Important: ArduPilot users, change your throttle wire to pin 11

We've changed the channel that reads the throttle on basic ArduPilot from pin 13 to pin 11. That's because pin 13 shares an LED, and it's causing problems with some low-voltage RC receivers. Pin 11 is clean.


The above picture shows the correct jumper wire configuration. If you've been using pin 13, please switch it to pin 11.


In the code, you tell ArduPilot which pin you're using with this line:


//3-1
#define THROTTLE_PIN 11 // pin 13, or pin 11 only (13 was old default, 11 is a better choice for most people)


Sorry about this messiness, but it's all in the service of extracting as much utility as possible out of the basic ArduPilot board (which was originally designed not to control the throttle at all--those were simpler days!). Later this year we'll release a new version of the ArduPilot board which will clean up everything nicely (same features, so nobody will be left behind), but for now, please whip out your soldering iron and switch the jumper.


The manual has been updated with the new instructions.


Views: 618

Comment by Taylor Cox on August 19, 2010 at 6:42pm
@Nathaniael. I am running arduPilot 2_6_2 and I have found that when I set my throttle in manual, once I switch to stabilize and fly by wire A, my throttle goes down about 20%....weird

Developer
Comment by Jason Short on August 19, 2010 at 6:42pm
Maybe you should try auto calibrate. I have min on auto; always have. I do it that way because most users do. I have it running perfectly on my setup. Virtual no change in throttle output switching between modes.

Moderator
Comment by Nathaniel Caner on August 19, 2010 at 6:55pm
Jason,

I'll give that a try tomorrow. I have resisted doing this because I don't want to have to run up the throttle all the way to full power to calibrate the high end on the ground,and it uses up valuable power I could be using in the air! I'll try it though to see what I get. If I do end up using auto calibrate, would I need to run an auto calibrate sequence while in Debug_Subsystem 1 to find the resulting PWM values, and then use those values for the min/max ch3 values?

Nathaniel
Comment by Taylor Cox on August 19, 2010 at 7:09pm
Is the auto calibrate for the throttle in the code somewhere? What version? I can't seem to find it?

Moderator
Comment by Nathaniel Caner on August 19, 2010 at 7:25pm
Taylor,

Auto calibrate is a programmable function on the Castle Creations Phoenix ICE ESC (and many others), as opposed to using fixed endpoint mode.

Nathaniel

Moderator
Comment by Nathaniel Caner on August 19, 2010 at 8:56pm
Just to be clear what I'm talking about here has nothing to do with the Ardupilot it's a function of the setup of the ESC. My experience includes the use of a Castle Creations Phoenix ICE ESC. These ESCs are very powerful, their software is user configurable, and very adaptable. One function is the mode by wich the throttle "knows" the full range of the throttle. Fixed endpoints once setup requires no additional user input before flight. Auto calibrate requires that the user move the throttle from 0-100% throttle before flight so it can "calibrate" the endpoints. Helicopters require the use of fixed endpoints, fixed wings do not. I prefer using the fixed endpoints, but I seem to be having some trouble getting the Ardupilot throttle to work correctly with the ESC programmed this way.

Regards,

Nathaniel

Developer
Comment by Jason Short on August 19, 2010 at 10:32pm
Hey, Check out the new debug test on the SVN and let me know if your results.

Developer
Comment by Jason Short on August 19, 2010 at 10:35pm
Oh and my Castle Phoenix auto calibrates the low point but not the high point. I never have to raise up the throttle like some other ESCs.

Moderator
Comment by Nathaniel Caner on August 20, 2010 at 5:57am
Jason,

Are you sure about that? Check out this clip from the Phoenix users guide:

Auto
Calibrating
Throttle*

Any fixed wing aircraft, but NOT for use with
helicopters. When using Auto Calibrating Throttle,
you must throttle up to full throttle for four
seconds and back to the off position each time
you power up and fly your airplane. This will
set the automatic throttle endpoints within the
controller. This is the FACTORY setting.

I don't use this because 4 seconds at full throttle is a long time of exposure to the potential risk of a prop strike with the ground, or a prop with hidden damage breaking apart. Not to mention it's a pain to hold on to a plane this large with a motor producing that much thrust.

Best Regards,

Nathaniel

Moderator
Comment by Nathaniel Caner on August 20, 2010 at 6:00am
Jason,

Here's the link for that users Guide.

Best Regards,

Nathaniel

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