ArduPilot_251 flight test with AP Throttle control from Mark Colwell on Vimeo.
ArduPilot 251 test flight with AP Throttle control HD ground video from Mark Colwell on Vimeo.
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ArduPilot_251 flight test with AP Throttle control from Mark Colwell on Vimeo.
ArduPilot 251 test flight with AP Throttle control HD ground video from Mark Colwell on Vimeo.
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System damage reports:
Power train,
APC 7x4 EP prop broken off both sides, replace with APC Gas 7x3 $1.95
Motor mount ripped off, $2 flexable superglue and carbon fiber, New mount for contest $5
2250 mAh test battery has one bad cell now, $60 new 4s 2650mAh 40c for contest
Structural,
starboard side,
Tears in foam on both sides of vertical fin up to spars, $1 Liquid Nails or lo temp hot glue.
New foam body $21 for contest.
Control horn ripped off, but still on wire z bend, $0.50 superglue and add some carbon fiber.
Stripped servo plastic gears, replace set $2.49
Made several test flights, my observations:
1. Don't flight test with a weak or old battery
2. make smaller PID p changes, over correcting in pitch and over powered throttle in FBW mode
3. Start FWB mode at about 150' when testing throttle or pitch PID changes, 50' higher than normal
4. Train left hand Learn to use Mode switch when panic ensues, place in Manual vs FBW and relax
5. Don't ground test with a weak or old battery
6. Flying in snow is fun!
This is r842 renamed to ArduPilot_251_2 for my local use.
I want to move onto your latest code with Elevon settings.
Looks like Jason made more gps sim &parser fixes now were at rev r846
Current compile error:
.../core.a(wiring.c.0): In Function 'millis':
.../wiring.c:66: multipule definitions of 'millis'
.../ArduPilot_251_2.ccp:3821: first defined here
Thanks, I am uploading throttle & alt hold changes to Stryker II for some testing, its cold here with no wind...
last test flights only used 510 mah...
Hope to fly for 4 mins..
I plan to use Sony Webbie for on board HD recording and standard NTSC video out for FPV on 910mhz Tx
Ground video was made with this camera too. I also have Jazz 178 HD and DXG-567V HD cameras both work great, but don't have a tilt head.
#define PITCH_COMP .10
#define HEAD_MAX 3000
I use air speed sensor, on Shieldv1
I switch to FWB after being in Stabilize mode see config.h,
In 1st flight about 1 second before tip stall,
2nd flight about 1 second after starting land decent, FBW on until landing.
other config.h setting for comments:
//0-4
#define POSITION_1 MANUAL
//0-5
#define POSITION_2 STABILIZE
//0-6
#define POSITION_3 FLY_BY_WIRE
#define WP_ALTITUDE_RADIUS 10
//ATTITUDE: ROLL GAINS
//5-1
#define SERVO_ROLL_P .3
//5-2
#define SERVO_ROLL_I .1
//5-3
#define SERVO_ROLL_D 0.0
//5-4
#define SERVO_ROLL_INTEGRATOR_MAX 10.
//5-5
#define ROLL_SLEW_LIMIT 0
//ATTITUDE: PITCH GAINS
//6-1
#define SERVO_PITCH_P .3
//6-2
#define SERVO_PITCH_I .1
//6-3
#define SERVO_PITCH_D 0.0
//6-4
#define SERVO_PITCH_INTEGRATOR_MAX 10.
//6-5
#define PITCH_COMP .10 //mjc set low for first tests was .30 //<------Very important, Pitch compensation vs. Roll bank angle.
// I will increase to .30 for next test.
//NAV: ROLL GAINS
//7-1
#define NAV_ROLL_P .3
//7-2
#define NAV_ROLL_I .1
//7-3
#define NAV_ROLL_D 0.0
//7-4
#define NAV_ROLL_INTEGRATOR_MAX 10. // mjc will increase to .15 for next test
//NAV: PITCH GAINS
//8-1
#define NAV_PITCH_P .3
//8-2
#define NAV_PITCH_I .1
//8-3
#define NAV_PITCH_D 0.0
//8-4
#define NAV_PITCH_INTEGRATOR_MAX 10. // mjc will increase to .15 for next test
//8-5
#define CRUISE_AIRSPEED 13
// If we have airspeed sensor pitch is used to maintain desired airspeed and throttle is used for climb/descent
// NOTE - Airspeed is stored and used in the program as an integer pressure value
// Use the formula: pressure = 0.1254 * speed * speed
// where speed is the airspeed in meters per second.
// For example if you want cruising airspeed to be 10 meters per second use a value of 13
//ALTITUDE: THROTTLE OUTPUT GAINS AND PARAMETERS
//9-1
#define THROTTLE_P .32 // Proportional // mjc maybe increase for faster response ??
//9-2
#define THROTTLE_I .04 // Integrator
//9-3
#define THROTTLE_D 0.0 // Derivative
//9-4
#define THROTTLE_INTEGRATOR_MAX 30 // (0-125) 70=50% Integrator limit.
//9-5
#define THROTTLE_CRUISE 30 // mjc increase to 70 next flight Default throttle value - Used for central value if no airspeed sensor or Fly_By_Wire. Failsafe value
//9-6
#define THROTTLE_MAX 100 // mjc was 60 increase to 120 for next flight (0-125) 70 = 56% maximum throttle
//9-7
#define THROTTLE_MIN 10 // (0-125)
Hope this was not too much...
What value are you using for PITCH_COMP?, HEAD_MAX?. Are you using an airspeed sensor? Any way I can tell when in the video you are in FBW versus Manual?
If you make me aware of them I will fix them as quickly as I can.
http://www.merlin-digital.com/images/sports%2520camcorder%2520sml.jpg"/>
Its nice because of the shape that doesn't have a large frontal area and easy to mount anywhere.Anyways good luck with the rest of your UAV
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