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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

  • sirk March 25, 2009 at 1:26pm
    Hello

    This may be a silly question but in your IR conversion to degrees do you assume that the midpoint is 511? Would it not be better to calculate an average IR value in the level position and reference to this instead?

    Thanks for your time.
    Sirk
  • tycinis March 24, 2009 at 6:15am
    Chris , the FMA z sensor use in 2.1 code change what ?

    better fly ?
  • Developer
    Jordi Muñoz March 23, 2009 at 6:20pm
    Nothing, i have the old and new version, the new version just have different resistors... The only difference i've discovered is that the gain of the last version is a little bit higher. That's ok because has better resolution. But also the sensors in the last version are different, so maybe they have changed the resistors to increase the gain and compensate the difference of new sensors against the old ones.
  • William March 23, 2009 at 5:03pm
    Here's a question for Jordi or Chris. How old is the XY sensor your using? I heard the the opamps were changed in early 2008, and I beleive mine is the older model. What are the implications for the PID loop?
  • 3D Robotics
    Chris Anderson March 23, 2009 at 7:30am
    John Mac: Yes, you can. Just follow the link in the post above. They're going to keep making those sensors to support existing users.
  • John_Mac March 23, 2009 at 6:58am
    I just noticed that FMA has discontinued the FS8 and is now selling (or at least taking orders for) CoPilot II with a new digital output sensor...don't know if you can still get the old sensor.
  • Mike Boland March 20, 2009 at 10:57pm
    Hi,
    I am brand new to this so these might be silly questions answered elsewhere.
    My Ardupilot board arrived and I have assembled it, hooked it up and am trying to download the Ardupilot 2 code, but I am confused by the files I am downloading off the net.
    When I get the Ardupilot 2.zip it expands to ArduPilot_EasyStar_WP which is beta 1,0 in the code header.
    Is this correct?
    Due to this confusion I may have inadvertently installed Ardupilot 1 at some stage, will this upset things trying to install 2.0 over the top of 1?
    Also, the led ON the GPS is always blinking, even when I have a blue lock led lit. According to the led page this led should not be lit at all??? but I can find no reference to "if the GPS led blinks then ....."
    I hope someone can indicate what simple mistakes I must have made.
    I have installed the FMA sensor and run the sensortest and all looks well, I get the changing figures when it is moved.
    The leds respond to the mode switch from the transmitter.
    Also the Out2 servo seems to pulse every 10 seconds or so.
    Help! I am a bit lost at this stage as to what to do next.
  • John_Mac March 18, 2009 at 4:06pm
    Jordi/Chris....OK thanks
  • Developer
    Jordi Muñoz March 17, 2009 at 10:43pm
    John Mac, is not that easy, i suggest to wait till i release the funjet version.
  • 3D Robotics
    Chris Anderson March 17, 2009 at 10:40pm
    John,

    If you set the throttle to a medium setting, those problems don't arise. But we will be adding throttle control to future versions of ArduPilot. It's just not a high priority, because it works fine in most conditions without it.
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