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ArduPilot AntennaTracker code - initial testing

Posted by Adrián Nagy Hinst on August 17, 2014 at 12:30am

3689611197?profile=original 3689611241?profile=original

Hi,

some days ago a new folder appeared in DIYDrones ArduPilot repository:

https://github.com/diydrones/ardupilot/tree/master/AntennaTracker

After reading the notes, I shouted up! HORRAY! That's what I'm exactly looking for to be used in my mobile Ground station, since this code uses the built-in sensors for proper positioning too!

So I immediatelly wired up a small test platform for initial testing, with the using of:

  • APM 2.6
  • 2 servos
  • 868 Telemetry module
  • GPS receiver
  • 4s NiMh AA battery
  • some masking tape… :):)

Here is the result (first take-off!!!):

http://youtu.be/qiuzMma1RE4

Please note that APM has terrible magnetic interference caused by cheap metal-gear servo (servo ofsets over 400 after calibration!!!), and also not fine-tuned. But still, can do the job!!! And also programmable through telemetry module!

So I'm going to design a small 3D printed tracker block at the top of my previously built mobile ground station, covered with a plastic dome, and using of a mini APM and flat patch antenna.

Just keep on good work, DIYDrones ArduPilot dev TEAM!!!

Best regards

Adrian

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Comments

  • Ted Morgan November 20, 2014 at 7:02am

    @ Randy,

    Thanks.  I think I basically misunderstood the configuration of Antenna Tracker which has the telemetry antenna connected to the tracker board rather than the ground station.  I was hoping to use the APM2.5 as a tracker for my video receiver so I guess I will go back to the ardutracker code. It is just hard to find any documentation on how mission planner communicates with that code (ardutracker.ino) in order to find tune the angles.  

  • Developer
    Randy November 19, 2014 at 5:02pm

    @Ted,

    Ok, so the problem is that on an APM2.5 the Telemetry and USB ports are the same serial port.  This means that if the telemetry radio is connected to the telem port, you can't connect the MP to the APM2.5 using USB.

    I guess you've already had a peek at the AT wiki?  There's a link in there which shows where the telem2 port is on the APM2.x.  This requires cutting a hole in the APM's case and some soldering but it should be possible to connect th telemetry to that 2ndary serial port and thus avoid the USBvsTelem1 conflict.

  • Ted Morgan November 19, 2014 at 12:48pm

    Is it possible to control an APM 2.5 based antenna tracker via the USB cable to Mission Planner?  I installed the firmware and configured the APM board but nothing happens when I try to use it as a tracker with a quadcopter.  I can't even test out the trims when connected directly to the APM.  Do you need a Pixhawk based antenna tracker in order to use the USB connection to Mission Planner?  

    I know the hardware works fine because when I controlled the APM board using ardutracker.ino everything worked, even though the tracking was sub-optimal.  I am now trying to control it using Antenna Tracker 0.2

  • Moderator
    Graham Dyer October 20, 2014 at 6:08am

    Does anyone know where we can get v0.1 of this firmware, as v0.2 is not working for us? Previous firmware in MP only loads v0.2.

  • Tommy Sylte September 27, 2014 at 5:55pm

    http://youtu.be/JvAcM5vZtko

  • Tommy Sylte September 27, 2014 at 5:23pm

    3701840260?profile=original

  • Developer
    Randy September 13, 2014 at 10:09pm

    @hector,

    That might work.  I'm not familiar with the "Ctrl-F" connect but I guess you're saying it forwards on messages received from the radio connected to the PC to any connected pixhawk/apm2?  If you could give it a try and if it works I'll add that method to the wiki.

  • Developer
    Randy August 20, 2014 at 6:14pm

    Adrian,

        That's really excellent news and thanks very much for testing!

        I'll add some info on this multipoint version of the software to a few places in the wiki so more people can try it out.

         I have another project which involves long distances.. I wonder if the multipoint software could allow communicating with a vehicle that is far from the ground station but still within range of a closer vehicle that does have a good connection.

  • Adrián Nagy Hinst August 20, 2014 at 2:11am

    UPDATE - the rain stopped!!!

    So I tested the tracker together with a MissionPlanner.
    The only changing related the the previous post is that ID 2 telemetry module is plugged into the AntennaTracker. And … WORKS! So I think multipoint firmware and antennatracker has great potential!!!

    Here is the test video:

    http://youtu.be/MbqAk9Ufbqo

  • Adrián Nagy Hinst August 20, 2014 at 1:28am

    @Randy

    I have just tested the multipoint code on HM-TRP devices and works like a dream!!!
    Since it is raining now, I couldn't test outside with the tracker, so I used a MissionPlanner (PC) and a Droidplanner (Android) with a Copter.

    Here is how I set up the network:
    - Copter has the ID 0
    - MP has the ID 1 and DP has the ID 2
    - PM and DP are set up to communicate with ID 0 only
    - Copter is set up to communicate any

    And…it works! I have telemetry on PM and DP at the same time and still I can download parameters on both, so 2Way communication alives!

    http://youtu.be/h7QDEO0dfW4

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