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Multipilot 32 : Great News about my last test on Gps Hold functionality

Posted by Roberto Navoni on June 3, 2011 at 3:00pm

This video is the result of my last test :

In the test i'm using :

n my development i'm using :

Multipliot 32 : http://www.virtualrobotix.com/page/multipilot32-1

VRIMU : http://www.virtualrobotix.com/page/vr-imu-10

VRI2C ESC: http://www.virtualrobotix.com/page/vr-bl-controller-10

 

The firmware is ArdupiratesNG 32 that i had implemented with some new libs and functionality :

The video is in italian but is simple to understand my test :

So i going in position manually , setup gps hold .

Take the quad and going far in other position ... then see the quad came back to original position.

After same test a leave the radio far from me :)

What do you think of my result. My impression is that the code is very good .

I'm using i2c esc and i see the fly is smooth and correction ,too respect of standard esc.

original post : http://www.virtualrobotix.com/profiles/blogs/multipilot-32-great-news

Best

Roberto

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Comments

  • Moderator
    Roberto Navoni June 5, 2011 at 7:23am

    Today i test the return to home functionality that  i implemented on Arducopter32 NG , I tested it and the result is very good ... so today was a windy day and i saw that the quad don't came back directly but doing a semi circle but came back to the point ... and i saw that also in a windy day the gps hold work fine .. the only problem is that is not vertical on my point , but on the left ind windy direction ... but is stable and mantain the position.

    My version of RTH don't use the first point , but last gps hold setting during the fly so is more simple check if the rth position is correct.

    My ohter idea is to implement a functionality for auto gps hold ... when you put in the center the stick automatically the gps hold is set. Some suggestions ?

    Best

    Roberto

  • Moderator
    Roberto Navoni June 4, 2011 at 5:16am

    Hi Edoardo,

    I'm one of developer of Arducopter project , whe share our work for develop great Drone :)

    So i work expecially on arm processor so i'm doing the porting and improvment of standard arducopter code on this kind of platform. So this is an a video of what is possible doing with more power in cpu , the refresh rate of motors is at 2.5 khz instead of standard 500 hz. And the resolution of i2c control is 256 step instead of 127.

    Best

    Roberto

  • eduardo June 3, 2011 at 6:25pm

    Navoni .. i am italian too jejeje

    well, are you using ths same navigation algorithm from arducopter or you using a new one ?

    I am very interested in you board but i wait to see the position hold and navigation on wind.

    You using I parameter or your navigation are only PD like mikrokopter ?

    regards.

  • I.S. June 3, 2011 at 3:20pm
    fixed links. Thx
  • Moderator
    Roberto Navoni June 3, 2011 at 3:15pm
    Try now .. the loop now on i2c is at 2.5 khz ... the normal speed of standard pwm esc is 500 hz
  • I.S. June 3, 2011 at 3:09pm
    sth wrong with links? don't work for me
  • I.S. June 3, 2011 at 3:08pm
    Nice work.
    How can you tell if the smoothness improvement comes from I2C or the fastest loop from the 32bit uC?
This reply was deleted.