Hey Everyone,
Our goal is to eventually get Ardupilot 2.4 up and running in our Easystar... here is our equipment:
Ardupilot Arduino ATMega328 Board (red board)
Shield V2 kit (blue board)
EM-406A USGlobalSat GPS
Spektrum Dx6i transmitter, Spektrum AR6110e reciever
Attopilot XYZ sensors (from DIYdrones)
Electrifly C-55 Mini ESC
We decided to first test the GPS vs servo reaction. I programmed the board into Walk_Around mode to disable the sensors and isolate the variables. Then, I set home to 1000km directly West of our test area with the config tool. We want to figure out exactly what the effect of different "P" values (heading gain 4-1) have on servo reaction.
To test the servo reaction, we put the GPS reciever on the dash of our truck with a clear view of the sky and drove a test route of straight North, South, East, and West for 5 blocks in each direction. the Test was performed with the autopilot turned on and the desired waypoint, as said before, was 1000km directly to the West. A four-direction test run was completed for different "P" values (0.05 to 2) and the results were recorded. We repeated the test for each "P" value by driving the route from different start and finish points (see attached graphs). The "I" term in the heading gain was set to zero. Head_error_max and min values were set to +/- 40.
To measure the servo reaction (in degrees), we mounted a protractor to the servo so that neutral was at zero degrees. We then observed the servo arm as we travelled in each direction.
The results are not what we expected, and hopefully some of you can help explain the data.
For example, how come when heading West the servo was not in neutral position at zero degrees? Also, the proportional setting in the PID control did not react proportional as different values were tested!
Any help on figuring this out would be greatly appreciated!
Thanks,
Jeff
Replies
but,it can't cause you have to follow the road. Take it to a field and actually walk around with it and fallow the rudder commands. Turn right a little if the rudder"says to". When you change the proportional you are just changing the gain of the course error. Notice how on leg one there is a error one way. On leg four the error is opposite cause you are tuned around. And it is greater because your in the other lane. Google maps near my house is off 60 ft. to the west.