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
Yes, you can take over the plane in Autopilot mode with the sticks. There is a mixing algorithm that combines AP control and your radio. If you don't want influence the AP, just don't touch the sticks. This is designed for you to grab control of the plane or nudge it without reverting to Manual mode.
This is a new feature, so feedback is welcome!
BTW, check your waypoints again. One of them was 350 meters away from the others. This seemed far to me and perhaps a mistake?
Jason
I will reload software and waypoints and try flying again.
Will use your last GPS EM406.pde
Is it OK that sticks are as authoritative in AUTO mode as in FLY BY WIRE mode?
Will inform you on results
marco
I plotted your waypoints in the debug mode. Everything looks OK.
I was going throut the startup procedures And had a question
Ardupilot has a specific startup routine:
Normal Power on
confirmed Check the Remove Before Fly plug is connected
Confirmed Twitch servos to indicated startup has begun
Normal Begin looking for a GPS fix - Flash the blue LED until a fix
Confirmed Set the Blue LED to solid to indicate a GPS fix
Normal Twitch servos once
Normal Calibrate Radio Trims (and optionally XY IR sensors)
Confirmed Twitch servos until Remove before Fly pin is removed
At this point the gps lock led goes out when i remove the RBF jumper.
It should stay on correct?
The EM406 test was good, and I have rechecked the gps config is set to 1
Appears OK Save home location and flight settings to memory
Also when using a spectrum DX5e with only a two position switch shoould a redefine position 2 or 3 or both for my second flight function?
Nice work on 2.5 thank you.
Jay
I have ArduIMU v1 and hope to have it working with ArduPilot v1 (AT128) soon, but when switched to Waypoint mode Aileron servo go crazy and manual nudge is twitchy. I will also test MIX for Elevons as I hope to put this in my Stryker II, I will post results when it works...
!!!LAT:0,LON:0,SPD:0,CRT:0,ALT:-22,...
eventually I do get the GPS output serially but the blue LED does go on when there is no actual GPS lock
Am I wrong or the bearing from Wp 0 to Wp1 should less than 180 degrees? And from Wp1 to Wp2 should be about 320 degrees? Can you verify if that is actually rigth?
Thanks a lot again
Here is the log in debug mode.
Everithing here looks good.
I have the same behavior with the blue led of GPS.
Could be I have a poor GPS signal.
As I can see in flight Ardu is very busy in attitude control and in AUTO or RTL mode the sticks are very autoritative, as in FLY BY Wire mode.
Thanks a lot
marco
Init Ardupilot 2.5.0
wp_total 4
options 0
wp_radius 20
Debug mode enabled
Startup: Air
debugging - Init Location
Loaded WP index:0
prev_WP: 455671200 89974290 17600
next_WP: 455671200 89974290 35200
wp_total: 4
home: 455671200 89974290 17600
wp #1 455665900 89975500 2500
wp #2 455669500 89980400 2500
wp #3 455675500 89978600 2500
wp #4 455677500 89971400 2500
!!!LAT:45567120,LON:8997429,SPD:13,CRT:0,ALT:0,ALH:352,CRS:0,BER:0,WPN:0,DST:0,BTV:0,RSP:0,***
wp_distance error, loc: 455671200, 89974290 next_WP 455671200, 89974290
wp_distance error, loc: 455671232, 89974288 next_WP 455671200, 89974290
wp_distance error, loc: 455671264, 89974288 next_WP 455671200, 89974290
Reached WP:0
moving on to waypoint: 1
Now going to WP:1
Loaded WP index:1
prev_WP: 455671296 89974288 17607
next_WP: 455665900 89975500 20100
!!!LAT:45567248,LON:8997462,SPD:13,CRT:7,ALT:0,ALH:201,CRS:22,BER:174,WPN:1,DST:73,BTV:0,RSP:0,***
!!!LAT:45567360,LON:8997575,SPD:13,CRT:110,ALT:1,ALH:201,CRS:47,BER:181,WPN:1,DST:85,BTV:0,RSP:0,***
!!!LAT:45567427,LON:8997744,SPD:13,CRT:110,ALT:2,ALH:201,CRS:72,BER:189,WPN:1,DST:94,BTV:0,RSP:0,***
!!!LAT:45567440,LON:8997940,SPD:13,CRT:110,ALT:3,ALH:201,CRS:97,BER:197,WPN:1,DST:99,BTV:0,RSP:0,***
!!!LAT:45567392,LON:8998124,SPD:13,CRT:110,ALT:4,ALH:201,CRS:122,BER:206,WPN:1,DST:99,BTV:0,RSP:0,***
!!!LAT:45567296,LON:8998262,SPD:13,CRT:110,ALT:5,ALH:201,CRS:147,BER:215,WPN:1,DST:96,BTV:0,RSP:0,***
!!!LAT:45567168,LON:8998329,SPD:13,CRT:110,ALT:6,ALH:201,CRS:172,BER:223,WPN:1,DST:88,BTV:0,RSP:0,***
!!!LAT:45567030,LON:8998312,SPD:13,CRT:110,ALT:7,ALH:201,CRS:197,BER:230,WPN:1,DST:77,BTV:0,RSP:0,***
!!!LAT:45566908,LON:8998219,SPD:13,CRT:110,ALT:8,ALH:201,CRS:217,BER:235,WPN:1,DST:63,BTV:0,RSP:0,***
!!!LAT:45566812,LON:8998079,SPD:13,CRT:110,ALT:9,ALH:201,CRS:231,BER:238,WPN:1,DST:48,BTV:0,RSP:0,***
!!!LAT:45566736,LON:8997914,SPD:13,CRT:110,ALT:11,ALH:201,CRS:240,BER:240,WPN:1,DST:32,BTV:0,RSP:0,***
Reached WP:1
moving on to waypoint: 2
Now going to WP:2
Loaded WP index:2
prev_WP: 455666848 89977664 18817
next_WP: 455669500 89980400 20100
!!!LAT:45566675,LON:8997739,SPD:13,CRT:110,ALT:12,ALH:201,CRS:247,BER:37,WPN:2,DST:38,BTV:0,RSP:2,***
!!!LAT:45566649,LON:8997546,SPD:13,CRT:110,ALT:13,ALH:201,CRS:271,BER:49,WPN:2,DST:50,BTV:0,RSP:0,***
!!!LAT:45566684,LON:8997356,SPD:13,CRT:110,ALT:14,ALH:201,CRS:296,BER:60,WPN:2,DST:60,BTV:0,RSP:0,***
!!!LAT:45566771,LON:8997205,SPD:13,CRT:110,ALT:15,ALH:201,CRS:321,BER:72,WPN:2,DST:68,BTV:0,RSP:0,***
!!!LAT:45566896,LON:8997120,SPD:13,CRT:110,ALT:16,ALH:201,CRS:346,BER:85,WPN:2,DST:71,BTV:0,RSP:0,***
!!!LAT:45567033,LON:8997119,SPD:13,CRT:110,ALT:17,ALH:201,CRS:11,BER:97,WPN:2,DST:72,BTV:0,RSP:0,***
!!!LAT:45567158,LON:8997200,SPD:13,CRT:110,ALT:18,ALH:201,CRS:36,BER:109,WPN:2,DST:69,BTV:0,RSP:0,***
!!!LAT:45567248,LON:8997348,SPD:13,CRT:110,ALT:19,ALH:201,CRS:61,BER:121,WPN:2,DST:63,BTV:0,RSP:0,***
!!!LAT:45567286,LON:8997537,SPD:13,CRT:110,ALT:20,ALH:201,CRS:86,BER:133,WPN:2,DST:54,BTV:0,RSP:0,***
!!!LAT:45567264,LON:8997731,SPD:13,CRT:110,ALT:22,ALH:201,CRS:111,BER:145,WPN:2,DST:42,BTV:0,RSP:0,***
!!!LAT:45567187,LON:8997895,SPD:13,CRT:97,ALT:23,ALH:201,CRS:133,BER:156,WPN:2,DST:28,BTV:0,RSP:0,***
Reached WP:2
moving on to waypoint: 3
Now going to WP:3
Loaded WP index:3
prev_WP: 455671232 89979720 19969
next_WP: 455675500 89978600 20100
!!!LAT:45567081,LON:8998018,SPD:13,CRT:65,ALT:23,ALH:201,CRS:139,BER:346,WPN:3,DST:53,BTV:0,RSP:0,***
!!!LAT:45566998,LON:8998176,SPD:13,CRT:43,ALT:24,ALH:201,CRS:114,BER:338,WPN:3,DST:66,BTV:0,RSP:0,***
!!!LAT:45566969,LON:8998368,SPD:13,CRT:29,ALT:24,ALH:201,CRS:89,BER:328,WPN:3,DST:75,BTV:0,RSP:0,***
!!!LAT:45567001,LON:8998559,SPD:13,CRT:19,ALT:24,ALH:201,CRS:64,BER:318,WPN:3,DST:81,BTV:0,RSP:0,***
!!!LAT:45567088,LON:8998712,SPD:13,CRT:13,ALT:24,ALH:201,CRS:39,BER:307,WPN:3,DST:83,BTV:0,RSP:0,***
!!!LAT:45567209,LON:8998800,SPD:13,CRT:8,ALT:24,ALH:201,CRS:14,BER:297,WPN:3,DST:82,BTV:0,RSP:0,***
!!!LAT:45567347,LON:8998806,SPD:13,CRT:6,ALT:24,ALH:201,CRS:349,BER:287,WPN:3,DST:77,BTV:0,RSP:0,***
!!!LAT:45567472,LON:8998728,SPD:13,CRT:4,ALT:24,ALH:201,CRS:324,BER:277,WPN:3,DST:68,BTV:0,RSP:0,***
!!!LAT:45567564,LON:8998582,SPD:13,CRT:2,ALT:24,ALH:201,CRS:299,BER:268,WPN:3,DST:56,BTV:0,RSP:0,***
!!!LAT:45567609,LON:8998396,SPD:13,CRT:2,ALT:24,ALH:201,CRS:279,BER:260,WPN:3,DST:42,BTV:0,RSP:0,***
!!!LAT:45567612,LON:8998199,SPD:13,CRT:1,ALT:24,ALH:201,CRS:264,BER:255,WPN:3,DST:27,BTV:0,RSP:0,***
Reached WP:3
Done, Heading home
Loaded WP index:0
prev_WP: 455676032 89981016 20097
next_WP: 455671200 89974290 35200
##6| RTL
!!!LAT:45567603,LON:8998101,SPD:13,CRT:1,ALT:24,ALH:201,CRS:259,BER:252,WPN:0,DST:19,BTV:0,RSP:0,***
!!!LAT:45567555,LON:8997917,SPD:13,CRT:0,ALT:24,ALH:201,CRS:239,BER:218,WPN:0,DST:61,BTV:0,RSP:0,***
!!!LAT:45567468,LON:8997764,SPD:13,CRT:0,ALT:24,ALH:201,CRS:223,BER:213,WPN:0,DST:46,BTV:0,RSP:0,***
!!!LAT:45567360,LON:8997642,SPD:13,CRT:0,ALT:24,ALH:201,CRS:213,BER:211,WPN:0,DST:31,BTV:0,RSP:0,***
Reached WP:0
##7| LOITER
!!!LAT:45567270,LON:8997565,SPD:13,CRT:0,ALT:24,ALH:200,CRS:208,BER:212,WPN:0,DST:19,BTV:0,RSP:0,***
!!!LAT:45567152,LON:8997466,SPD:13,CRT:0,ALT:24,ALH:200,CRS:216,BER:30,WPN:0,DST:15,BTV:0,RSP:1,***
!!!LAT:45567062,LON:8997318,SPD:13,CRT:0,ALT:24,ALH:200,CRS:241,BER:39,WPN:0,DST:30,BTV:0,RSP:0,***
!!!LAT:45567024,LON:8997129,SPD:13,CRT:0,ALT:24,ALH:200,CRS:266,BER:51,WPN:0,DST:43,BTV:0,RSP:0,***
!!!LAT:45567046,LON:8996936,SPD:13,CRT:0,ALT:24,ALH:200,CRS:291,BER:63,WPN:0,DST:55,BTV:0,RSP:0,***
!!!LAT:45567123,LON:8996773,SPD:13,CRT:0,ALT:24,ALH:200,CRS:316,BER:75,WPN:0,DST:63,BTV:0,RSP:0,***
!!!LAT:45567241,LON:8996672,SPD:13,CRT:0,ALT:24,ALH:200,CRS:341,BER:87,WPN:0,DST:69,BTV:0,RSP:0,***
!!!LAT:45567379,LON:8996651,SPD:13,CRT:0,ALT:24,ALH:200,CRS:6,BER:99,WPN:0,DST:72,BTV:0,RSP:0,***
!!!LAT:45567510,LON:8996715,SPD:13,CRT:0,ALT:24,ALH:200,CRS:31,BER:111,WPN:0,DST:71,BTV:0,RSP:0,***
!!!LAT:45567609,LON:8996851,SPD:13,CRT:0,ALT:24,ALH:200,CRS:56,BER:124,WPN:0,DST:67,BTV:0,RSP:0,***
!!!LAT:45567657,LON:8997034,SPD:13,CRT:0,ALT:24,ALH:200,CRS:81,BER:136,WPN:0,DST:59,BTV:0,RSP:0,***
!!!LAT:45567648,LON:8997230,SPD:13,CRT:0,ALT:24,ALH:200,CRS:106,BER:148,WPN:0,DST:49,BTV:0,RSP:0,***
!!!LAT:45567580,LON:8997402,SPD:13,CRT:0,ALT:24,ALH:200,CRS:130,BER:159,WPN:0,DST:36,BTV:0,RSP:-2,***
!!!LAT:45567484,LON:8997545,SPD:13,CRT:0,ALT:24,ALH:200,CRS:132,BER:176,WPN:0,DST:23,BTV:0,RSP:-1,***
!!!LAT:45567401,LON:8997701,SPD:13,CRT:0,ALT:24,ALH:200,CRS:123,BER:215,WPN:0,DST:18,BTV:0,RSP:1,***
!!!LAT:45567318,LON:8997857,SPD:13,CRT:0,ALT:24,ALH:200,CRS:135,BER:256,WPN:0,DST:23,BTV:0,RSP:0,***
!!!LAT:45567200,LON:8997960,SPD:13,CRT:0,ALT:24,ALH:200,CRS:160,BER:284,WPN:0,DST:31,BTV:0,RSP:0,***
!!!LAT:45567062,LON:8997983,SPD:13,CRT:0,ALT:24,ALH:200,CRS:185,BER:305,WPN:0,DST:39,BTV:0,RSP:0,***
!!!LAT:45566931,LON:8997921,SPD:13,CRT:0,ALT:24,ALH:200,CRS:210,BER:323,WPN:0,DST:46,BTV:0,RSP:0,***
!!!LAT:45566832,LON:8997787,SPD:13,CRT:0,ALT:24,ALH:200,CRS:235,BER:340,WPN:0,DST:51,BTV:0,RSP:0,***
!!!LAT:45566780,LON:8997604,SPD:13,CRT:0,ALT:24,ALH:200,CRS:260,BER:356,WPN:0,DST:54,BTV:0,RSP:0,***
!!!LAT:45566790,LON:8997408,SPD:13,CRT:0,ALT:24,ALH:200,CRS:285,BER:12,WPN:0,DST:54,BTV:0,RSP:0,***
!!!LAT:45566854,LON:8997236,SPD:13,CRT:0,ALT:24,ALH:200,CRS:310,BER:29,WPN:0,DST:52,BTV:0,RSP:0,***
!!!LAT:45566963,LON:8997119,SPD:13,CRT:0,ALT:24,ALH:200,CRS:335,BER:45,WPN:0,DST:48,BTV:0,RSP:0,***
If I do a proper field setup and get sat lock it never goes off, even in the most impossible conditions.
v246 turned of the light back and forth. Now I can't tell if i really have sat lock or not.
Thanks for helping!
ArduPilot Mega is a major new product and has a lot of people working on development. The code bases of ArduPilot, ArduIMU, the PPM decoder, GCS, ArduStation and other products are all going to be evolved for the product. The development you're seeing for our released products is creating a foundation for Mega, but this is not a simple matter of a port. We'll be announcing everything here when it's ready for beta testing.
-
8
-
9
-
10
-
11
-
12
of 14 Next