The timing of this is poor, but I figured people might want to try an alternative to the quickly developing Andropilot. I'd like to release what I have been working on, just to get feedback and bug reports.
The development of Copter-GCS stalled quite some time ago, but I recently picked up the source and started fixing bugs and adding features. The app still has some quirks, and the UI is pretty terrible, but the function is there:
-A full Heads Up Display
-Mission planning, with all commands and parameters available
-Follow-Me with offset mode, Guided Mode flight
-a Command Line terminal
-built for Android 2.2 and up
-full parameter editing
-works for Arduplane and Arducopter
-text to speach announces mode changes and waypoints reached
The included mission planner needs some instructions for use. All possible options are available, so it may be a bit dangerous if you don't use them correctly.
-to set a waypoint, long press in the map view, or use the "add waypoint" button in the list view menu.
-waypoint 0 is the uav's home location. It is important to keep the elevation frame as "Mav_frame_global" this means you are using actual ground elevation
-this app will automatically set the ground elevation (from Google's API) which is why it may pause for a few seconds when the first waypoint is added.
-when you add additional waypoints, the default frame is "mav_frame_global_relative_alt", which is an altitude relative to the home elevation, which is 75 meters by default.
-you can add as many waypoints as you like, then go to the list view to edit them, change then to do_jump or whatever, add in the parameters, etc. Then go back to the map and Save to UAV. I would suggest after you get confirmation, you Load from UAV to check that everyhting is correct
-All mission commands available to Mavlink have been included in this app, but there are some options that have not been implemented by Ardupilot or Arducopter. Not all waypoint types will work, for example, DO_SET_RELAY doesn't work for APM2 UAVs.
The app connects to your telemetry with a bluetooth to XBee/3DR radio bridge:
The bridge consists of an XBee or 3DR radio, and a Bluetooth radio, connected by serial port. There are expensive solutions for this, but I have made a inexpensive bluetooth module that includes a power regulator, a bluetooth radio, and a plug for my xbee. If anyone is interested, I can detail the build process, and/or offer a hardware kit (with the smd bluetooth chip already soldered). The good thing about this set up, as opposed to a usb link to the radio, is (obviously) it is wire-free, and it is possible to have a stationary antenna, and even add in antenna tracking, and it is easily switched to link with a bluetooth enabled laptop..
According to [Pieter], this [DealExtreme Link] ($8.20 w/ free shipping to USA) works almost out of the box. Set it to 57000 baud by connecting it to your computer with an FDTI cable, RX to TX, TX to RX, power and ground. Open your serial terminal (I use RealTerm) with 9600 baud. Make sure LED on module is blinking (DON'T pair it with anything yet) Type in transmit field AT+BAUD7 and hit send (UPPER case letters or it wont work). You should get a OK response indicating that it worked. You'll have to power cycle the bluetooth before the change takes effect. Then pair with your phone.
Connect to a XBee adapter like this:
Another connection option is to connect the bluetooth directly to the APM telemetry port. Remember the bluetooth range is short, so you won't be able to control it in the air, but you can set missions and tune param while on the ground. Instructions from Ioan:
Cheap Bluetooth serial module (CBSM):
CBSM VCC -> APM Telemetry VCC
CBSM GND -> APM Telemetry GND
CBSM TX -> APM Telemetry RX
CBSM RX -> APM Telemetry TX
and then the phone connects directly to the APM's bluetooth adapter:
Phone <----> APM + Bluetooth
If anyone wants to test, please remember that it is still BETA software, so there are certainly bugs.
PLEASE REPORT ANY BUGS YOU FIND!!
Also, feel free to make suggestions and feature requests....
This community has been very helpful and supportive, so I feel bad requesting donations, but I have put lots of time into this application, and I'm sure Bart has as well. If you want to buy me a beer (or a PX4), you can donate whatever you like here: PAYPAL
crashes without internet connection
-flight modes on arducopter do not show correctly
-auto rotation while in MAV_CMD list crashes app
-connect to xbee/3dr/APM2 over usb
-keep screen on (added)
please eliminate the bt at android end. want 3dr to usb on android.
will you put up the code online so that I can help to improve this great app?
Incorporate the Bluetooth :)
BT is not so good. There are many other better ways to do it :)
This works almost out of the box. You only need to change the baud rate with an USB<-->Serial cable using the command AT+BAUD7 in your favourite terminal program.
Does this have a "set home location" button, so I can use it to set the RTL position manually at the field?
FYI, I've added a bit of instructions on mission planning to the original post
Bluetooth is only useful for pid tuning and ground based waypoint updates, it is not going to cut it for flight manipulation. We have learned this from the KK and Crius FC days ;)