I’ve started flight tests with the latest Ardupilot code and hardware and will post my findings in this blog post. Info on my plane and set up can be found HERE. I’ve found the EG 2.2 has similar flight characteristics to the original EasyGlider including the same “reverse roll” and “reverse pitch” settings in the code so these results should help anyone flying the stock glider.
A few notes on what I have discovered so far---The throttle immediately kicks in when you switch to WP or RTL mode. There is no “safety” coded into the throttle command such as, no throttle activation below a given altitude or a given speed, so be prepared if you switch from manual mode at the flying field. Also, in the .h file under Throttle gains the throttle_max variable is defined twice. I’m not sure which is used by the code. There are also some corrections to the manual that I posted HERE that may help others in their set ups. Good Luck!

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Comment by Jordi Muñoz on July 14, 2009 at 12:03pm
HEHE, actually one day my friend switch off my radio and the autopilot kicks in (fail safe mode) and the motor started like crazy! i was screaming: Turn it ON! Turn it ON! Turn the %^&* Radio on!!!

About the double throttle i think you have the no fixed version of the 2.2. Just delete any of both. The compiler will ignore the first one. Sorry about that.
Comment by Bryan Cuervo on July 14, 2009 at 6:29pm
Same issues today. The plane dives when switching from manual control. I can't get pitch stability. With the 2.1 code I was able to correct the pitch with the elevator trim in the Config. utility but this isn't solving the problem in 2.2. Can't figure out why RTL activates the throttle on the ground but when I'm flying and switch to RTL, the motor stops.

Comment by Jordi Muñoz on July 14, 2009 at 6:30pm
AHA! Because the airspeed hold variable in the header is to low. Increase it!
Comment by Bryan Cuervo on July 15, 2009 at 4:47am
Thanks Jordi. That makes perfect sense. I'll increase that value and try again this week.
Comment by Bryan Cuervo on July 17, 2009 at 3:19pm
Well, I got her flying for a little while in RTL after figuring out you need to leave the jumper in until you get GPS lock. I took it out while the blue light was flashing (per the manual) and throttle wouldn't activate when switching to RTL. At least I think that was the cause. It's hard to diagnose these things in the field. Anyway, now that I got her flying I see that she is going east when I switch to RTL. This happened to Peter also so I wonder if there is a glitch in the navigation code. I'll try flying in WP mode next time and see what happens.

Comment by Bryan Cuervo on August 2, 2009 at 1:53pm
It was a beautiful day to fly. Variable winds around 5 knots and partly cloudy. Today I tried Jordi's I_CAN_FLY code but I got the same results. She still heads east when I switch to WP orRTL.

Comment by Bryan Cuervo on August 5, 2009 at 5:10am
Looks like the 223 demo code is going to work. I thought the walk around option added to the code would allow "walk around" tests with the throttle disengaged so I was surprised when I switched to AP and the motor revved up. Just need to get the navigation roll response to jive with the stabilization response.

Comment by Jordi Muñoz on August 5, 2009 at 11:10am
I love your briefing.
Comment by Earl on August 5, 2009 at 11:32am
Here is my all wet theory on why a lot of planes fly east in RTL or AP mode.

Jordi lives on the west coast I believe. If your plane got away, which direction would you want it to fly ??
NOT out towards the ocean !!

Hay Jordi, does my theory hold water ?

Comment by Bryan Cuervo on August 5, 2009 at 11:57am
Yeah Earl, it holds water like a wet Kleenex! I figured my plane wanted to fly east to take a vacation in the Appalachian mountains!


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