Posted by Jordi Muñoz on August 11, 2009 at 4:30pm
Whats new:-Upgrade the navigation algorithms for the REAL ones.-Fixed the airspeed (yeah the problem was the groundstation not the ardupilot itself).If you have an ardustation download the version >= 1.2 please.-I added the RSP (Roll Set Point) variable to know if the NAV is doing the right job.-I added the TEST_SENSORS in line 5-8. This will inject the orientation data comingfrom the IR’s sensors to the servos, so you can test fast and easily if you setup is correct.If the rudder/ailerons and elevators moves contrary to the aircraft orientation means you’re are OK.-I added the CALIBRATE_SERVOS in line 5-7. Will let you see the range of your servos(+-45 degrees). For example in my Hitec HS-81 the full range of +-90 degrees is 600ms and 2400ms,this values must be set in SERVOS MAX and MIN located in lines 3-1 to 3-4 (now are in depended forailerons and elevator), you should see you servo moving perfectly 45 degrees (IF NOT, ADJUST IT!).-Walk Around mod. Line 5-6, If is set to 0 will let you test visually the navigation.Actually will disable the stabilization and will pulse the rudder/ailerons servo directly.You can also use it as ArduPilot V10 (is what actually does to navigate).Ardupilot V10 can be killed now.-FIxed the Header comments (Chris actually did it).Tricky, Tricky!I have found some Tricks:-If you don’t connect the receiver to the ardupilot it will get stuck when the GPS is not fix and during the start up.This thanks to the PulseIn function (not my fault).-Note in this version the PI gains are not calibrated i need to tune them again.-I've change the default servo polarity (plug and play in my setup (= ) Nothing personal really.ArduPilot23_RC1.zip
Can you send a picture of your setup? You have have the XY sensor in a poor location.
I assume you're doing the setup procedure right at the field, including the reset when you're holding the plane in the air. None of us are seeing the problem with our setups, so it does some like something particular to yours.
I have a Twinstar, with RC1, including the changes that Chris mentioned. On the ground, it seems to navigate properly when walking around, and the thermal sensors have the correct reactions. The only thing that seems wrong is a significant down elevator movement when engaging the AP. I asked about this on another thread, but no one really had a definitive answer to whether that was normal.
Minutes ago, I took it up for a test flight, and can confirm that it does exactly the same thing when engaged in flight. Basically, it assumes an immediate course towards the core of the earth :-) I tried it twice, with similar results. Once it nosed straight down, it's happy to stay on that course, and you can see the same thing when holding the plane on the ground. The elevator will start reacting upward as you pitch forward, but it doesn't get to neutral until you're pointing nearly straight down.
I have two complete setups, and I believe I've seen this same behavior on both, but I'll be confirming that in a few minutes. It's as if it doesn't know what level is supposed to be. Is there a setting that is used to adjust level, such as if you were forced to install your xy sensor in an unlevel location? If so, maybe mine is wrong.
O.K. I get it. In other words you can use 2.3 with stand alone stabilization.
Seeing that Ardupilot 1 sold over 300 copies if I'm correct, it will be good news to some out there if they can use 2.3 but code will have to be trimmed to fit Ardupilot 1 right?
Sorry is rudder/ailerons not rudder/elevator, i just corrected it. Is exactly what it says, is like ardupilot V10. You may confuse if you are not familiar. In other words only moves the rudder left and right, depending where is trying to head without stabilization.
Hi Jordi sound great. Can you please explain a bit more? (-Walk Around mod. Line 5-6, If is set to 0 will let you test visually the navigation.
Actually will disable the stabilization and will pulse the rudder/elevator servo directly.
You can also use it as ArduPilot V10 (is what actually does to navigate).
Ardupilot V10 can be killed now.)
I think the photo is PhotoShop-ed, see the HUMVEE in the background?
Jordi, thank you so much, I'll try this out as soon as I can. These new header file switch values for ground test, servo test, and direct reflection of IR sensor values to servos are exactly what I needed today: I've been puzzling over tuning the P and I gains all afternoon. Lots of death spiraling :) .
Comments
I assume you're doing the setup procedure right at the field, including the reset when you're holding the plane in the air. None of us are seeing the problem with our setups, so it does some like something particular to yours.
I have a Twinstar, with RC1, including the changes that Chris mentioned. On the ground, it seems to navigate properly when walking around, and the thermal sensors have the correct reactions. The only thing that seems wrong is a significant down elevator movement when engaging the AP. I asked about this on another thread, but no one really had a definitive answer to whether that was normal.
Minutes ago, I took it up for a test flight, and can confirm that it does exactly the same thing when engaged in flight. Basically, it assumes an immediate course towards the core of the earth :-) I tried it twice, with similar results. Once it nosed straight down, it's happy to stay on that course, and you can see the same thing when holding the plane on the ground. The elevator will start reacting upward as you pitch forward, but it doesn't get to neutral until you're pointing nearly straight down.
I have two complete setups, and I believe I've seen this same behavior on both, but I'll be confirming that in a few minutes. It's as if it doesn't know what level is supposed to be. Is there a setting that is used to adjust level, such as if you were forced to install your xy sensor in an unlevel location? If so, maybe mine is wrong.
Thanks,
Rusty
--The default GPS in the .h file was accidentally set to uBlox. Change that back to SIRF if you've got a EM406
--There's a typo in the .h file:
" //3-17
#define pitch_P 65 //Pitch Proportional"
That should be .65, not 65!
Seeing that Ardupilot 1 sold over 300 copies if I'm correct, it will be good news to some out there if they can use 2.3 but code will have to be trimmed to fit Ardupilot 1 right?
Sorry is rudder/ailerons not rudder/elevator, i just corrected it. Is exactly what it says, is like ardupilot V10. You may confuse if you are not familiar. In other words only moves the rudder left and right, depending where is trying to head without stabilization.
Actually will disable the stabilization and will pulse the rudder/elevator servo directly.
You can also use it as ArduPilot V10 (is what actually does to navigate).
Ardupilot V10 can be killed now.)
Thanks
Jordi, thank you so much, I'll try this out as soon as I can. These new header file switch values for ground test, servo test, and direct reflection of IR sensor values to servos are exactly what I needed today: I've been puzzling over tuning the P and I gains all afternoon. Lots of death spiraling :) .
-Steve
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