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

  • Coming back to the throttle issue, I'm seeing a large negative value for airspeed (~ -200) after GPS lock. (for my first couple of flights, the throttle was pegged, which is consistent.) If I block the pitot and gently (!) squeeze the silicone tube, I get an appropriate rise up into the positive numbers. Is there something I should be doing to zero the pitot?
  • ok so:

    i reloaded the bootloader with the correct fuses (checked with AVR studio after reloading the bootloader with arduino IDE)

    to load it with my st500 programmer i had to properly follow this link

    and , very important restart arduino ide after modifying the programmer.txt file (modify programmer.txt instead board.txt)


    but Chris, i still have the problem, but it works anyways

    maybe i'll try to load a .hex file filledx with FF into eeprom???
  • yes ok

    i read somewhere that "erase device" should erase everything!!
    i'll will try with arduino IDE and if that doesn't work i'll have a look in AVR to the fuses...
    anyways i'll let you know

    thank you again
  • 3D Robotics
    Also, while you're messing around in AVR Studio, you might as well erase the EEPROM and start with a clean slate.
  • 3D Robotics
    Yes, your bootloader should be fine. I think you should look more closely at the fuses....
  • ok thank's
    so as soon as i can load any software i guess the bootloader should be ok then?
  • 3D Robotics
    When you get the board from Sparkfun, there is a special LED test program running. That's not part of the bootloader.
  • the strange thing is that the copnfoig tool is writing corectly but still giving the error.
    i'm pretty sure that i did protect only the bootloader part...

    i'll give it an other try with arduino IDE but i could only use avr studio last time i tried.
    i'm pretty sure that the bootloader is not the right one cause some guys are talking about the blue del flashing when receiving the board from sparkfun, i have only the yellow one flashing with only the bootloader into the board


    i agree that no one should have to flash the bootloader...
    but for some reasons it solved some funky issues for me (and gave me an other one)

    thank you chris
  • 3D Robotics
    The config utility writes to the EEPROM, so you have to make sure that all the fuses, including those that protect the EEPROM are set correctly. The best way to do that is to the have the Arduino IDE flash the bootloader, which will automatically set all the fuses. BTW for anyone else reading this, most users should never have to touch the bootloader. This process is only necessary in cases where some very bad thing has happened to the board, which screwed up the bootloader...
  • hello.,
    me again!

    i figure out how to reflash the ardupilot bootloader but i have now a memorie issue :

    every time i'm trying to write with the last config tool i have an error "something is wrong"
    read is working great

    maybe the bootloader i loaded is not good ??

    the one i used is: "ATmegaBOOT_168_atmega328.hex"
    could someone send me the one loaded in his ardupilot to make sure??

    ps: every waypoint seems to be recorded after a write even if the "something is wrong" error occurs

    i just changed my laptop and it is runing on vista now , do you think it could be a driver isuue ??

    i'm pretty lost here, i really need some help please!

    regards
    jeremy
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