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3D Robotics

ArduPilot 2.0 Beta Code Released!

Posted by Chris Anderson on March 10, 2009 at 8:30pm

I'm delighted to announce the release of the ArduPilot 2.0 software, now in public beta. This software uses the current ArduPilot hardware but handles the FMA Co-Pilot stabilization function itself, without the need for a separate stabilization unit. It is, in short, a complete integrated autopilot. That little ArduPilot board can do a lot! 2.0 Features:
  • All the ArduPilot 1.0 functions: programmable 3D waypoints; return-to-launch mode, in-flight reset ability, fully programmable actions at waypoint and totally expandable board.
  • Now integrates the stabilization and navigation functions, eliminating the need for a FMA Co-Pilot and vastly improving waypoint tracking
  • Controls elevator and ailerons/rudder. Throttle control coming in 2.1
  • "Fly-by-wire" mode stabilizes the aircraft in RC mode, duplicating the function of the FMA Co-Pilot
  • Stores home waypoints and sensor calibration in EEPROM, so they are retained even in the case of a system restart
  • Controls altitude with the elevator, vastly improving performance in wind
  • Currently optimized for the three-channel EasyStar. Versions have also been tested on Funjet and four-channel Superstar (code coming soon)
  • Simple in-field calibration process
  • Can use any thermopile XY sensors (default settings are for the FMA sensor, but Paparazzi, AttoPilot and custom sensors can also be used)
  • Currently supports the EM406 GPS. Support for Locosys and Ublox GPS modules coming soon
  • Uses "chained PID loops" to combine the stabilization and navigation functions seamlessly
What you need (if you already have an ArduPilot and FMA Co-Pilot you don't need anything else): Instructions for modifying the FMA sensor cable to use it with ArduPilot are here. Instructions for in-field calibration and setup of ArduPilot 2.0 are here. (Note: ArduPilot 2.0 put the EM406 GPS module into binary mode, which disables its onboard LED. That means that if you try to use the same GPS module with ArduPilot 1.0, it won't work (unless you program back into NMEA mode with a utility such as this one). However, if you let it sit for a few days without power, the onboard capacitor will run out and it will return to its default NMEA mode and will work with ArduPilot 1.0 again) The next version, 2.1, is now in private alpha. It will include the following:
  • Uses Z sensor for self-calibration in the field
  • Uses small desktop app to load ArduPilot settings and waypoints, without having to work with code
  • Adds throttle to altitude control, improving accuracy and wind performance
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Comments

  • Developer
    Jordi Muñoz March 11, 2009 at 5:37pm
    Carlos, necesitas ayuda en Espanol?
  • 3D Robotics
    Chris Anderson March 11, 2009 at 5:24pm
    Fred, that's fine. We'll continue to maintain ArduPilot 1.0 for those who prefer that.
  • Fred March 11, 2009 at 5:22pm
    Chris,
    I know i ´m being boring, but i don´t like too much the idea, in that case i would prefer to use a complete FMA pilot and V1x software.
    To change the code and use a parser for NMEA ( Jordi talked about "emulation" ? ) requires (i think) programming knowledge that i don ´t have. (And i am not sure if that could fix the speed protocol problem).
    But that´s cool, i just wanted to mention a possible improvement, not to mess up :-) ...
  • William March 11, 2009 at 5:11pm
    Jordi, This sounds very interesting:

    Quote:

    "William,
    I will develop a visual C# app that will read an special ardupilot telemetry (compressed) and transfer the data to Google Earth...
    NMEA was designed for marine ships, not for airplanes. They are some pros about using Binary Protocol, specially with atmega168 that has not much power.. . "

    Will a XBee @ 9600 be usable in this application?
  • William March 11, 2009 at 5:02pm
    "Fred: Why not use two GPSs, one for ArduPilot and one for OSD? Or change the code to use a NMEA parser instead. Maybe we'll return to NMEA in the future, but for now I think two GPSs are a very easy workaround."

    Yeah, i'm going to do this for right now. My new 900mhz Xbee XSC modules arrived yesterday, and they are limited to 9600 Baud.
  • 3D Robotics
    Chris Anderson March 11, 2009 at 4:50pm
    Fred: Why not use two GPSs, one for ArduPilot and one for OSD? Or change the code to use a NMEA parser instead. Maybe we'll return to NMEA in the future, but for now I think two GPSs are a very easy workaround.
  • 3D Robotics
    Chris Anderson March 11, 2009 at 4:46pm
    No, the head sensor cannot currently be mounted in an X position. We're working on enabling that.
  • Jhon March 11, 2009 at 4:44pm
    can the head sensor be mounted in a "X" position rather than "+" position? this will allow better sensing when mounted close to wings.
  • Fred March 11, 2009 at 2:39pm
    Hi Jordi,
    That´s cool, please could you explain how to do that and if it will fix the speed issue too ?
  • Carlos March 11, 2009 at 2:29pm
    Hi, exelente Chris work, but with vercion 2,0, I cannot use a same GPS for OSD DAKAR and Ardupilot, podra to cause that the code works to 9600bds and NMEA, or to realise one vercion for the FV-M8 that many already we have, if it is not possible,:-( , :- ( excuses
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