Maiden Flight of ArduPilot Mega

MAIDENING APM

Im on the way to maiden APM. 

Last week the throttle did not work in the radio test with the APM_Config.h (I had from the Zip of the downloaded Beta Version). 

I doubled all the PID-Values in APM-Flight planner for rudder and elevator. 

The todays flight in stabilize mode seem to go ok, however there was much wind. When I sailed I believed to see a slight oversteering in Stabilize mode.

In automatic mode I have the problem, that with running motor the plane makes a curve which the autopilot cannot correct. I have to fine-tune the motor installation.

Here are the contents of the new  APM_Config.h:

#define DEBUG_SUBSYSTEM 0

#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1 AUTO
#define FLIGHT_MODE_2 RTL
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
#define FLIGHT_MODE_5 STABILIZE
#define FLIGHT_MODE_6 MANUAL

#define GCS_PROTOCOL GCS_PROTOCOL_STANDARD
#define ENABLE_HIL DISABLED
#define GCS_PORT 0
#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX
#define AIRSPEED_CRUISE 25

#define THROTTLE_FAILSAFE ENABLED
#define AIRSPEED_SENSOR DISABLED


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Replies

  • Problems solved: I sent the APM to DyDrones, they identified a weak solder joint I made. After a PPM-Upgrade of the Arduino Board the stabilize mode works perfect. As I destroyed the cable for Ublox GPS the maiden flight with the automatic mode has to wait a bit.

    https://www.youtube.com/watch?v=ly8Upq6pL8c

    I am very happy that all works!
  • Developer
    You need to work with the navigation related gains a bit. Pretty much all the gains in the example header file will be low for most airframes. It is better to start with a low value and work your way up - a value which is too high will cause bad oscillations.
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