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

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Comment by Peter Meister on July 28, 2009 at 4:19pm
2 hours until the test flight. Bryan, I will update you post my flight. All systems are a go, 6:30pm PST I will do 5 flights with the new code, it looks like jordi modified the buffer for GPS from 100 to 200. Hope that does it, haven't looked for other changes, but I am ready to go....

For sure when Jordi has the Ubloxs, Im switching, especially if it gives more accuracy to the autopilot which seems to be the case.

Keep your fingers crossed, its a scorching 98 degrees here today, so I will be cooking while doing this test... :)
Comment by Peter Meister on July 28, 2009 at 4:22pm
@ Chris

Quick question, should the sensors report in fly-by-wire mode, so if you put your hand over them will it turn to opposite deflection for the control surface similar to the way FMA copilot works standalone. So far, when I try to use it, whether @ 16 or 8 it doesn't show any operation on the ground test. In the air, it doesn't do anything, so is there a way to test the sensors are working on the ground. If there is, that would be awesome...
Comment by Gus5610 on August 3, 2009 at 12:06am
Hi, I am new here and hope if any one can help me out with the Fly_By_Wire in manual mode.
My Fly-by-wire is not working as well in manual mode but i works in WP and RTL mode. I have change FLY_BY_WIRE_GAIN_ROLL & Pitch @16 or 8 or even 40, never works. No idea how to make it work. I check the XYZ sensors by using sensortest.pde and it seems XY,Z sensor all got good reading. My set up as following
Sketch: I_CAN_FLY; Hardware: ATMega328-based ArduPilot with Shield expension board; Sensor: DIYDrome XY,Z sensor; software: Arduino IDE 015; GPS: EM406;
Easystar Header file change the following, and others remain unchanged.
//1-4 #define REVERSE_ROLL 1; //1-5#define REVERSE_PITCH 1 ;//1-7 #define GPS_PROTOCOL 1 (=SIRF)
//2-1#define FLY_BY_WIRE_GAIN_ROLL 8; //2-2#define FLY_BY_WIRE_GAIN_PITCH 8;
Has any one had this problem before and than solve it out. Could anyone know how to adjust it??

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