First problem, write or read parameter in the board:

I am using APM 1.0.84.  noticed that when I set parameters (PID rate for example), then I fly, then I whant to modify them a little bit,.

I do not get the parameter I set in the copter , for example I set 0.11, and I get 0.109. Theyr might be a rounding probleme either when writing parameters in the Board, or when reading them  with APM.

 

Second problem:

I noticed in APM 1.0.82 (maybe corrected now), when I save a parameters file and later I load it again Some parameters are completely different.

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • After much testing (especially in high wind simulations) I realized that one of the biggest issues with proper path following is not the PIDs themselves, but the fact that Ardupilot waits until it reaches the waypoint before it makes a turn, resulting in the flight path "bulging" out past the waypoint and the plane having to work its way back to the intended track.

     

    This "bulge" is where many of the problems start to arise, snaking, overshoot, and in high wind scenarios it often results in missing the next waypoint completely as the plane can be blown several hundred meters off track before it has a chance to even finish its turn.

     

    Here is a blog post that seems to have a great solution to the problem, with examples and source code:

    http://diydrones.com/profiles/blogs/orbiting-and-turn-prediction

     

    Although the above solution seems relatively complex, although arguably an ultimate long-term goal, wouldn't it be quite simple to implement some sort of basic "turning radius" setting that Ardupilot than took into consideration when making its turns? If the turning radius is set to 60m in its most basic implementation it could just start turning 60m before the waypoint. Slightly more advanced would be to calculate the exit angle and start turning 60m before a180degree turn, 30m before a 90degree turn, 15m before a 45degree turn, etc...

     

    I believe having the plane leave the waypoint turn at least near the intended track would go a long way to  making PID tuning much easier and "accurate" path following an actual reality, while both improving efficiency and flight time.

     

     

  • Developer

    there was ithink one version where the param files got messed around. make sure you use the latest, as this was fixed quite a while ago.

     

  • I also have the second Problem on .82, I now have .84, but don´t test it again to load the parameter.

    The problem was what if it saved 0.4 and load again it was 40.00 or 400.00 I can´t remind me, but not all parameter.

     

    If I connect nextone, I will test it on .84

     

    And I also have the first problem. But I think it´s not so importen to fix this

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @chr1sa: Donkeycar 4.4 released with tons of new features, including path learning (useful with GPS outdoors), better Web and Lidar supp…
Nov 27
DIY Robocars via Twitter
RT @NXP: We are already biting our nails in anticipation of the #NXPCupEMEA challenge! 😉 Did you know there are great cash prizes to be won…
Nov 24
DIY Robocars via Twitter
RT @gclue_akira: レースまであと3日。今回のコースは激ムズかも。あと一歩 #jetracer https://t.co/GKcEjImQ3t
Nov 24
DIY Robocars via Twitter
UC Berkeley's DIY robocar program https://roar.berkeley.edu/
Nov 24
DIY Robocars via Twitter
RT @chr1sa: The next @DIYRobocars autonomous car race at @circuitlaunch will be on Sat, Dec 10. Thrills, spills and a Brazilian BBQ. Fun…
Nov 24
DIY Robocars via Twitter
RT @arthiak_tc: Donkey car platform ... Still training uses behavioral cloning #TCXpo #diyrobocar @OttawaAVGroup https://t.co/PHBYwlFlnE
Nov 20
DIY Robocars via Twitter
RT @emurmur77: Points for style. @donkeycar racing in @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/Y2hMyj1…
Nov 20
DIY Robocars via Twitter
RT @SmallpixelCar: Going to @diyrobocars race at @UCSDJacobs https://t.co/Rrf9vDJ8TJ
Nov 8
DIY Robocars via Twitter
RT @SmallpixelCar: Race @diyrobocars at @UCSDJacobs thanks @chr1sa for taking the video. https://t.co/kK686Hb9Ej
Nov 8
DIY Robocars via Twitter
RT @PiWarsRobotics: Presenting: the Hacky Racers Robotic Racing Series in collaboration with #PiWars. Find out more and register your inter…
Oct 23
DIY Robocars via Twitter
RT @Hacky_Racers: There will be three classes at this event: A4, A2, and Hacky Racer! A4 and A2 are based around UK paper sizing and existi…
Oct 23
DIY Robocars via Twitter
Oct 23
DIY Robocars via Twitter
Oct 19
DIY Robocars via Twitter
Oct 18
DIY Robocars via Twitter
RT @NeaveEng: Calling all UK based folks interested in @diyrobocars, @f1tenth, @donkey_car, and similar robot racing competitions! @hacky_r…
Oct 13
DIY Robocars via Twitter
RT @araffin2: 🏎️ After hours of video editing, I'm happy to share a best of my Twitch videos on learning to race with RL. 🏎️ Each part is…
Oct 13
More…