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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

  • 3D Robotics
    Chris Anderson March 15, 2009 at 8:05pm
    Magnus: 511 is the midway point of the ADC's resolution (0-1023). We've run the board at 5.5v with no problem.
  • Magnus March 15, 2009 at 1:52pm
    What is the maximum voltage for the onboard converter. Will 20V (4 cell LiPo) be OK?

    /Magnus
  • Magnus March 15, 2009 at 1:51pm
    Well, looking at the code it seems like the center values are hardcoded to 511. Running the processor at 5.5 V will as far as i can see make the plane roll and pitch some.

    int get_roll(void)
    {
    return constrain((int)(((infrared0-511)*90)/max_ir),-60,60);
    }
  • 3D Robotics
    Chris Anderson March 15, 2009 at 1:02pm
    That should all be fine. The calibration routines will take care of setting the IR values.

    The voltage converter will work with 5.5v in, but it will probably drop the board to ~4.5v. That's fine for the board itself, but if you're using the 3.3v daughterboard for 3.3v GPS, it might fall below critical voltage.
  • Magnus March 15, 2009 at 12:55pm
    A voltage question. My BEC is supplying my ArduPilot (and the rest of the system) with 5.5V power. This is within the limit of the ATMegas and everything i working OK. I am supplying the Autopilot from the servo leads so i am not using the built in voltage converter.

    The question is do i need to adjust the IR-level values? (float infrared0=511; //analog infrared variables
    float infrared1=511; ) the 511 value will not represent 2.5V in my setup.

    Next question is if the voltage converter will work with as little as 5.5V as source voltage?

    /Magnus
  • Developer
    Jordi Muñoz March 12, 2009 at 5:18pm
    Thanks Sqt Ric, we going to continue as long we can, your support is and will be very important.

    Willian: Yes i just switch to spektrum 2.4GHZ due to some glitches in my 72mhz. So i had to update my modems too! They came in exactly in the right moment =)...
  • Moderator
    Sgt Ric March 12, 2009 at 4:48pm
    @Jordi
    You and Chris have developed an incredible system... and the fact that it is open source as well is amazing.

    I do not at all fault Dean for going commercial, but it seems you two have dedicated as much of your life to this as anyone can.

    Thx guys!
  • William March 12, 2009 at 4:33pm
    Thanks Jordi, Yep! That exactly what I had in mind. I'm pulling the cap off tonite, and installing an extra one horizontally.

    BTW, i'm so glad to see you have the XSC. This mean I will be in full compliance with what is to come!
  • Developer
    Jordi Muñoz March 12, 2009 at 1:22pm
    Hey William check this picture of my XBee XSC with adafruit board:
    Here
  • Developer
    Jordi Muñoz March 12, 2009 at 1:20pm
    Sqt Ric, The drag is almost null, i feel not difference. It fly's very slow...
    I build it because make sense... And if you put it close, the aircraft thinks is pitching up a few degrees. Due to the conditions and because we are in a development stage, i prefer the "secure" way, letter i can start experimenting.
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