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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

  • 3D Robotics
    Chris Anderson April 22, 2009 at 12:55pm
    Again, we'll be selling an expansion board ("shield") with the pressure sensor built in w/in a month or so. We can buy and integrate these things cheaper than you can as individuals (the whole shield will cost less than $25) and they'll be guaranteed to work right with ArduPilot. Stay tuned...
  • Peter Seddon April 22, 2009 at 12:50pm
    Try http://www.active-robots.com/products/phidgets/sensors-phidgets.shtml for diff pressure sensor. They are a UK co.
    Peter
  • Earl April 22, 2009 at 10:47am
    My offer to ship from New Mexico in USA still stands. I will get the postage price from post office tomorrow.
    Earl
    BTW I do have a Pay Pal account
  • Reto April 22, 2009 at 10:05am
    I forgot to add that the differential pressure sensor mounted on a board is sold by RoboShop (Canada) for USD 31.60 and 8 USD shipping to Switzerland. I'll order from them if I can't find it for less in Europe.
  • Reto April 22, 2009 at 9:53am
    For information about the differential pressure sensor needed for ArduPilot ver. 2.1, Digi-Key Germany is not shipping products themselves as to the information they sent me today. All Digi-Key online transactions go through Digi-Key US. It's probably the same for Digi-Key UK. So far, I'll very certainly not order that part from the Digi-Key because of prohibitive shipping costs! Too bad.
    For EU people, I found the sensor to get in an online store in Poland. I asked for a quote in EUR or USD for shipping to Switzerland.
    There's another electronic supplier in Poland having the sensor, but for min. 200 USD orders only!
    @Tom: thanks very much for the proposal for sending me the MPXV5004GC6U. Unfortunately, it's a sensor for absolute pressure measurement, not for differential pressure. Unfortunately it has thus no immediate use within the ArduPilot project.
    Finally, here's a direct link to the sensor datasheet.
  • Saiful Azuwan April 22, 2009 at 8:28am
    I have test the ArduPilot Config. Tool. for the 1st time after select the port I click on Write and I get this msg --> Something is wrong!!!. What should I do?
  • Tom in NOVA April 22, 2009 at 7:41am
    @ Reto - I have a free sample MPXV5004GC6U, but it's not the DP. I haven't opened the sealed package yet, but you may be able to make a DP out of it. Check out the datasheet for this sensor series. If you think you can make a DP out of it, I can send it to you for free, assuming shipping is not more than $3-4.

    I am planning to use the MPXV7002DP (also a free sample) which AttoPilot is using also.
  • Carlos April 22, 2009 at 7:02am
    Hello I congratulate, them by this new version! , flight FPV and is of much east utility AP, you will have the version in NMEA soon, thus shares GPS LV-M8 to 5hz next to my OSD, already has the new ATmega328, by space I do not have problems, is that not to program itself, thanks
  • Moderator
    Graham Dyer April 22, 2009 at 2:58am
    After uploading waypoints to the AP board with Arduino and then running the ArduPilot Config Tool, selecting the right com port and selecting read - no waypoints show up in the main window? Am I doing it wrong? Shouldn't it show the waypoints currently in the AP so that one can edit them?
  • Earl April 21, 2009 at 9:54pm
    Chris, Have you noticed the roll indicator doesn't erase itself before drawing the new roll on the horizon most of the time ?
This reply was deleted.