New version of APM 1.0 code -- fixes MediaTek setup

 

UPDATE: Looks like some bugs snuck in. I've withdrawn this version. Please Dec 13 instead.

 

I've uploaded a new version of the APM 1.0 code, which has some minor bug fixes.

  • The bug where you had to reset your board after a cold start to get the MediaTek GPS module to be recognized is now fixed. (Thanks James Goppert!)
  • Several minor bugs that affected Altitude Hold in AUTO mode have been fixed. It's still not as rock solid on all aircraft as we'd like, but we're reviewing several strategies to improve it in the next version of the code. Right now it mostly uses the throttle to maintain both altitude and airspeed (if an airspeed sensor is connected), but this can be unreliable if the aircraft is not well-trimmed. We may mix in more elevator going forward. (Thanks to Doug Weibel for the fixes)
  • Various other minor fixes, and support for a new version of the MediaTek GPS firmware that we'll be releasing in a week or so.
  • As always, you can follow APM software enhancements and bug fixes here.

 

If altitude hold is not working reliably for you, try adding a few clicks of elevator trim to counteract whichever tendency your aircraft is showing. So if it consistently descends below the target altitude, dial in a few clicks of up elevator and see if that fixes it. We'll have a more robust solution in the next rev.

 

Too cold to fly this code? Try an Xplane flight simulation!

Views: 522

Comment by Earl on December 28, 2010 at 12:34am

Is not fixed on my system. Lat Lon no show on my display. Was working earlier.

Earl

Comment by Harald Molle on December 28, 2010 at 1:13am

I had a look at the change log and did not find the issues concerning the MTK bug fix. I am currently working on another project where i use the MTK. It would be helpful to know what to do to get the MTK properly setup.

(or wait and hope until the new firmware gets released) 

Harald


3D Robotics
Comment by Chris Anderson on December 28, 2010 at 10:15am
Harald, the fix is in the libraries, not the main APM code.

http://code.google.com/p/arducopter/source/detail?r=1188
Comment by Harald Molle on December 28, 2010 at 12:43pm

Chris,

yes, i have looked in the libraries,  

"'.. uploaded a new version of the APM 1.0 code, which has some minor bug fixes. .."

The new version points to the APM code repository and not to the arducopter code repository. In the APM code, the library seems to be the "old" one. 

The only difference in the Arducopter code is a delay of 1000ms before the initialization of the GPS module.

here is a screenshot of the diff:

 I will try tomorrow if it helps.

Harald

 



3D Robotics
Comment by Chris Anderson on December 28, 2010 at 12:52pm
Harald, the APM code is spread over several repositories. We have the libraries in the ArduCopter SVN and the and APM code in the APM SVN. When I create a public zip file, I combine these two and put the zip file in the APM download section.

Please look at all the diffs in the commit I linked to above, including the one linked below. You'll see that there is now a check-and-resend process in place if any GPS module doesn't return the right result. It's not perfect (we'll refine it over time) but it works for me.

http://code.google.com/p/arducopter/source/diff?spec=svn1188&r=...
Comment by Harald Molle on December 28, 2010 at 1:28pm

Chris,

thanks, that helped!

now i understand why update() was changed to read(). and the new update() is a"wrapper" that checks and re-initializes. 

confusing but understandable :-)

Hope that the new firmware will cure that workaraound. 

Harald

Comment by Earl on December 28, 2010 at 6:31pm

Dang, it still doesn't work for me. I get one lat/long printout then nothing. The GPS is init 2 times on power up here.

I used the lib from the zip file of 12/27. New 0022 arduino. Even reunzipped both the arduino and the 12/27 but still have problem.

Earl

 

Comment by Earl on December 28, 2010 at 6:46pm

Here is the data captured on a terminal program.

 

MSG: Demo Servos!                                                              
MSG: Demo Servos!                                                              
MSG: <startup_ground> NO airspeed                                              
+++ASP:0,THH:0,RLL:0,PCH:-4,***                                                
!!!LAT:0,LON:0,SPD:0,CRT:0,ALT:0,ALH:0,CRS:2,BER:0,WPN:0,DST:0,BTV:11.9699993133
,RSP:0,TOW:14203,***                                                           
+++ASP:0,THH:0,RLL:0,PCH:-4,***                                                
!!!LAT:34511766,LON:-106197072,SPD:0,CRT:0,ALT:1995,ALH:0,CRS:2,BER:0,WPN:0,DST:
0,BTV:11.9699993133,RSP:0,TOW:14203,***                                        
+++ASP:0,THH:0,RLL:0,PCH:-3,***                                                
!!!LAT:34511766,LON:-106197072,SPD:0,CRT:0,ALT:1995,ALH:0,CRS:2,BER:0,WPN:0,DST:
0,BTV:11.9699993133,RSP:0,TOW:14203,***                                        
+++ASP:0,THH:0,RLL:0,PCH:-3,***                                                
!!!LAT:34511766,LON:-106197072,SPD:0,CRT:0,ALT:1995,ALH:0,CRS:2,BER:0,WPN:0,DST:
0,BTV:11.9699993133,RSP:0,TOW:14203,***                                        
+++ASP:0,THH:0,RLL:0,PCH:-3,***                                                
!!!LAT:34511766,LON:-106197072,SPD:0,CRT:0,ALT:1995,ALH:0,CRS:1,BER:0,WPN:0,DST:
0,BTV:11.9699993133,RSP:0,TOW:14203,***                                        
+++ASP:0,THH:0,RLL:0,PCH:-3,***                                                
!!!LAT:34511766,LON:-106197072,SPD:0,CRT:0,ALT:1995,ALH:0,CRS:1,BER:0,WPN:0,DST:
0,BTV:11.9699993133,RSP:0,TOW:14204,***                                        
MSG: Demo Servos!                                                              
MSG: Demo Servos!                                                              
MSG: Demo Servos!                                                              
MSG:                                                                           
                                                                               
      Ready to FLY.                                                            
+++ASP:0,THH:0,RLL:-1,PCH:2,***           

 

 

Notice I get a second set of demo servos msg then a ready to fly msg, then ASP...

then the APMega quits outputing.

 

This sertup worked before trying the 12/27 FW

 

Earl

 


3D Robotics
Comment by Chris Anderson on December 28, 2010 at 6:50pm
Earl, what version of the MTK firmware are you using? This works for me...
Comment by Earl on December 28, 2010 at 7:01pm
Not sure. I think when the update came out, I could not get it to flash.

Comment

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

Join DIY Drones

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service