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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

  • Developer
    Jason Short February 8, 2010 at 10:44am
    Can you download and try the latest on the SVN? I worked on that last night and was able to get it to work OK.
    I also changed the way I clear the GPS_update flags this morning. That may have prevented Navigation for uBlox systems in certain situations. I don't have a system here at work to test, so I am uploading this update a little blind.
  • Moderator
    Graham Dyer February 8, 2010 at 10:29am
    Hi Jason, any ideas about what I can try as to my 'no navigation' problem mentioned a few posts back?
  • Developer
    Jason Short February 8, 2010 at 10:16am
    HA, I misread your WP and thought it was 89 instead of 8.9 when I typed it in to Google Earth.
  • marco February 8, 2010 at 10:08am
    I am in North of Italy, live in Milan and my flying site is a few kilometers out of town.
    You can see on Google using my waypoints.
    Ah, last but not least I am 58 in age, with a huge passion for fliyng things.
    Thanks and see you
    marco
  • Developer
    Jason Short February 8, 2010 at 9:55am
    Glad to be of help. BTW where are you? Italy or China?
  • marco February 8, 2010 at 9:48am
    Thanks a lot Jason,
    unfortunately I don't have a telemetry yet but I can download and install Ground station.
    I usually use Google Earth to manage waypoints.
    After sending the previous comments I tried a two waypoints path in real mode walking with the plane in front of my house and it looked fine (as I could see followinf the ... rudder).
    Now it is evening here, tomorrow, depending on the weather I would try flying.
    Compliments again for the nice piece of code you are developing.
    Will keep you informed
    marco
  • Developer
    Jason Short February 8, 2010 at 8:32am
    Hi Marco,
    There seemed to be a bug introduced last night in the SVN while debugging. I just ran your waypoints OK this morning. I updated the SVN and everything seems fine. Do you have a ground station with Google Earth?

  • marco February 8, 2010 at 4:19am
    Hi again Jason,
    tried using your waypoints (from Waypoint writer, modified home waypint) and got this:

    Init Ardupilot 2.5.0
    wp_total 13
    options 1000
    wp_radius 20
    Debug mode enabled
    Startup: Air
    debugging - Init Location
    Loaded WP index:0
    prev_WP: 377171820 -1223802500 10000
    next_WP: 377171820 -1223802500 20000
    wp_total: 13
    home: 377171820 -1223802500 10000
    wp #1 377162320 -1223812000 10000
    wp #2 377177640 -1223798560 7500
    wp #3 377173760 -1223831280 5000
    wp #4 377188600 -1223818000 2500
    wp #5 377162320 -1223812000 5000
    wp #6 377177640 -1223798560 7500
    wp #7 377173760 -1223831280 10000
    wp #8 377188600 -1223818000 7500
    wp #9 377162320 -1223812000 5000
    wp #10 377177640 -1223798560 2500
    wp #11 377173760 -1223831280 5000
    wp #12 377188600 -1223818000 7500
    wp #13 377162320 -1223812000 10000
    !!!LAT:0,LON:0,SPD:26,CRT:0,ALT:-100,ALH:200,CRS:5,BER:291,WPN:0,DST:11565616,BTV:0,RSP:-2,***
    !!!LAT:259,LON:-37,SPD:26,CRT:108,ALT:-98,ALH:200,CRS:341,BER:291,WPN:0,DST:11565601,BTV:0,RSP:0,***
    !!!LAT:486,LON:-212,SPD:26,CRT:110,ALT:-97,ALH:200,CRS:317,BER:291,WPN:0,DST:11565577,BTV:0,RSP:0,***
    !!!LAT:650,LON:-478,SPD:26,CRT:110,ALT:-96,ALH:200,CRS:300,BER:291,WPN:0,DST:11565550,BTV:0,RSP:0,***
    !!!LAT:764,LON:-784,SPD:26,CRT:110,ALT:-95,ALH:200,CRS:291,BER:291,WPN:0,DST:11565520,BTV:0,RSP:0,***
    !!!LAT:847,LON:-1106,SPD:26,CRT:110,ALT:-94,ALH:200,CRS:285,BER:291,WPN:0,DST:11565490,BTV:0,RSP:0,***
    !!!LAT:911,LON:-1435,SPD:26,CRT:110,ALT:-93,ALH:200,CRS:282,BER:291,WPN:0,DST:11565461,BTV:0,RSP:0,***
    !!!LAT:966,LON:-1766,SPD:26,CRT:110,ALT:-92,ALH:200,CRS:281,BER:291,WPN:0,DST:11565431,BTV:0,RSP:0,***
    !!!LAT:1019,LON:-2099,SPD:26,CRT:110,ALT:-91,ALH:200,CRS:281,BER:291,WPN:0,DST:11565402,BTV:0,RSP:0,***
    !!!LAT:1071,LON:-2431,SPD:26,CRT:110,ALT:-90,ALH:200,CRS:281,BER:291,WPN:0,DST:11565372,BTV:0,RSP:0,***
    !!!LAT:1125,LON:-2763,SPD:26,CRT:110,ALT:-89,ALH:200,CRS:281,BER:291,WPN:0,DST:11565343,BTV:0,RSP:0,***
    !!!LAT:1182,LON:-3094,SPD:26,CRT:110,ALT:-87,ALH:200,CRS:282,BER:291,WPN:0,DST:11565313,BTV:0,RSP:0,***
    !!!LAT:1244,LON:-3423,SPD:26,CRT:110,ALT:-86,ALH:200,CRS:283,BER:291,WPN:0,DST:11565285,BTV:0,RSP:0,***
    !!!LAT:1311,LON:-3751,SPD:26,CRT:110,ALT:-85,ALH:200,CRS:284,BER:291,WPN:0,DST:11565255,BTV:0,RSP:0,***
    !!!LAT:1382,LON:-4078,SPD:26,CRT:110,ALT:-84,ALH:200,CRS:285,BER:291,WPN:0,DST:11565224,BTV:0,RSP:0,***
    !!!LAT:1457,LON:-4403,SPD:26,CRT:110,ALT:-83,ALH:200,CRS:286,BER:291,WPN:0,DST:11565195,BTV:0,RSP:0,***
    !!!LAT:1535,LON:-4727,SPD:26,CRT:110,ALT:-82,ALH:200,CRS:287,BER:291,WPN:0,DST:11565165,BTV:0,RSP:0,***
    !!!LAT:1616,LON:-5050,SPD:26,CRT:110,ALT:-81,ALH:200,CRS:287,BER:291,WPN:0,DST:11565135,BTV:0,RSP:0,***
    !!!LAT:1699,LON:-5372,SPD:26,CRT:110,ALT:-80,ALH:200,CRS:288,BER:291,WPN:0,DST:11565105,BTV:0,RSP:0,***
    !!!LAT:1784,LON:-5693,SPD:26,CRT:110,ALT:-79,ALH:200,CRS:288,BER:291,WPN:0,DST:11565076,BTV:0,RSP:0,***
    !!!LAT:1871,LON:-6013,SPD:26,CRT:110,ALT:-78,ALH:200,CRS:289,BER:291,WPN:0,DST:11565046,BTV:0,RSP:0,***
    !!!LAT:1960,LON:-6333,SPD:26,CRT:110,ALT:-76,ALH:200,CRS:289,BER:291,WPN:0,DST:11565016,BTV:0,RSP:0,***
    !!!LAT:2052,LON:-6651,SPD:26,CRT:110,ALT:-75,ALH:200,CRS:290,BER:291,WPN:0,DST:11564986,BTV:0,RSP:0,***

    marco
  • marco February 8, 2010 at 3:58am
    Hi Jason,
    I tried the latest release (from svn) in debug mode with the same waypoints of my previous comments and got these results:

    wp_total 4
    options 1000
    wp_radius 20
    Debug mode enabled
    Startup: Air
    debugging - Init Location
    Loaded WP index:0
    prev_WP: 455675380 89985000 2500
    next_WP: 455675380 89985000 5000
    wp_total: 4
    home: 455675380 89985000 2500
    wp #1 455665880 89975500 2500
    wp #2 455669520 89980400 2500
    wp #3 455675520 89978600 2500
    wp #4 455677480 89971400 2500
    !!!LAT:0,LON:0,SPD:26,CRT:0,ALT:-25,ALH:50,CRS:11,BER:7,WPN:0,DST:5120800,BTV:0,RSP:0,***
    !!!LAT:258,LON:67,SPD:26,CRT:114,ALT:-23,ALH:50,CRS:9,BER:7,WPN:0,DST:5120770,BTV:0,RSP:0,***
    !!!LAT:522,LON:129,SPD:26,CRT:111,ALT:-22,ALH:50,CRS:8,BER:7,WPN:0,DST:5120741,BTV:0,RSP:0,***
    !!!LAT:787,LON:186,SPD:26,CRT:111,ALT:-21,ALH:50,CRS:8,BER:7,WPN:0,DST:5120711,BTV:0,RSP:0,***
    !!!LAT:1053,LON:240,SPD:26,CRT:111,ALT:-20,ALH:50,CRS:7,BER:7,WPN:0,DST:5120681,BTV:0,RSP:0,***
    !!!LAT:1318,LON:292,SPD:26,CRT:111,ALT:-19,ALH:50,CRS:7,BER:7,WPN:0,DST:5120651,BTV:0,RSP:0,***
    !!!LAT:1583,LON:344,SPD:26,CRT:111,ALT:-18,ALH:50,CRS:7,BER:7,WPN:0,DST:5120621,BTV:0,RSP:0,***
    !!!LAT:1849,LON:397,SPD:26,CRT:111,ALT:-17,ALH:50,CRS:7,BER:7,WPN:0,DST:5120592,BTV:0,RSP:0,***
    !!!LAT:2114,LON:449,SPD:26,CRT:111,ALT:-16,ALH:50,CRS:7,BER:7,WPN:0,DST:5120562,BTV:0,RSP:0,***
    !!!LAT:2380,LON:501,SPD:26,CRT:111,ALT:-14,ALH:50,CRS:7,BER:7,WPN:0,DST:5120532,BTV:0,RSP:0,***
    !!!LAT:2645,LON:553,SPD:26,CRT:111,ALT:-13,ALH:50,CRS:7,BER:7,WPN:0,DST:5120502,BTV:0,RSP:0,***
    !!!LAT:2910,LON:605,SPD:26,CRT:111,ALT:-12,ALH:50,CRS:7,BER:7,WPN:0,DST:5120472,BTV:0,RSP:0,***
    !!!LAT:3176,LON:658,SPD:26,CRT:111,ALT:-11,ALH:50,CRS:7,BER:7,WPN:0,DST:5120442,BTV:0,RSP:0,***
    !!!LAT:3441,LON:710,SPD:26,CRT:111,ALT:-10,ALH:50,CRS:7,BER:7,WPN:0,DST:5120412,BTV:0,RSP:0,***
    !!!LAT:3707,LON:762,SPD:26,CRT:111,ALT:-9,ALH:50,CRS:7,BER:7,WPN:0,DST:5120383,BTV:0,RSP:0,***
    !!!LAT:3972,LON:814,SPD:26,CRT:111,ALT:-8,ALH:50,CRS:7,BER:7,WPN:0,DST:5120353,BTV:0,RSP:0,***
    !!!LAT:4237,LON:866,SPD:26,CRT:111,ALT:-7,ALH:50,CRS:7,BER:7,WPN:0,DST:5120323,BTV:0,RSP:0,***
    !!!LAT:4503,LON:919,SPD:26,CRT:111,ALT:-6,ALH:50,CRS:7,BER:7,WPN:0,DST:5120293,BTV:0,RSP:0,***
    !!!LAT:4768,LON:971,SPD:26,CRT:111,ALT:-4,ALH:50,CRS:7,BER:7,WPN:0,DST:5120263,BTV:0,RSP:0,***
    !!!LAT:5034,LON:1023,SPD:26,CRT:111,ALT:-3,ALH:50,CRS:7,BER:7,WPN:0,DST:5120234,BTV:0,RSP:0,***
    !!!LAT:5299,LON:1075,SPD:26,CRT:111,ALT:-2,ALH:50,CRS:7,BER:7,WPN:0,DST:5120204,BTV:0,RSP:0,***
    !!!LAT:5564,LON:1127,SPD:26,CRT:111,ALT:-1,ALH:50,CRS:7,BER:7,WPN:0,DST:5120174,BTV:0,RSP:0,***

    This id the file I uploaded with config tool and then with the Waypoint writer with the same results:

    OPTIONS:66,False,True,Meters,17
    HOME:45.567316,8.997277,82
    45.56659,8.99755,82
    45.56695,8.99804,82
    45.56755,8.99786,82
    45.56775,8.99714,82

    I continue to wonder about the fact I am in a location with Lat N and Long E (positive longitude).
    Do you have any idea about what I am doing frong?
    Gps EM406 in Sirf mode looks good (no signal while I am in house, I am going to test outside) Fly by wire (on groung) is OK as previously.
    Thanks for your help,
    marco
  • Developer
    Jason Short February 7, 2010 at 5:30pm
    If you use the radio test file in the 2.5 release, you can more easily test these things. It doesn't go through all the setup or dump tons of telemetry on you.
This reply was deleted.