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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

  • Moderator
    Sgt Ric March 12, 2009 at 8:38am
    Chris, I see by the photo above that you mounted your FMA on a tower, ostensibly to clear the prop and tail so they do not interfere with the sensors.

    Is this necessary?

    I am worried about any drag penalty.

    I have seen some examples on rcgroups where the sensors were mounted on the FMA wooden mount directly on the top of the EZStar, but haven't heard any feedback about the quality of the stabilization from that config.

    Did you find negative "reception" and then moved higher, or just built the tower mount because it made sense?
    .
  • 3D Robotics
    Chris Anderson March 12, 2009 at 7:40am
    Jay: Yes. We've used it with the FunJet, which works great and has that setup.
  • Jay Bryon March 12, 2009 at 7:27am
    Glad to hear about aileron control, being a flying wing nut! Can it handle elevon setups?
  • William March 12, 2009 at 5:16am
    Quote:

    "William, I emailed Adafruit before buying the XBee boards and asked if the were compatible with the 868s. They said that they ' should be'. I ordered the kits but haven't had a chance to build them but seems that there is no need now! "

    I think they will work, but the regulator, and cap will have to be mounted differently for the module to fit. I'm going to try to just lay over the cap, and bend the reg out a little. Just test fit the module as you build it. I see that the longer Pro modules that Chris used seemed to fit his boards? The XSC version must be different as the metal RFcan gets in the way.
  • Developer
    Mark Colwell March 12, 2009 at 4:54am
    Thanks for your help Chris , I needed to reinstall Arduino 14 and USB drivers , version 2.0 complied just fine and uploaded to ArduPilot, My FMA sensor should arrive today, I can't wait to try out on first flight.
  • William March 11, 2009 at 8:04pm
    Didn't mean to get us off track here with the telemetry question! This 2.1 annoucement really reallly sounds good, and that setup software is icing on the cake. you guy's continue to amaze. When do you think the FunNjet / Superstar versions of 2.0 you mentioned will be forthcoming? I think i'd like to move straight to the Superstar version.
  • 3D Robotics
    Chris Anderson March 11, 2009 at 7:04pm
    tychoc: we will support additional GPSs in the future, probably by using NMEA. Please give us time. Right now the variety of hardware configurations people are using is dizzying and we can only maintain so many code bases. The simplest thing for us is to lock down the hardware requirements, but we understand that people want to integrate ArduPilot with their existing equipment. We'll try to find a path that allows them to do this, but it will take time.

    Most autopilots don't allows this at all, so I hope you can see that this is a significant challenge and won't happen overnight. The reason the project is open source is so people can modify it for their own needs, and we'd really rather not have to do it all ourselves, especially for hardware configurations we don't have and have never used.
  • William March 11, 2009 at 6:23pm
    Thats more good news Jordi!

    BTW, If anyones planning on getting the XSC long range Xbee, be aware that I have just discovered it will not fit the Adafruit board due the the extra lenth hitting 2 componets. :-(. I'll have to remount then to the backside of the board. However, the Sparkfun USB explorer board fits great, and i'd recommend it for the groundstation module..
  • Developer
    Jordi Muñoz March 11, 2009 at 6:13pm
    William,

    yes the plan is to use XBee, in my case the 900mhz version because i have 2.4ghz radio, and 1.3ghz video.... =)
  • Developer
    Jordi Muñoz March 11, 2009 at 6:12pm
    THe Nono,

    The version 1 of ardupilot will continue, and it will use NMEA and eeprom to save home parameters.. But will be partial autonomous.. (requires FMA)..
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