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Autonomous flight mission with the ArduPlaneNG v2.x R5 and AIOP IMU board on Maxi Swift flying wing

Posted by Jean-Louis Naudin on August 15, 2012 at 9:37am

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.

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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

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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

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More infos at: http://diydrones.com/profile/JeanLouisNaudin

Tags: drone, uas, uav, ardupilot, autopilot, glider
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Comments

  • Vladimir Popov December 29, 2012 at 2:07pm

    2 Adilson:

    Look for Ardupilot Mega tests there

  • Developer
    Jean-Louis Naudin December 25, 2012 at 10:16pm

    Hello Maxim,

    Thanks for your proposal, but I prefer to have two differents version, one for the planes/gliders and the other for the VTOL crafts (multicopters, helicopter). The UAV mission profiles are differents and this will overload too much the code.

    Regards, Jean-Louis

  • Vladimir Popov December 21, 2012 at 12:36am

    You really investigated ALL the SOURCES, or CONFIGS only ?  

    File ArduPlaneNG2x.pde, find the string "// real GPS selection", and below you will see serial port allocations. But be sure to not interfere with telemetry on Serial3.

    Good luck !

  • Vladimir Popov December 20, 2012 at 11:43am

    You need investigate APM sources...

  • Vladimir Popov December 7, 2012 at 10:31am

    2 Gil Mor:

    Ardupilot uses microcontroller's built-in ADC to measure some voltage ( except true APM1 with external ADC). But it can measure only between 0 and VCC, ie 5V. So, measured voltage must be divided, if it can be higher than 5V. You can buy a divider or solder it by yourself. FrSky Battery Voltage Sensor looks like right thing :-)  You'll need to calibrate it in software. And be careful while connecting to not short-circuit or overvoltage something...

  • Vladimir Popov November 23, 2012 at 1:08am

    Hi, Jean-Louis !  Grand merci for you hard work ! Just tested ArduPilotNG and found a minor bug :-((   In control_modes.pde file, update_servo_switches() function, the condition

    #if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2

    is correct for original ardupilot hardware, but it includes all other controllers, even Crius AIOB and Arduino Mega with MPU6050 addon (my case). But the logic under this condition is for controllers with DIP switches only, i.e. APM 1.

    I think it will be better to write

    #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1

     

    WBR, Vladimir.

  • Lars S November 16, 2012 at 1:17pm

    Got it working on the Multiwii Mega, just some small changes to gps definition, port speed, and changed pitot port to A1  (the MM has no A0)

    Lars

  • Lars S November 6, 2012 at 1:56pm

    Great work, Jean Louis!

    I just bought one of these controllers from http://www.diymulticopter.org/ , and I don't want to be limited to multicopters. Is it possible to use your code with some minor tweaks?  I am not used to compiling stuff, but I am learning :-) 

    Lars

  • Galaeta November 6, 2012 at 12:32am

    I found the answer i was looking for. For everyone is still interested or google'g about Led meaning:

    http://code.google.com/p/ardupilot-mega/wiki/LED

    Cheers, Enrico,

  • Galaeta October 11, 2012 at 7:26am

    Hi all,
    I just finished installing the card with the GPS and the anemometer.
    I loaded the ArduPlaneNG2xR5 sw by JLN and everything seems to work fine, so far so good.
    Now, i would like to know what the three LEDs (label A B C) means and which state corresponds to each LED.

    Thanks a lot, Enrico.

This reply was deleted.