Here a video of an autonomous flight with a Maxi Swift flying wing fully piloted by the firmware ArduPlaneNG v2.x R5 with an All In One Pro (AIOP) full IMU board.This is a porting of the ArduPlane v2 (v2.4+v2.5) firmware and special addons and improvements for the AIOP board that I have added.
The wind was 15 km/h gusting 22 km/h. The flight was very stable in spite of the gusty wind conditions.
Setup:
- IMU board: All In One Pro (AIOP) v1.0 from CRIUS,
- GPS: Crius CN-06 (Ublox NEO-6)
- AirSpeed sensor: MPXV5004DP (from a old ardupilot one shield)
- firmware ArduPlaneNG V2.x R5, porting of the ArduPlane v2 + special addons for the AIOP v1 IMU board by JLN
Flying Wing: Maxi Swift from MS Composite (1m40 wingspan)
- brushless motor Spitz 30 850 kV, 360W with a propeller GWS 10x4.5
- Lipo: 3S EVO25 2650 mAh
- Receiver: Turnigy 9X8C v2
- Transmitter: Turnigy 9x with Er9x firmware
More infos at: http://diydrones.com/profile/JeanLouisNaudin
Comments
JLN, Your ArduPlaneNG v2.x R5 and all previous versions does not compile for HIL.
Hello Jean, i am using your SENSOR mod on my old AP1 board.
It work fine but have a small problem on radio.pde
the problem occurs when i use AELEVON mix.
i changed this lines to work properly?
g.channel_roll.set_pwm(ch1_temp);
g.channel_pitch.set_pwm(ch2_temp);
// g.channel_roll.set_pwm(BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
// g.channel_pitch.set_pwm((BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
}
are you using telemetry along with the osd?
just ordered all nearly same as your setting JLN, for now on, i'll follow this blogpost
Here my AIOP full working setup that I am currently test in flight on my MaxiSwift flying wing with the ArduPlaneNG v2.x R5 firmware. In the field, I am using the wireless Crius Bluetooth board to set the parameters and the flight planning with the APM mission planner at 115200 Bauds, this is very usefull. The USB plug is used only to download the firmware and for the terminal mode...
@ Michal,
Yes it is possible to connect the miniOSD to the AIOP though the OSD port. You need to patch a bit the firmware source.
@ Adilson Oliveira
The airspeed sensor is strongly recommended to handle the speed of a fixed wing aircraft in case of strong back wind this avoid that the plane stall and this is also used to overcome the front wind Vs the ground speed.
It is possible to don't use the airspeed sensor (airspeed sensor disabled option) if there is weak wind, in the case only the ground speed is used. But if you want that your plane is able to fly in various wind conditions, I recommend you to use the airspeed sensor.
Picture @ http://diydrones.com/photo/arduplaneng-error?context=user
Stefano thanks for that yes you need to place the ArduplaneNG V2x R5 & Libraries folder in the "Arduino documents" Folder and I'll be sure to try out the latest version of the mission planner. I will not be flying soon so can wait for your "test flight" feed back good luck.
JLN I think I might have something funny going on here give me the weekend to establish what I'm doing wrong or what is happening but I will post pictures of my compile errors I had. I'm still on Arduino 1 and upgrading to 1.01 might resolve the issue = my errors: (AP_Limits.h: No such file or directory) so I thought it quite clear its missing. Also I will try installing every thing on a clean computer as my laptop has been running on Arduino since Arduino 16 or earlier I dont recall and you dont whant to know what my Arduino folder looks like with all my projects since then. Or my download was incomplete but that would be unlikely. Cheers & Thanks
Hello Gagarien,
As far as I am concerned, the compilation of the ArduPlaneNG2xR5 is OK with the library attached and set in the good place...
Thanks for all your work JLN I would like to try it out soon. I noticed the AP_Limits folder was missing in the Libraries File as per ArduPlaneNG2xR5.zip at Ardupilotdev google pages and caused some compiling errors so I added AP_limits and now it compiles good. Cheers
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