Here's what I hope is the final release.
As the new Manual gets formatted, you can view it at: http://code.google.com/p/ardupilot/wiki/ArduPilot25
Until the content is finally moved over the 2.4 manual is still a great resource.
Ardupilot_25_RC2.zip
Bonus - If you look check out the Waypoint_writer_25.pde file in the test suite, you can upload relative waypoints. This isn't supported in the config tool yet.
Jason
UPDATE -
A lot of people were having trouble with the GPS code and LEDs. I reworked the GPS parsers today to iron out some things. They were nothing that would interfere with flight, but I highly recommend using this new version. I've also added the ability to scale down your plane's roll based on airspeed. This should help planes that turn faster when they go slower. We may tweak this a bit in the future, so I'm looking for feedback on it. Note you can always turn it off in your header file with this line:
//6-4
#define AIRSPEED_TURN_P 1
see the header file for more instructions
Comments
And what happened to ##3 and ##4?
You can also turn on debug mode to see the plane fly your waypoints as a check to make sure the WP are loaded correctly. Telemetry will output to the ground station. You can also turn off throttle output or disconnect your motor if you do that indoors.
Jason
Can you make sure your switch registers all three positions? You can do this with the Airframe tester or the full version. When the switch changes you should see a message output in the telemetry or Serial window of Arduino.
##0| MANUAL
##1| STABILIZE
##2| FLY BY WIRE
##5| AUTOPILOT
##6| RTL
##7| LOITER
To adjust your radio, you need to adjust the endpoints of channel 5 (or whatever channel you use for the three position switch.) Do that until you see the modes change.
The stabilized mode works I will need to tune the gains to make this work better but first try all seems very good.
I had 4 waypoints loaded and when I flipped to Auto or RTL nothing happens. Looking at the Telemetry
there is never a bearing or dist to any waypoints regardless of wich mode i are in?
I used the configuration tool to up load the waypoints.
The flights were very informative. I cleaned up some startup code to make the status LEDs match the prior versions.
I had a lot of trouble with the IR under reporting it's angle. We had quite the cold and foggy day and the sensors had some issues. I lowered the IR_max minimum value and the problem went mostly away. I would love to do a better calibration in the field - say hold the plane at 45° and set that as 45°. The new value is in the code now so there is nothing to do.
I also had issue with over steering at slow speeds. I took a tip from Ryan and added a proportional scale for roll_P so that it goes down the slower you go. I limit that to about a 60% reduction. I start reducing below 30 from the pressure sensor. That may need to be adjusted on a per plane basis but for now, it's low and pretty safe.
I also lowered roll_I because the easy star doesn't seem to need it much if at all.
Tim flew the FLY_BY_WIRE mode which lets a novice pilot control the plane with ease. The FBW mode was also instrumental for debugging my sensor issue.
Loiter looked good. I reduced the radius in the default header as Chris's plane looked to be flying well outside the radius. I think this has to do with the plane not aggressively holding the line enough. I really need to hook up telemetry and refine this, but it does work nicely! Maybe Ryan you can help here.
Jason
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