3D Robotics

ArduPilot (Legacy) main page

 

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[This original ArduPilot board, now called the "Legacy ArduPilot" is no longer produced or officially supported by the DIY Drones dev team, and this page is maintained just for historic reasons. However, there are still many users of it out there and it still works fine. The user group for Legacy ArduPilot users, for both thermopile and IMU use, is here.]

 

ArduPilot is a full-featured autopilot based on the Arduino open-source hardware platform. It uses infrared (thermopile) sensors or an IMU for stabilization and GPS for navigation. It is the autopilot used to win the 2009 Sparkfun Autonomous Vehicle Competition.

The hardware is available from Sparkfun for $24.95. An expansion board ("Shield") kits that includes an airspeed sensor, a 3.3v power regulator for 3.3v GPS modules and other sensors and cables and connectors for easy attachment of the XY and Z sensors, is available from our own store for $57.20.

 

User f

ArduPilot features include:

  • Can be used for an autonomous aircraft, car or boat.
  • Built-in hardware failsafe that uses a separate circuit (multiplexer chip and ATTiny processor) to transfer control from the RC system to the autopilot and back again. Includes ability to reboot the main processor in mid-flight.
  • Multiple 3D waypoints (limited only by memory)
  • Altitude controlled with the elevator and throttle
  • Comes with a 6-pin GPS connector for the 4Hz uBlox5 or 1hz EM406 GPS modules.
  • Has six spare analog inputs (with ADC on each) and six spare digital input/outputs to add additional sensors
  • Supports addition of wireless modules for real-time telemetry
  • Based on a 16MhZ Atmega328 processor. Total onboard processing power aprox 24 MIPS.
  • Very small: 30mm x 47mm
  • Can be powered by either the RC receiver or a separate battery
  • Four RC-in channels (plus the autopilot on/off channel) can be processed by the autopilot. Autopilot can also control four channels out.
  • LEDs for power, failsafe (on/off), status and GPS (satellite lock).


Resources:

ArduPilot requires the free Arduino IDE to edit and upload the code to the ArduPilot board.



The code is currently optimized for the Mutiplex EasyStar three-channel powered glider and FMA sensors, but can be modified for other aircraft and sensors. It uses the rudder/ailerons and elevator to maintain level flight and navigate to GPS waypoints. It supports a desktop setup utility and ground station software. It also includes a "fly-by-wire" mode that simply stabilizes RC flight. The main code is ArduPilot2.x.zip in the download section of our Google Code repository, where x is the latest version.

What you need to make a fully-functional autopilot:


Open source extras:

  • If you want to build your own board from scratch, the necessary files and component lists are here.
  • [Note: you shouldn't need this, since this code is loaded on the ArduPilot board at the factory] Latest multiplexer code (for the board's second processor, an Attiny, which runs the failsafe system) is here.
    Instructions for loading this code are here.



Recommended UAV setup:

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Airframe option one: Hobbico SuperStar (49" wingspan, $95, shown above). This is an inexpensive, good flying high-wing trainer with ailerons. It can be hand launched in a park or take off from a runway, and replacement parts are readily available in case of a crash. If you want much better performance with this aircraft, you can upgrade it to a brushless motor, speed controller and a LiPo battery. [If you don't already have one, you'll also need a balancing charger and power supply.] Note: any stable aircraft with both ailerons (for stabilization) and rudder (for navigation) can work, so feel free to experiment with what you've got.

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Airframe option two (recommended for ArduPilot 2.x): EasyStar (shown above). Performance can be improved with the modifications described in this post.

You'll also need:

  • A six or seven channel RC transmitter and receiver, with at least one toggle switch (ideally three-position but two-position will work, too, although you will have to mix channels to have access to both autopilot modes in the air), such as the Futaba 7C.
  • Some servos (at least three for ArduPilot 1.0; at least two for ArduPilot 2.x) and at least three female-to-female servo cables to connect the RC receiver to ArduPilot.


Cool optional extras for your UAV:

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Comments

  • Developer
    Michal L, I a m using a JR XP7202 on ch 33 with Mux 1.6, I didn't have any such issues. For several flights.
  • 3D Robotics
    Sounds like you've got a dead sensor. Try the sensor test utility linked in the manual
  • Update,

    Thinks going weirder.
    If I turn the Z sensor 180 degrees and recalibrate the problem moves to the aileron (stays fixed) and my elevator stabilizes normaly in fly by wire mode.
    I try this several times and each time the problem switches.
  • Hi Chris,

    Thanks for your reply
    No with V1.6 nohing works only manual mode. With original failsave firmware loaded I have the above mentioned problems.
    I still use FM but a 2.4 Jeti upgrade is ordered.

    Michel
  • 3D Robotics
    Michel,

    So you're saying that the board works correctly with the default firmware on the attiny, but when you replace that firmware with 1.6, nothing works? Which version are you using when you're having trouble with fly-by-wire mode?

    There is really no good reason to be running the 1.6 code (the failsafe function only works with FM RC systems, which nobody uses anymore), so I would recommend you stick with the factory settings.
  • Hi Chris,

    Yes its the same.
    Is it possible that the failsave is corrupt?
    I try to load V1.6, no errors but I am unable to switch to AP mode only manual stat and no blinking leds.
    I followed exactly the tutorial and uses a AVRISP mk2 programmer.
    The original file (saved it first} works ok if I load it back.
    Maybe there is a link between them.

    Regards, Michel
  • 3D Robotics
    Weird. We're not seeing that. Is your line 2.2 the same for both (2.3 and 2.2.3)?

    //2-2
    #define FLY_BY_WIRE_GAIN_PITCH .5 //The same as roll.
  • Update.
    If I load V2.2.3 everything seems to work normal.
    So I download a "fresh" V23 and again no stabilisation on elevator.
  • Hi,

    Could anybody explain the following strange behaviour.
    While flying in waypoint/RTL mode my plane stabilizes aileron and elevator,
    But if I unplug the GPS (fly by wire) the plane stabilizes only on aileron, my elevator gives eprox. 30 percent up and stays there fixed at any agle of attack.
    Maybe there is a connection but despite I set the altitude to 50 mtr my plane climbs out of sight if I not swith to manual.
    My second Ardu gives the same result.
    I only have one shield, is it possible that my shield is broken?
    My Ardu is programmed with V23 and a non changed Header file.


    Regards, Michel
  • Developer
    Chris,

    Interestingly, it looks like my weird manual mode aileron behavior was being caused by interference from the speed controller which was dying. At first it looked like a loose wire or short as it would come and go as I poked at the wires between the Ardupilot and the receiver. However I noted that I had lost throttle control (which was direct from the Rx to the ESC). When I pulled the ESC out of the receiver and powered the system with a battery I could not produce any glitch poking and prodding the wiring.

    So, now I am delayed another week. Since I don't have a spare brushed ESC I am ordering a brushless motor. When I finally get this all going I'll have a SuperStar so overpowered it might do T3 better than a funjet :)
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