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3D Robotics

ArduPilot 2.1 released + setup utility and ground station

Posted by Chris Anderson on April 21, 2009 at 12:30am

A big code release tonight--this is the full setup that won the Sparkfun autonomous vehicle competition. Along with general improvements to the code, this is the entire package of autopilot, setup utility and ground station code. It's a full Unmanned Aerial System, not just a UAV! ArduPilot 2.1
  • All the features of ArduPilot 2.0 plus...
  • Supports XY sensor in diagonal postion
  • Requires Z sensor [UPDATE: FMA is no longer carrying those. While we sort out alternative sources, you can buy them from Dean Goedde for $40 (scroll down for price list)
  • Controls throttle if airspeed sensor is attached via the ArduPilot expansion board.
  • Supports desktop setup utility for waypoints and autopilot settings. (Waypoints are no longer manually entered in the code. They can only be entered with this utility.)
  • Last version of the code to support the original ATMega168-based board. Future versions will require the new ATMega328-based board.
  • Field setup procedures are here
  • Get it here
If you are using the expansion board and airspeed sensor, to control the throttle you must solder a wire from digital pin 8 to "MUX IN 3" Desktop setup utility

  • Add waypoints manually; utility displays them on Google Maps
  • Set max altitude, speed, circle radius
  • Set elevator, aileron/rudder trim
  • More features coming
  • Get it here ("ArduPilotConfigUtility")
When using this utility for the first time with ArduPilot, click Write before anything else in order to format the EEPROM. Also, ensure that the "Set RTS on close" box is checked in your serial port's advanced properties (control panel/device manager), as described in our Arduino debugging tips) Ground station

  • Requires free Labview runtime engine and serial drivers (install both. Note: if you've already installed Lego's Mindstorms NXT software you may find you've got a driver conflict, because it's based on LabView, too. Uninstall the Mindstorms software first.)
  • Works with Xbee wireless modules
  • Displays real-time attitude, speed, altitude, current waypoint, heading, distance to next waypoint, etc
  • Displays real time position on Google Earth
  • Get it here
  • Source code is here
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Comments

  • HappyDude4444 April 23, 2009 at 2:43pm
    Thats better, makes much more sense now. Version on the Google Repository is correct.

    Thanks for quick response.
  • 3D Robotics
    Chris Anderson April 23, 2009 at 2:35pm
    @HappyDude: I reuploaded. Check again, please.
  • Moderator
    Sgt Ric April 23, 2009 at 2:34pm
    Take a look at todays announcement by Jordi about adding more sensors .
  • James Turner April 23, 2009 at 2:25pm
    This looks a fantastic system. I'm just wondering is there any way to be able to get it to display battery voltage or did I miss something?
  • HappyDude4444 April 23, 2009 at 2:10pm
    I hope I am not missing something obvious, but when I download the Ardupilot2.1.zip the code appears to be the same as 2.0.1??

    I had a quick look through the code as I thought just the software version might not be updated, but there doesn't appear to be any support for diagonal sensor or throttle control.

    Could somebody please check the 2.1 code from the Google Repository to see if they have the same problem?

    Thanks
  • Torin Segstro April 23, 2009 at 12:16pm
    Any circuit diagrams of the circuit used for the airspeed sensor? Would love an eagle file if it is available!
  • Developer
    Jordi Muñoz April 23, 2009 at 11:27am
    Reto:

    I truly understand your situation, the only way to get sensors from there is here:
    http://ch.farnell.com/freescale-semiconductor/mpxv5004dp/sensor-pre...
    But some times, some chips are shipped from the US, and takes so long, and i don't know about the shipping rates...
  • Developer
    Jordi Muñoz April 23, 2009 at 11:20am
    Saiful Azuwan:

    Seem that something is wrong (LOL). Could be two things, you are using the last ardupilot (328), this software only support 168, or your FTDI cable or whatever is not resetting the board, happens to me only in some sparkfun FTDI modules...
  • Developer
    Jordi Muñoz April 23, 2009 at 11:17am
    Sorry for the delay guys, i was in bed since Sunday (sick).
    Thanks for all your support.
    New Ground Station source code is now posted
    http://code.google.com/p/ardupilot/
    Please everybody say thanks to Automatik, that help me to solve some bugs in the ground station!
  • abey April 23, 2009 at 9:42am
    ....and, out of curiosity, what is the actual license?
This reply was deleted.