Blogs

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
E-mail me when people leave their comments –
Follow

You need to be a member of diydrones to add comments!

Join diydrones

Comments

  • 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.
  • 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?
  • Mike March 12, 2009 at 6:03am
    William, thanks will have a look at it. Main priority now is to start the installation of ArduPilot2.0...
  • 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.
This reply was deleted.