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
    Matt, You my leave them in your local sketch file or put them in header library,
    These comment lines could be added to header files if missing to help remember.

    Note: Please replace ≤ with <, and ≥ with > in below comment
    as Ning doesn't display <, > in blog.

    header.h
    ....
    //To use the header file in your library, use brackets:
    //#include ≤easystar.h≥

    //To use the header file in your local folder, use quotes:
    //#include "easystar_25.h"
    ....
  • Developer
    @Sam - Your diagram should include a signalling line from Pin 6 on ArduPilot to Pin (typically 8) on ArduIMU. This line is used to signal ArduIMU to perform a ground start.
  • Developer
    @Teo - You should be able to use the gps with both. If it does not have a nmea mode you will have to write your own parser for ArduPilot.

    ArduPilot has a RTL mode that can be triggered either by failsafe or by transmitter switch.
  • So nobody?
    Any link i should read?
    Teo
  • Hi to all,
    Ì am only trying to find out if ardupilot is what i am looking for so any help is welcome.
    I want to build a return to launch autopilot with waypoint capabilities. I already have FMA copilot and EZOSD that uses a 10Hz LS20033 GPS receiver.
    So, do you think i can use the Locosys LS20033 GPS on both (with a Y custom cable) the EZOSD and Ardupilot and does Ardupilot have return to launch function?.
    Also does the RTL function be triggered from Corona´s RD8 failsafe?
    Hope i make sense and you can help me clear out my thoughts.
    Thank you
    Teo
  • 3D Robotics
    Maybe a slightly simplified version that would be a updated, corrected and prettied up version of this?
  • Chris, Yes you can use the drawing in the Wiki. Ps is Static Pressure, and Qc is Differential Pressure from the Pito Tube. I drew this for the system I am putting together for a Big Wing Easy Star. let me know what details you would like for the Wiki, and I will make a new drawing.
    Sam
    .
  • 3D Robotics
    Sam,

    That's super impressive! Can we use it in the Wiki?

    When you connect ArduIMU to ArduPilot, you should just connect the 5v and Gnd pins; no need to go through the onboard power regulator.

    A few questions:

    --What do "Ps" and "Qc" stand for?
    --I wouldn't focus on just one kind of RC receiver; ArduPilot supports anything
    --No need to show two aileron servos; I think it will just confuse those who use one.
  • Chris, here is a single line hardware interconnect diagram I have drawn. My one question is about the power for the ArduIMU. If I understand correctly, the ArduIMU wants +6V to +8V for it's +5V regulator, and the ArduPilot Shield V2 supplies +5V from it's +5V regulator. ArduPilotDiagram.pdf
    I hope this file is uploaded correctly!

    Sam
  • Arduino 18 Question

    Hi,

    I've just updated from Arduino v16 to v18 on Mac. 16 used to have a "ArduPilot_Headers" folder to drop the header files into before compiling. v18 for Mac OS X installs a single app file only. Does anyone know if we are supposed to move the header files somewhere or do they just stay in the source folder now?

    Thanx

    Matt
This reply was deleted.