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
From this:
#include "easystar_25.h"
Into this:
#include
now a bunch of new errors poped up when I tried uploading the code
So I changed it back into (exactly the same with as prviously):
#include "easystar_25.h"
And it uploaded. Now I'm fooling around because nothing is working. It powers up. Blue led begins to flash. Within 10s it turns solid. With or without GPS connected. I know for sure that there is no lock.
Telemetry sends no data at all only when I reset it sends some data.
IR is not working. Any ideas? Maybe same problem as Nibby earlier on with blue led turns solid. BTW I use Ublox and Futaba T7C - followed all your test programs.
You can use a header file from the test files. They should be the same.
Jason
C:\Program Files\arduino-0017\hardware\libraries\Ardupilot_25\applet\/easystar_25.h:1: error: stray '\357' in program
C:\Program Files\arduino-0017\hardware\libraries\Ardupilot_25\applet\/easystar_25.h:1: error: stray '\273' in program
C:\Program Files\arduino-0017\hardware\libraries\Ardupilot_25\applet\/easystar_25.h:1: error: stray '\277' in program
Anybody knows what the problem is?
basically in the main loop, dont call this function:
read_XY_analogs();
You'll need to disable the XY sensors and find a new way to navigate. Should be relatively easy.
A couple more pointers to my problem:-
After calibrating CH1 & CH2 I get
Remove Safety Flag
gpsFailure...
Remove Safety Flag
Remove Safety Flag
Although the GPS EM407 is working and outputting data.
When locked in Failsafe mode and I switch from Stabilize to Fly-by-Wire I get
+++ASP:0,THH:25,RLL:60,PCH:-14,***
+++ASP:0,THH:25,RLL:60,PCH:-13,***
!!!LAT:57869123,LON:-2548114,SPD:0,CRT:-10,ALT:4,ALH:129,CRS:0,BER:289,WPN:0,DST:3,BTV:0,RSP:-23,***
+++ASP:0,THH:25,RLL:60,PCH:-14,***
##2| FLY BY WIRE
****FAILSAFE OFF******
##2| FLY BY WIRE
Loaded WP index:0
prev_WP: 578691238 -25481147 7259
next_WP: 578691340 -25481610 13626
##6| RTL
****FAILSAFE ON******
Reached WP:0
##7| LOITER
+++ASP:0,THH:25,RLL:60,PCH:-14,***
+++ASP:0,THH:25,RLL:60,PCH:-14,***
+++ASP:0,THH:25,RLL:60,PCH:-14,***
Plane is sat on window ledge to get satellites and I have changed the GPS values to disguise my home location.
Ch1 does not seam to be working no values above 1000.. I may have a ch1 mux problem?
I set up my system during flying to have control of Ailerons, Flaps and Throttle at all times.
ArduPilot controls Rudder & Elevator only, with successful flight testing the Throttle.
3 position Flaps; cruise 3° up, take off 0° and land 6° down. AIL to Rudder has 65% mix.
For this test, throttle is connected to ArduPilot with jumper from D13 to Thro IN
WARNING: Disconnect one or two ESC output wires to motor during setup and ground testing !!!
Both Ch1 and Ch3 are below 900 so, error message at start..
JR XP 7202 Radio setup screens:
Rudder & Elevator +15% expo, Aileron +20% expo,
Note: Extra 5% low travel for throttle cut-off & to force a FAILSAFE (about 850ms in logs)
Rudder is maxed out for extra travel...
[TRAVEL ADJUST]
Throttle Rudder ...all others
H 100% H 150% H 100%
L 105% L 150% L 100%
[FLAP SYS.] NORM
FLAP ELEV
NORM UP 40% 0
MID UP 63% UP 10
LAND UP 105% UP 12
AUTO INH
Note: Helps to coordinate turns
[AILE-> RUDD MIX]
>RATE: +65
SW: ON
Note: Used to force throttle 10% below lowest trim to cause FAILSAFE
[PROG. MIX 1]
GEAR > THRO ON
RATE: 0%
+10%
SW: ON
OFFSET: 0
Notes: AUX2 connects to ArduPilot "Control"
AUX2 MIX output to Ardu control
0 0 LOW Manual
0 1 MID Auto (Next Waypoint)
1 0 HIGH Stablize (skips Auto)
1 1 HIGH Stablize (was in Auto)
[PROG. MIX 2]
AUX2 > AUX2 ON
RATE: -100%
0%
SW: MIX
OFFSET: 0
I have 3 position Flaps; cruise 3° up, take off 0° and land 6° down. AIL to Rudder 65% mix. I will find issue, both Ch1 and Ch3 are below 900 so, error message at start..
start test..
TIME AIL ELV THRO
Radio Trim error
MS: 8386 ch1:890 ch2:990 ch3:890
MS: 20 ch1:898 ch2:990 ch3:902
MS: 20 ch1:892 ch2:990 ch3:920
MS: 20 ch1:896 ch2:990 ch3:947
MS: 20 ch1:899 ch2:990 ch3:980
MS: 20 ch1:899 ch2:990 ch3:1017
MS: 20 ch1:906 ch2:990 ch3:1057
MS: 20 ch1:911 ch2:990 ch3:1095
MS: 20 ch1:906 ch2:990 ch3:1133
MS: 20 ch1:899 ch2:990 ch3:1169
----
---- last of log..
MS: 20 ch1:856 ch2:907 ch3:893
MS: 20 ch1:856 ch2:907 ch3:893
MS: 20 ch1:856 ch2:907 ch3:893
MS: 20 ch1:856 ch2:907 ch3:893
MS: 20 ch1:856 ch2:907 ch3:893
Hope this helps others to set up Radio should work for DX-7 too...
I'll have to play with the settings a bit but both RTL and AUTO seemed to be working OK, no more extreme banking like I used to get with previous versions.
Something I noticed: on RTL some "indecision" is apparent where the plane started to go one way then switched to the other way at the 180° point while travelling away from a waypoint, but that may be the delay from the 1Hz EM406.
I'll use a logger next time to record the track.
Also don't confuse reverse throttle on your radio with this setting. Use the radio tester to view your raw PWM outpu.
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