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Ardupilot 2.5 Release Candidate

Posted by Jason Short on January 31, 2010 at 9:30pm
I was finally able to test 2.5 over the weekend and added a few tweaks to the code.
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


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Comments

  • Saiful Azuwan February 9, 2010 at 7:38pm
    What about this #define REVERSE_THROTTLE 1 // 0 = Normal mode. 1 = Reverse mode...

    In the STABILIZE mode (higher throttle stick motor OFF, lower throttle stick motor ON- full speed). I used the reverse setting for my esc :(
  • Saiful Azuwan February 9, 2010 at 6:43pm
    I see... Have to change back my rx to JR hope its help. thanks
  • Developer
    Jason Short February 9, 2010 at 6:40pm
    Most ESC's auto Calibrate. But I really wouldn't know. I use a CC Phoenix 35.
    You don't need the throttle failsafe to fly. You can set your radio to change the control switch to the RTL position on failsafe. It's just a limitation on certain radios that makes you need to use the throttle for failsafe.

    My Futaba 7C radio will only output this way and that's the whole reason this feature is there.
  • Saiful Azuwan February 9, 2010 at 6:34pm
    Ah, right now Throttle based failsafe only works for ESCs that use low PWM values for idle. That will be added in the next version.

    Jason - What ESCs you suggest. And how to know PWM values for each ESCs?
  • Developer
    Mark Colwell February 9, 2010 at 5:17pm
    I'm sorry, I am actually using my JR XP7202 with R790UL rx, It is very similar to DX-7, except XP7202 has selectable failsafe on all 7chs. I will run Arudpilot_25_radio_test and post results...
  • Developer
    Doug Weibel February 9, 2010 at 4:35pm
    @Cholo - I get a lot of requests for NMEA gps input to ArduIMU, so yes it will probably happen. It is not currently at the top of my list....

    If someone wants to pitch in I can give them a "to do" list for the parser. Mostly we need to change it to a non-blocking parser so it doesn't bog down the IMU and we need to add a few flags. Then we will see how much time it takes to process a full message when it hits and maybe change the parser so it takes two passes through to complete work on a message to reduce the time it adds to the IMU loop.
  • Developer
    Jason Short February 9, 2010 at 4:33pm
    Thanks for enclosing the full log! I looked at it.

    My first concern is the radio PWM values seem low and/or incorrect. Are you using the Spektrum receiver?

    Can you look at the radio tester in the RC2 folder and load that? it should output the raw PWM values. Ch1 and Ch2 should be in the mid 1000 to 2000 range.

    Move the sticks around and send me that log. Thanks!


    Everything looks and is behaving what I would say as normal from your log except that radio issue. The failsafe is being called while you're at the bench probably and your distance to home is showing up as a very low number. I have that error checker there to find bad GPS calculations. That seems to be behaving correctly although I will probably disable it in the final.

    Jason
  • Developer
    Mark Colwell February 9, 2010 at 4:15pm
    Jason, R2C code is looking good, I have been testing today with good results, but there is an error or two..
    I am using DX-7 and uBlox GPS...
    1st error is probably is a set up issue I missed. How should I start ...here is my log and comments

    Init Ardupilot 2.5.0
    wp_total 4
    options 1000
    wp_radius 33
    Startup: Ground (it pauses here until I mess with sticks.. what should I do to start.. next

    Radio Trim error ( this is reported every start up.....)
    R:880 E:954 T:1199

    Wait for GPS
    Still Waiting: No Valid Fix
    Still Waiting: No Valid Fix... (then gps lock..)

    Loaded WP index:1
    prev_WP: 388302109 -1048121633 182811
    next_WP: 388315180 -1048023610 188811
    wp_total: 4
    home: 388302100 -1048121630 182800
    wp #1 388315180 -1048023610 6000
    wp #2 388293190 -1048023070 6000
    wp #3 388293280 -1048032830 6000
    wp #4 388303980 -1048032940 6000
    Reading radio limits:

    Move sticks to: upper right and lower Left.

    To Continue, hold the stick in the corner for 2 seconds.
    R:880 E:954 T:1199
    ..................................................
    Remove Safety Flag
    Remove Safety Flag
    Remove Safety Flag.... ( OK ready to go...)

    Remove Safety Flag
    ##0| MANUAL

    Ready to FLY.
    !!!LAT:38830267,LON:-104812139,SPD:0,CRT:0,ALT:0,ALH:1888,CRS:306,BER:0,WPN:1,DST:0,BTV:8583079,RSP:0,***
    +++ASP:0,THH:92,RLL:11,PCH:-29,***
    +++ASP:0,THH:73,RLL:11,PCH:-29,***
    +++ASP:0,THH:50,RLL:11,PCH:-29,***
    !!!LAT:38830261,LON:-104812136,SPD:0,CRT:0,ALT:0,ALH:1888,CRS:306,BER:0,WPN:1,DST:0,BTV:8598246,RSP:0,***
    +++ASP:0,THH:33,RLL:11,PCH:-29,***
    +++ASP:0,THH:24,RLL:11,PCH:-29,***
    !!!LAT:38830260,LON:-104812136,SPD:0,CRT:0,ALT:0,ALH:1888,CRS:306,BER:0,WPN:1,DST:0,BTV:8608159,RSP:0,***
    +++ASP:0,THH:25,RLL:11,PCH:-29,***
    +++ASP:0,THH:25,RLL:11,PCH:-29,***
    *** FAILSAFE DETECTED ***
    Loaded WP index:0
    prev_WP: 388302609 -1048121365 183963
    next_WP: 388302680 -1048121480 367855
    ##6| RTL
    ****FAILSAFE ON******
    !!!LAT:38830262,LON:-104812138,SPD:0,CRT:0,ALT:0,ALH:1839,CRS:306,BER:0,WPN:0,DST:0,BTV:8618044,RSP:0,***
    +++ASP:0,THH:25,RLL:11,PCH:-29,***
    wp_distance error, loc: 388302620, -1048121385 next_WP 388302680, -1048121480
    wp_distance error, loc: 388302620, -1048121385 next_WP 388302680, -1048121480
    wp_distance error, loc: 388302620, -1048121385 next_WP 388302680, -1048121480
    ( this error due to home set to LAT xxx,LON xxx 182500 ???)......


    After fine tuning of mixing of Gear to Throttle and turning the failsafe on during stick calibration.

    I got this

    Init Ardupilot 2.5.0_rc2
    wp_total 4
    options 1000
    wp_radius 33
    Startup: Ground
    Radio Trim error
    R:919 E:856 T:888

    Wait for GPS
    Loaded WP index:1
    prev_WP: 388302574 -1048121231 182566
    next_WP: 388315180 -1048023610 188566
    wp_total: 4
    home: 388302570 -1048121230 182500
    wp #1 388315180 -1048023610 6000
    wp #2 388293190 -1048023070 6000
    wp #3 388293280 -1048032830 6000
    wp #4 388303980 -1048032940 6000
    Reading radio limits:

    Move sticks to: upper right and lower Left.

    To Continue, hold the stick in the corner for 2 seconds.
    R:919 E:856 T:888
    ..................................................
    Remove Safety Flag
    Remove Safety Flag

    and

    +++ASP:-1,THH:25,RLL:-24,PCH:4,***
    *** FAILSAFE DETECTED ***
    +++ASP:-1,THH:25,RLL:-24,PCH:4,***
    Loaded WP index:0
    prev_WP: 388303057 -1048120817 182669
    next_WP: 388302810 -1048120780 365027
    ##6| RTL
    ****FAILSAFE ON******
    +++ASP:-1,THH:25,RLL:-24,PCH:4,***
    Reached WP:0
    ##7| LOITER
    !!!LAT:38830305,LON:-104812083,SPD:0,CRT:0,ALT:1,ALH:1826,CRS:0,BER:173,WPN:0,DST:2,BTV:7132593,RSP:8,***
    +++ASP:-1,THH:25,RLL:-24,PCH:4,***
    +++ASP:-1,THH:25,RLL:-24,PCH:4,***


    attached logsAP_R2C_BlueStik_DX-7_logArdupilot 2.5.0_rc2_log

    Very close to a working system, Please advise...
    Thanks again Jason...
  • Jay Smith February 9, 2010 at 4:13pm
    My apologies to Jason for my laps in PM etiquette, and thank you very much for your help. My apologies to the forum thinking it rude to rehash an issue already covered several in several subtopics earlier.
  • 3D Robotics
    Chris Anderson February 9, 2010 at 3:09pm
    Jay, that's asking a lot. If you have a private question, it's only polite to PM Jason, not ask him to PM you. And in general, it's best to do this in public so others can follow along if they have similar issue.
This reply was deleted.