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3D Robotics

ArduPilot Roadmap

Posted by Chris Anderson on April 3, 2009 at 11:30pm
As you'll see, we're releasing versions of ArduPilot at quite a clip. The difference between them can be a bit confusing, so here's a roadmap:
  • 1.0: Just navigation and altitude hold (released 1/09)
  • 2.0: Adds XY-sensor stabalization, EM406 only (released 3/09)
  • 2.0.1: Adds Z sensor, ground station support (released 4/09)
  • 2.1: Supports XY sensor in diagonal position, desktop setup utility (does not require Arduino IDE), throttle (if airspeed sensor/shield is connected). Due week of April 20th
  • 2.2: Requires ArduPilot 328 board (current board upgraded to the Atmega328 chip; stay tuned for details). Supports any GPS, fully configurable for different airframes, new navigation modes. Due early May
  • Shields: We will be releasing expansion boards (called "shields" in the Arduino world) that plug into the top of ArduPilot and add additional features and connectors. This first one just adds a differential pressure (airspeed) sensor, 3.3v power regulator, lots of handy ways to add other sensors and GPS modules, and a circuit that allows you to upload code without unplugging the GPS. The first board will be available in May.
  • 3.0: ??? Additional sensors (speed, power). Maybe IMU support?
  • ArduPilot Pro: new board based on Arduino Mega. IMU based. Winter 09
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Comments

  • RaWe April 26, 2009 at 4:53pm
    Hope its been updated! Last time I checked it was still under conctruction..
  • 3D Robotics
    Chris Anderson April 26, 2009 at 4:46pm
    We do 1&3 fine (you can use the sensors from the FMA--you don't need the controller). You're on your own with 2 for now.

    Have you checked out our beginners guide (it's right on the home page)? It's got a flowchart and everything.
  • RaWe April 26, 2009 at 4:34pm
    Hi Chris,

    Was looking at some FPV systems for my first UAV for eg.FATshark or some of the gear at RangeVideo. Guess I get overwhelmed by all the specs and I don't want to end up buying things that aren't compatible or has overlapping features.

    My basic procurement schedule for lowest cost UAV is:

    1) Flight stabilisation system (just acquired the FMA copilot),
    2) A live feed video system.
    3) Autonomous flight.

    Would appreciate a more structured guide to navigate thru info about these, before I get too confused and blow the budget on stuff I don't need.

    Thanks!
  • 3D Robotics
    Chris Anderson April 26, 2009 at 4:13pm
    RaWe: I don't understand the question. We haven't announced anything about an OSD or FPV. If and when we do, we'll explain what you need. Until then, there is nothing to say.
  • RaWe April 26, 2009 at 4:10pm
    Am confused...

    If I have Ardupilot, XYZ sensors, X-Bee, GPS module, TX and RX, camera
    (wnat type?) what else?

    Do I still need OSD, FPV combo sets and where does a Video Goggle fit in?

    How about compatibility of all these?
  • David Low April 21, 2009 at 9:04pm
    @Chris: thanks for the clarification, cheers~
  • 3D Robotics
    Chris Anderson April 21, 2009 at 8:57pm
    @David. We're not ready to announce anything about an OSD yet.
  • David Low April 21, 2009 at 8:56pm
    @Chris: i heard something about the osd :)
    is it going be included in the Ardupilot Pro plan? or a Ardupilot with Atmega328 + OSD shield will do?
  • Cronselaar April 19, 2009 at 2:39am
    that would be really neat...
  • Torin Segstro April 15, 2009 at 11:37pm
    Fair enough. In my mind, I was thinking it would be setup like so....

    At all times, Ardupilot has a single target in 3D space that it is trying to hit as well as a single target speed. I'm not talking about waypoints here, but a 3D target which is calculated by all the various conditions which include the next waypoint as well as min/max parameters, sensor feedback, etc.

    The control surfaces and throttle are manipulated to hit this 3D/speed target. What the sensors essentially change, is that 3D/speed target, and the time curve that is acceptable to achieve that target. In this way, you could have a single system which could take all sensor input and calculate a single 3D/speed target.

    Example:
    - X/Y/Z thermopile sensors indicate downward pitch, so 3D target is elevated past current altitude.
    - The airspeed sensor (pitot) indicates that the aircraft is over speed and reduces the speed target
    - The ultrasonic sensor returns a surface at 5 meters and elevates the altitude of the 3D target to try and avoid the ground.
    - The waypoint threshold is met, so the next waypoint is loaded and moves the 3D target toward the new waypoint (via a circle path of course)

    The parameters for the three sensors, and the waypoint input would be as follows:
    X/Y/Z sensors - Priority 1 - Controls:ailerons,elevator - enabled condition:channel2
    Airspeed sensor - Priority 1 - Controls:throttle - enabled condition:channel2
    Ultrasonic sensor - Priority 1 - Controls:elevator - enabled condition:altitude<50
    Waypoints - Priority 2, Controls:elevator, throttle, ailerons, enabled condition:channel2

    The first parameter is the sensor name
    The second is the priority level which can be used to ensure the safety of the plane over, say, camera control.
    The third is what surfaces or controls the sensor can influence.
    The fourth is the conditional criteria(or test) which enables the sensor input

    So, with a few calculations, you would come up with a final 3D target above the current altitude, as well as a reduction in throttle. Due to the fact that the priority 1 ultrasonic sensor is below the max altitude, the priority 2 tasks are delayed until the priority 1 tasks are stable.

    This is pretty high level, but gives you an idea of my line of thinking. I know it wouldn't be easy, but it sure would be cool.
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