This was a really simple addition to the code; maybe 6 lines. But the effect was quite dramatic. AUTO, RTL, and LOITER now sense if the plane is in a dive and enter a simple stability mode for 4 seconds. Enough time to recover from the worst dive.
I fly an EZ Star and this has always been my biggest safety concern and need to flip to manual control. Now I don't need to.
In the video you can see me put the plane into a dive. This can happen when the plane turns too hard and the GPS refresh can't keep up. Once the plane begins to stall, it drops like a rock.
Update is on the SVN in Ardupilot 2.7 for Beta testers.
Comments
//To use the header file in your local folder, use quotes:
#include "APM_Cofig.h"
#include "APM_PID_gains.h"
//#include "Doug.h"
//GPS
//#include // ArduPilot IMU/XPLANE GPS Library
//#include // ArduPilot Ublox GPS Library
#include // ArduPilot MediaTek GPS Library
//#include // ArduPilot NMEA GPS library
Earl
Earl
I'm putting the finishing touches on a new release for 2.7. Beta/Alpha 4 maybe? hehe.
I've already included this in Mega as well. Just need to sync it.
Jason
Earl
Jason
battery_voltage is not functional, value is doubled after each read from analog BATTERY PIN after 8 cycles value goes out of bounds to 0.
My solution is to add a variable filter_batt_voltage in ArduPilot_2_7 like this:
float filter_batt_voltage = 511; // Filtered Battery Voltage mjc
In Sensors change these lines:
void read_battery(void)
{
/* battery_voltage = ((float)analogRead(BATTERY_PIN) *.01) + ((float)battery_voltage*.99);
battery_voltage = BATTERY_VOLTAGE (battery_voltage);
*/
filter_batt_voltage = ((float)analogRead(BATTERY_PIN) * .05) + ((float)filter_batt_voltage * .95);
battery_voltage = BATTERY_VOLTAGE(filter_batt_voltage);
if(battery_voltage < INPUT_VOLTAGE)
low_battery_event();
}
I changed filter to respond a little faster.
Ken, feel free to dig into the code and try things out. You can always test them in the sim and not your plane.
Jason
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