Posted by Jason Short on January 14, 2010 at 5:00pm
This is a quick note to let everyone know that Ardupilot 2.5 is feature complete and can be downloaded via SVN. If you're on Windows, use TourtiseSVN and if you're on a OS X like me, try Versions. The code is located here.Once the Beta feedback is in I'll post a zip file of the final version. Information about using SVN can be found on the web. Please post any issues in this blog post, and I'll fix them immediately and re-upload.I'm also building a wiki manual to help with the configuration, but it's an early work in progress. I'll write a lot more this week, but there should be enough content up there to get you going.Use the Airframe tester to configure your new 2.5 header file and familiarize yourself with the startup sequence. Don't use the old 2.4 file, except to copy over your old gain settings. I've tried to keep as many of the values the same, but many values are new as well.By Default the control switch settings are 1 - manual, 2 - Autopilot, 3 - Stabilize. Feel free to change them to whatever you like.Good luck,Jasonp.s. Who thinks Ardupilot needs a logo?
Hi Christopher,
For now could you just send me a fix and I'll verify it works with the system and then upload it. We're on a tight schedule for releasing 2.5
Thanks,
Jason
I've spotted a bug in the uBlox GPS decoding which means that corrupt messages are not rejected.
If you are happy to add me to the google code project committers then I will gladly submit a fix - which would be the easiest - if you don't want more people on the project let me know and I'll explain the issue (two compensating bugs at present).
You can see an example of similar code I'm working on in "http://code.google.com/p/ardunxt/"
The EM-406 seems to be working. Though I am lucky to have my hair. It isn't the 2.5 code that was the problem, apparently a messed up Java and/or Arduino was the culprit. I sprinkled Serial.prints all over and is seemed that not only wasn't init_gps being called, huge pieces of code were not running. But when I got sick of some other Java errors popping up and shutting down Arduino and re-installed suddenly 2.5 worked. :)
That helps. I think I tracked that one down.
In the radio init, the ch2_trim value is being set too low. Most likely this is caused by the filter not being warmed up properly. There is a loop to do this, but I found that it didn't have a 20ms delay on it when reading the radio. That made the loop run too fast. I uploaded a fix.
The new code fixed the linked channel 1 and 2 but the glitches remain.
Here's a screenshot while it's in waypoint mode (RTL is the same). As you can see, every eighth line the elevator is being driven to 450, which is outside of range.
Comments
For now could you just send me a fix and I'll verify it works with the system and then upload it. We're on a tight schedule for releasing 2.5
Thanks,
Jason
If you are happy to add me to the google code project committers then I will gladly submit a fix - which would be the easiest - if you don't want more people on the project let me know and I'll explain the issue (two compensating bugs at present).
You can see an example of similar code I'm working on in "http://code.google.com/p/ardunxt/"
In the radio init, the ch2_trim value is being set too low. Most likely this is caused by the filter not being warmed up properly. There is a loop to do this, but I found that it didn't have a 20ms delay on it when reading the radio. That made the loop run too fast. I uploaded a fix.
Thanks for testing it!
Jason
This tells me ch2_min is too low. This values is set by the header and overridden by the radio setup routine.
if (ch2_in > 1000 && ch2_in < 2000){ ch2_min = min(ch2_in, ch2_min);
But as you can see, 1000 is the lowest value.ch2_max = max(ch2_in, ch2_max);
}
Could you add :
Serial.println(ch2_min, DEC);
To the main loop and let me know the value?
Here's a screenshot while it's in waypoint mode (RTL is the same). As you can see, every eighth line the elevator is being driven to 450, which is outside of range.
-
6
-
7
-
8
-
9
-
10
of 10 Next