Unofficial ArduPilot 2.2 Release

Comment by Tom on May 24, 2009 at 2:52am

Awesome! Thank you for sharing your hard work Jordi! This is what I have been waiting for since I have a Locosys LS20031. Now gotta assemble all the parts...

Comment by Jordi Muñoz on May 24, 2009 at 9:42am

Enjoy Tom! Tell if you see an "Elf" in the code please!

Comment by Glenn Anderson on May 24, 2009 at 7:00pm

Nice control panel, especially the compass and horizon. I work in Labview as part of my day job with the Kentucky Transportation Cabinet but have not built any custom indicators. Do you have the VI's posted somewhere?

Comment by Chris Anderson on May 24, 2009 at 7:16pm

The Labview code is at the bottom of the post.

Comment by Torin Segstro on May 24, 2009 at 11:08pm

I have a quick question. I know I could probably dig through the code to find this out, but I though someone might now off hand. Is the altitude in the groundstation from the GPS, or is that derived from the static pressure?

Comment by Jordi Muñoz on May 24, 2009 at 11:11pm

Torin:
=) From GPS.

Comment by Tom on May 25, 2009 at 12:43am

GPS_NMEA.pde

GPS_EM406.pde

ArduPilot_EasyStar_V22.pde






I am still on very shaky grounds in C programming. Did some setting changes in the codes for the LOCOSYS LS20031 GPS, and have some questions. Don’t have a working hardware platform assembled yet, so can’t test the codes yet. Could someone check the code from a programming prespective, if these codes/setting as correct?

Note that all changes I have added are marked with this : ***

First, I made changes in “AurduPilot_EasyStar_V22” at the Locosys by:

1. Setting SBAS = ON
2. Setting to 5HZ
3. Adding the 57600 baud option
(It seems that the LS20031 comes factory default with 57600 baud and not at 4800 baud)

===============

Next, I edited the GPS_NMEA file:

1. After the initial 4800 baud setting I attempt to change to 57600 baud
(If the GPS came factory default at 57600 already, would it be able to communicate at 4800 baud so I can send the command to change to 57600 baud?)
(Also, not sure, if Serial.print(LOCOSYS_BAUD_RATE_57600) would send a character string associated with the variable (good) or a value (bad)?)


2. Sending command to operate in 5HZ mode: Serial.print(NMEA_OUTPUT_5HZ)
(Also, not sure, if Serial.print(NMEA_OUTPUT_5HZ) would send a character string associated with the variable (good) or a value (bad)?)

3. Set SBAS = ON
(Again, not sure, if Serial.print(SBAS_ON) would send a character string associated with the variable (good) or a value (bad)?)

4. In “void fast_init_gps(void)” set baud to 57600 from 9600 baud

======================================

Finally….there are at least two from each of these functions listed below, each with an identical name. One for NEMA and one for EM406 GPS. I am still not very familiar with local and global variables/fucntions, so wondering if I need to delete the EM406 function under the same name since I am using NEMA? Will the program flow (don’t see any If/else) ignore the two indentical function names, meaning that the NEMA will continue on its own path while the EM406 will follow its own as well? Here are the identically named functions for both GPS protocols:

void init_gps(void)
void fast_init_gps(void)
void decode_gps(void)
void configure_gps(void)
Wait_GPS_Fix()

=======================

I uploaded the changed files.
Thanks for any help and your patience…

Comment by Torin Segstro on May 25, 2009 at 9:06am

Thanks Jordi! I'm assuming there is no way to get the static pressure from the sensor on the shield because it is differential?

If not, I will probably work to add a static sensor to stabilize the altitude. Still waiting for my shield and new ardupilot to arrive. Should be this week.

Comment by Jordi Muñoz on May 25, 2009 at 9:25am

Tom,

First If you don't know what are you doing i suggest leave it until we write a tutorial to use LOCOSYS. The actual settings are for EM406 in NMEA mode.

Second you don't have to "//" all the "#defines". The compiler will ignore the ones not used...
Third i don't know about locosys start default speed. But i thought the maximum speed was only 38400bps. Please read the datasheet or wait for the tutorial.

Anyway the method you are using seems to be correct. Just take care of the other details.

Comment by Jordi Muñoz on May 25, 2009 at 9:27am

Torin,
Yes is differential. I suggest to use uBlox GPS. I just tested it and works 10000X better than EM406... The altitude is super precise and the turns are smooth!! 4hz!! is more than enough! Not to mention the UBX is a lot better than NMEA.

Comment

• ‹ Previous
• 1
• 2
• 3
• 4
• Next ›
• Page