Posted by Charles Haase on September 9, 2009 at 7:36pm
Hi everyone,Based on the descriptions on the main ArduPilot site, instruction manual, and code page, I was under the impression that I could run 2.1 on the new board without the shield, and without a Z-sensor. Now that I bought the board, FTDI cable, and GPS, I've been trying to run through the code and understand what signals go where, and it looks like the shield is a must. Am I understanding this right?For those of us looking to start cheap and simple, is there a software version that can give basic navigation and maybe roll/pitch stabilization on the 328 board without a Z-sensor or shield?Thanks,Charles
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Well, we tried v2.1 on an RC car and could not get it to work right... probably because our control signal (for RTL vs. Waypoint mode) was flaky. We also tried v2.3 in walkaround mode and had problems. One problem was that the car started doing figure-8s!?! I think this is because it is only getting a GPS signal once per second and the gains for an Easystar aren't appropriate for a car. But we also tried driving around in an actual car to see how the servos reacted, and they didn't seem to consistently point to our target waypoint. I'm wondering if it is because of the power... this RC car's receiver puts out 6V. Is the ArduPilot board designed to handle 6V? I read a post about not going lower than 4.3V, but I'm wondering about the upper limit.
Yes, if you turn on "walkaround mode" in the config file you use it as a navigation-only autopilot without the shield (no stabilization at all).
But as I recall 2.1 does work without the Z sensor. You just have to go through a funky field calibration process involving pointing the plane's nose down. The shield is not required for that, although you'll have to solder up your own sensor connector.
Replies
I really enjoyed your write-up in MAKE and interview on ATTF, by the way.
-CH
But as I recall 2.1 does work without the Z sensor. You just have to go through a funky field calibration process involving pointing the plane's nose down. The shield is not required for that, although you'll have to solder up your own sensor connector.