Flight tests with ArduPilot in EasyGlider Pro

I posted an earlier blog with pictures on how I placed the avionics in an EasyGlider Pro for autonomous flight. I found out that was the easy part! Now I’m performing flight tests to hone in on the code mods for stable flight ( as Jordi states, the latest code is optimized for the EasyStar). My method has been:
Fly and observe performance in autonomous mode – record observations – make code modifications on laptop – remove GPS and upload code – replace GPS – fly again. Laborious but also fun since physical computing yields immediate effects that you get to see.
I’ve attached a table I made in Excel to organize my iterations and keep me on track. Maybe this will help others in the same situation. One mistake I made was getting in a hurry to go fly. I could have found out about the reversed servo throws and IR sensor placement by just walking the plane around on the ground and changing its attitude by hand. This would have avoided the “death spirals” I experienced on that first day of flying!
Bryan

Views: 655


3D Robotics
Comment by Chris Anderson on April 12, 2009 at 8:53am
Very impressive! I like your method.

The setup utility we'll be releasing in a few weeks will make it easier for people to go through this process. Also, a proper manual, which we hope to release soon, will walk people through this ground testing procedure. Needless to say, people wouldn't take off a RC plane before making sure that the control directions weren't reversed and were otherwise working, so they sure shouldn't take off with an autopilot without doing the same!

3D Robotics
Comment by Chris Anderson on April 12, 2009 at 8:54am
PS--Once you've got the PID settings right for the EasyGliderPro, please share them here. We're going to be compiling "airframe files" that people can load into the configuration utility to simplify setup.
Comment by Bryan Cuervo on April 12, 2009 at 5:41pm
Here is the latest data from flying today. Finally got her to fly RTL and waypoints but then she decided not to cooperate.


3D Robotics
Comment by Chris Anderson on April 12, 2009 at 5:54pm
Bryan,

In my experience once you've got the settings dialed in, if you still get a "death spiral" it usually means that your sensor has become unplugged or you've got a loose connection..
Comment by Bryan Cuervo on April 12, 2009 at 5:58pm
Thanks Chris,
I'm beginning to wonder how long the GPS connection is going to last since I'm removing it every time the code is changed.

3D Robotics
Comment by Chris Anderson on April 12, 2009 at 5:58pm
Yeah, we're going to fix that "unplug the GPS to upload code" thing with the shield.
Comment by Jonas on April 26, 2009 at 2:34pm
Bryan I think this is what I am looking for! Your logging wil help me verry much. I like to share mine to so we can all bennefit from it. Maybe we must make a special forum place where we all can put this info in.
Comment by Bryan Cuervo on April 26, 2009 at 3:39pm
Hi Jonas,
I've got 2.1 downloaded now with a few of the above changes. I'll post another table of findings the next time I fly. I had a lot of trouble reproducing a decent flight with the 2.0 code.
Comment by Bryan Cuervo on April 29, 2009 at 3:01am
First flights with 2.1----

Comment by Jonas on April 29, 2009 at 2:29pm
Thankx for you info again Bryan. I hope to do some tests tomorrow. I will use your info and will share mine.

Comment

You need to be a member of DIY Drones to add comments!

Join DIY Drones

Groups

Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service