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
I'm having the same problem as Istvan - too much throws in STAB mode. Tried to change RC MAX and MIN values. Got really weird results if I change the values too much - elevons turning to the other side(like reversed). What should I change?
2 GrMis: I tested ArduPlaneNG code with FrSky Rx, too. Failsafe works Ok.
What I did :
1. I trimmed the throttle on Tx as low as it's possible, much lower than normal MinThrottle.
2. I pushed a failsafe button on my FrSky Rx to remember this position
3. I programmed ArduPlane to failsafe if lower-than-min throttle condition is detected.
4. I returned Tx throttle trim to zero, of course :-)
So, when I turn off my transmitter, the receiver misses the signal and sets all channels to failsafe positions. All channels are not important to autopilot except throttle when throttle is below min. Autopilot detects failsafe condition and turn home :-))
Most 2.4 GHz receivers don't send garbage to servos while signal is lost, unlike MHz Rxs. They continue to send last sucessfull frame, or FS position. So AP receive normal signal and can't detect FS without low throttle condition.
Thank you for your reply. My receiver (FrSky) also has a failsafe, so I can certainly do as you suggest.
I though it could be nice to use the built-in 'failsafe' function of the arduplane code, but if you did not succeed either I will probably give up !
I switched the GPS's output protocol to UBX (default was NMEA+UBX), and it seems working...
Only GPS, nothing else.
I found an interesting problem: when I try power my board from battery (same connecting as Jean Louis), only 3rd or 4th attempt can lock the GPS, the green LED don't start flashing (the GPS is u-blox NEO6M module from HK, and it's red flashing, when found sats, and it's working). My board is HK AIO PRO with fixed voltage regulator problem, firmware is currently ArduPlaneNG from JLN, I tried SirAlex software with similar result. Can help anyone, what is the problem? My perception is, if I powered from USB, always start flash the green LED, and GPS locking.
Thanks for help, and sorry for bad english...
Oh, I'm sorry...
My plane's AUW approxx 850g, and motor push nearly 1400 g, thus I catch the plane's leading edge in my left hand, and push max throttle, and release...
Thank you very much!
A question about fixing IMU on my epp flying wing: need elastic (like peel 'n stick foam tape) or enough a velcro. What do you recomend? Thanks!
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