[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:
- ArduPilot board
- Shield expansion kit with airspeed sensor
- GPS module (uBlox5 recommended)
- XY and Z sensors or ArduIMU+
- FTDI cable for programming
- [Optional] Two Xbee modules for wireless telemetry. This one in the air and this one with this antenna on the ground/laptop side. You'll also need two Xbee adapter boards. You can connect the airborne Xbee adapter to Ardupilot Mega with jumper wires.
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:
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.
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:
- A GPS logger to record your mission and play it back in Google Earth
- A tiny video camera to record the flight
- A wireless video setup to see realtime video from the air
Comments
Now everything is working on the ground EXCEPT the roll and pitch measurements. When I put the autopilot in WP mode and watch the AHRS display on the groundstation I see that the IR sensors think that the plane is pitched about 60 degrees in pitch and 60 degrees in roll when the plane is level. The good news is that the stabilization is working. When I have the plane pitched nose down at about 60 degrees, if I pitch it down a bit more it gives up elevator and if I bring the nose up a bit it gives down elevator. The roll is not as correlated, but seems to be similar. Obviously the bad news is that it is stabilized into a spiral dive....
I checked the IR sensors with the test program. All 6 are working. The only discrepancy I have is that while the manual says that you should see readings in the range of about 300 to 700 I only see readings in the range of 400 to 600, and those extremes are with a hand held a few inches away.
I need some debugging ideas! Any thoughts???
Doug
I set the values at:
5-13=-45
5-14=30
5-15=-15
5-16=10
My plane when turning left is very gently and precise, when it turn right always overshoot and dive some meters.
I'm trying to have it turning left and right with the same behaviour.
Anyway thanks for your answer :)
Ric
See the Arduino.cc reference page for more about data types.
Could this be the reason why my plane, when in wp mode, turn left more gently than right?
I was trying to modify the .h file with some uneven value at 5-13/14 and 5-15/16. Not a good approach?
Thanks for help.
Ric
who explain me which is the exactly function of "char roll_trim/pitch_trim" and why are they set at -4 and 10?
Thanks!
Ric
//4-5
#define head_P .5 //Heading error proportional (same used to move the rudder)... DO not add too much or you will oscillate left and right.
//8-3
#define ALTITUDE_ERROR_PITCH_PROPORTIONAL 2 //Altitude error proportional, pitch setpoint
So it works! fairly well actually. Here are my observations. It seems to stabilize the plane quite well. But it takes forever for it to turn back to home... sometimes completely out of sight and then finally it made it's way back to me.
So what parameters would I adjust for that? the stabilizing seems ok but the autopilot seems like it maybe needs more gain?
Secondly the elevation does not change. I can put it in autopilot 20 feet off the ground and it does not climb to any altitude. Again I assume I need to increase a gain here.
So now I will dive into the gains etc and maybe plot a course.
ps home does write correctly to eeprom. it would be nice if you could just have a "place home here button or even remove home altogether from the map cause it's kinda useless anyway when home is set to your launch point 99% of the time anyway
how about a "do not show home" button?
Gil
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