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ARDUCOPTER SONAR - what´s the best?

Posted by afernan on August 7, 2011 at 3:30am

 

Sorry to insist, but SONAR in 2.0.37 was perfect.

 

Please have a look to this video. This is using 2.0.37, defaults PIDs and the behaviour, I consider almost perfect.

http://vimeo.com/27394631

 

Same hardware with 2.0.38 is really much worst and oscillating. Maybe it could be re-consider to come back to the 2.0.37 philosophy.

 

Noise problems are ALL solved isolating and shielding cables to SONAR and separating from ESC (as recomended in the WIKI)

 

Angel.

 

 

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Comments

  • afernan September 2, 2011 at 11:10am

    Testing alt-hold on the 2.0.40 very good. The best ever

  • afernan August 22, 2011 at 12:21pm
    Testing alt-hold from the 2.0.39 now is much better, similar thn 2.0.37
  • afernan August 21, 2011 at 1:28pm

    I´m updated to 2.0.39 and now SONAR is much better that in 2.0.38 and similar to the very best 2.0.37. I dont know the changes done but now is close to a perfect one. Still osme PID adjustements in my copter but defaults are already very good. 

     

    I use the board2560 and the Max sonar MB 1200 (with the old board STMega 1280 ad Max Sonar MB1240 it doesn´t work).

     

     

  • afernan August 11, 2011 at 4:41am
    Jason,
    I'll be several days out. I'll do when come back

    Angel
  • Allen Bishop August 10, 2011 at 1:00pm

    For a multi-copter (Hex) what model of Sonar module is recommended?  My intention is to have the aircraft RTL and then decend to landing using the Sonar probe.  First, is this duable using the APM and .37 software or am I getting ahead of myself?

     

    Thanks

     

    Allen

  • Paul August 10, 2011 at 6:27am
    Thanks Chris and Pieter, I'll give it a shot.
  • Developer
    Jason Short August 9, 2011 at 10:04pm

    Could someone try a simple experiment for me? 
    Replace the read function in RangeFinder.cpp (in libraries) with this one:

    int RangeFinder::read()
    {
        // read from the analog port or pitot tube
        if( _ap_adc != NULL ){
                    raw_value = _ap_adc->Ch(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2;  // values from ADC are twice as big as you'd expect        }else{
    
                // read raw sensor value and convert to distance
    
              raw_value = analogRead(_analogPort);
    
        }
    
        // convert analog value to distance in cm (using child implementation most likely)
    
        raw_value = convert_raw_to_distance(raw_value);
    
        // ensure distance is within min and max
            raw_value = constrain(raw_value, min_distance, max_distance);
    

    
        //distance = _mode_filter->get_filtered_with_sample(raw_value);
            return raw_value;
    }

    this will read the slightly filter values from the ADC and skip the mode filter.

  • T3
    healthyfatboy August 8, 2011 at 6:53pm

    Would median filtering make any difference?

  • Vincent Mees August 8, 2011 at 9:53am

    this seems to be a very good graphical helpin PID tuning. Thx

  • Pieter van Woerkom August 8, 2011 at 8:34am

    BTW my AH is rock steady. Just experiment with your PID using this as a helper.

    Its in my flightbox as an cheatsheet :)

     

    PID_Tuning.gif

     

     

     

    Observe your copter and try to find the behavour in this diagram.

     

    Kc = your P

    Ti = 1/your I  ( so more I is to the left)

     

    Pieter Jan

     

     

     

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