ArduPilot 2.0 Beta Code Released!

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):

ArduPilot board ($24.95)
EM406 GPS module ($59.95)
A FMA XY sensor ($42.95; if you already have a FMA Co-Pilot, you can use its sensor). If you're buying the FMA sensor by itself, you'll also need to purchase a cable.
A FTDI cable, such as the Sparkfun ($13.95) or Adafruit ($20) ones
ArduPilot 2.0 code (Free)

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

jordi...you commented on use of rudder vs ailerons in V2...

[Quote]
Now just to clarify the PID chain or P and PI chain to be exactly, is different from EasyStar to Funjet. Funjet uses ailerons to make turns (that was easy to code), now, to control the heading vs bank angle with the rudder (in this case easystar) was trickier than funjet... I had to use a different PI system that also includes an absolute position. Whatever it works, and works like this: The heading error, output the rudder/ailerons SetPoint of the roll PID, Example Ardupilot says: OMG i want to go 50 degrees to the right, so it will output more or less 30 degrees to the roll set point, so the Roll PI will try to bank and maintain 30 degrees, then the airplane will start to turn right without roll over. As soon the airplane get close to the desired heading the PI will start reducing the bank angle to 0, and fly forward... Is similar with the altitude.
{\Quote]

I want to install this on an E Fight Apprentice which has ailerons. You said you had to do things differently for rudder control. I could use rudder, but if I wanted to use ailerons what would I change? Maybe I should go look at V1.

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Comments

John_Mac March 17, 2009 at 5:50pm

Also, in V2.0 there is no motor control (awaits 2.1). Have people found any problems when part of the route is into the wind and the other with the wind, If throttle set too low on down wind leg could stall (or at least want to loose altitude), if too high on up wind leg the elevator could be fighting hard to maintain elevation. Could adjust throttle manually with RC, but if out of range??
John_Mac March 17, 2009 at 5:46pm

jordi...you commented on use of rudder vs ailerons in V2...

[Quote]
Now just to clarify the PID chain or P and PI chain to be exactly, is different from EasyStar to Funjet. Funjet uses ailerons to make turns (that was easy to code), now, to control the heading vs bank angle with the rudder (in this case easystar) was trickier than funjet... I had to use a different PI system that also includes an absolute position. Whatever it works, and works like this: The heading error, output the rudder/ailerons SetPoint of the roll PID, Example Ardupilot says: OMG i want to go 50 degrees to the right, so it will output more or less 30 degrees to the roll set point, so the Roll PI will try to bank and maintain 30 degrees, then the airplane will start to turn right without roll over. As soon the airplane get close to the desired heading the PI will start reducing the bank angle to 0, and fly forward... Is similar with the altitude.
{\Quote]

I want to install this on an E Fight Apprentice which has ailerons. You said you had to do things differently for rudder control. I could use rudder, but if I wanted to use ailerons what would I change? Maybe I should go look at V1.
William March 17, 2009 at 3:35pm

John,

Either would be fine.
Magnus March 17, 2009 at 12:25pm

Jordi: Yes, i know it will scale 1023 bits to 5.5V. That was why i asked about the calibration in the first place. :) So, i have decided to use the built in voltage converter to give me 5.0 volts to work with regardless of BEC or battery voltage. The question is how high voltage i can supplu the converter with?

/Magnus
John_Mac March 16, 2009 at 7:10pm

William..thank you for the reply. I did download the software. I now see the FTDI cable does the communication. So you suggest the Breakout board rather than just the cable.
William March 16, 2009 at 6:04pm

John mac,

You just need this software http://arduino.cc/en/Main/Software
And this connector http://www.sparkfun.com/commerce/product_info.php?products_id=8772
Developer

Jordi Muñoz March 16, 2009 at 5:28pm

OliverD:

Yes you can!, Si, si puedes. Me gustaria uno...
Developer

Jordi Muñoz March 16, 2009 at 5:27pm

Magnus;

There is something called VREF, or Voltage reference used by analogs inputs... If you supply arduino with 5.5 volt the voltage reference will be 5.5v, that means the 10 bits or 1023 values will be scaled to 5.5volts.
John_Mac March 16, 2009 at 5:07pm

Still trying to figure this out....When you release a new version of the code I assume I need some sort of ICSP programmer to burn it. I did see the instructions for the MUX processor and a AVR programmer. Is this the same needed to program the MCU?
Magnus March 15, 2009 at 11:13pm

Chris: OK, I will do some tests with the calibration and level values at 5.5V, but if you have the specifications (or just the part name) for the voltage converter i would appreciate that.

best regards,

Magnus

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