' tested and because of integrating changes.

If you make me aware of them I will fix them as quickly as I can.

Developer
Comment by Doug Weibel on March 10, 2010 at 7:49am
Mark,

What value are you using for PITCH_COMP?, HEAD_MAX?. Are you using an airspeed sensor? Any way I can tell when in the video you are in FBW versus Manual?

Developer
Comment by Mark Colwell on March 10, 2010 at 8:46am
Hi Doug,
#define PITCH_COMP .10
#define HEAD_MAX 3000
I use air speed sensor, on Shieldv1
I switch to FWB after being in Stabilize mode see config.h,
In 1st flight about 1 second before tip stall,
2nd flight about 1 second after starting land decent, FBW on until landing.

other config.h setting for comments:

//0-4
#define POSITION_1 MANUAL
//0-5
#define POSITION_2 STABILIZE
//0-6
#define POSITION_3 FLY_BY_WIRE

#define WP_ALTITUDE_RADIUS 10

//ATTITUDE: ROLL GAINS
//5-1
#define SERVO_ROLL_P .3
//5-2
#define SERVO_ROLL_I .1
//5-3
#define SERVO_ROLL_D 0.0
//5-4
#define SERVO_ROLL_INTEGRATOR_MAX 10.
//5-5
#define ROLL_SLEW_LIMIT 0

//ATTITUDE: PITCH GAINS
//6-1
#define SERVO_PITCH_P .3
//6-2
#define SERVO_PITCH_I .1
//6-3
#define SERVO_PITCH_D 0.0
//6-4
#define SERVO_PITCH_INTEGRATOR_MAX 10.
//6-5
#define PITCH_COMP .10 //mjc set low for first tests was .30 //<------Very important, Pitch compensation vs. Roll bank angle.
// I will increase to .30 for next test.

//NAV: ROLL GAINS
//7-1
#define NAV_ROLL_P .3
//7-2
#define NAV_ROLL_I .1
//7-3
#define NAV_ROLL_D 0.0
//7-4
#define NAV_ROLL_INTEGRATOR_MAX 10. // mjc will increase to .15 for next test


//NAV: PITCH GAINS
//8-1
#define NAV_PITCH_P .3
//8-2
#define NAV_PITCH_I .1
//8-3
#define NAV_PITCH_D 0.0
//8-4
#define NAV_PITCH_INTEGRATOR_MAX 10. // mjc will increase to .15 for next test
//8-5
#define CRUISE_AIRSPEED 13
// If we have airspeed sensor pitch is used to maintain desired airspeed and throttle is used for climb/descent
// NOTE - Airspeed is stored and used in the program as an integer pressure value
// Use the formula: pressure = 0.1254 * speed * speed
// where speed is the airspeed in meters per second.
// For example if you want cruising airspeed to be 10 meters per second use a value of 13

//ALTITUDE: THROTTLE OUTPUT GAINS AND PARAMETERS
//9-1
#define THROTTLE_P .32 // Proportional // mjc maybe increase for faster response ??
//9-2
#define THROTTLE_I .04 // Integrator
//9-3
#define THROTTLE_D 0.0 // Derivative
//9-4
#define THROTTLE_INTEGRATOR_MAX 30 // (0-125) 70=50% Integrator limit.
//9-5
#define THROTTLE_CRUISE 30 // mjc increase to 70 next flight Default throttle value - Used for central value if no airspeed sensor or Fly_By_Wire. Failsafe value
//9-6
#define THROTTLE_MAX 100 // mjc was 60 increase to 120 for next flight (0-125) 70 = 56% maximum throttle
//9-7
#define THROTTLE_MIN 10 // (0-125)


Hope this was not too much...

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