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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Terence Gronowski November 15, 2010 at 12:22am

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

Doug Weibel October 17, 2010 at 11:41pm

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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Maiden Flight of ArduPilot Mega

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