Posted by Jordi Muñoz on August 19, 2009 at 12:30pm
Finally, after many weeks trying to debug the NORTH-EAST issue we finally fix it. Thanks to everybody who help me out with this one.The code is available for download here:http://code.google.com/p/ardupilot/
Does the code compile for you guys? I get this error:
55: error: easystar.h: No such file or directory In function 'void navigation()':
In function 'void stabilization()':
In function 'int calc_roll(float, float)':
In function 'int altitude_error(int, int)':
In function 'byte PID_throttle(int, int, int)':
In function 'int PID_roll(int, byte, int)':
In function 'int PID_pitch(int, int)':
In function 'void catch_analogs()':
In function 'void pulse_servos(int, int)':
In function 'void pulse_servo_1(long int)':
In function 'void pulse_servo_2(long int)':
In function 'int read_Ch1()':
In function 'int read_Ch2()':
In function 'void print_data()':
The initial head_p was 0.7, and that just turned back and forth 180 degrees, overshooting by 90 degrees each time. As undesirable as that was, it was impressive to note that the plane was never out of control. I then tried 0.35, and that didn't turn at all. The 3rd try was 0.5, and that works pretty darn well for the current setup. I must have tried it 10 times, flying in every direction I could think of, and the RTL just turned back to home, and then circled overhead. Very cool. Can't wait to try some waypoints.
i guess the settings will have to be changed a bit of it is for a car or a boat since the corner are very strong compare to an airplane,
but it should work as it first before try to change anything
you'll have to try it and try it Happy!
good work on that, when the setting is done you're in!!
Yes, Happy, we set it up so you only need to change one setting in the config file (enable Walkabout mode) and it disables everything else. You shouldn't need to touch the code at all!
Yes, "walkabout mode" is essentially a "virtual 1.0". In this case, only the rudder is used, so that and mode are the only RC channels you need to connect to ArduPilot (in and out).
Comments
55: error: easystar.h: No such file or directory In function 'void navigation()':
In function 'void stabilization()':
In function 'int calc_roll(float, float)':
In function 'int altitude_error(int, int)':
In function 'byte PID_throttle(int, int, int)':
In function 'int PID_roll(int, byte, int)':
In function 'int PID_pitch(int, int)':
In function 'void catch_analogs()':
In function 'void pulse_servos(int, int)':
In function 'void pulse_servo_1(long int)':
In function 'void pulse_servo_2(long int)':
In function 'int read_Ch1()':
In function 'int read_Ch2()':
In function 'void print_data()':
The initial head_p was 0.7, and that just turned back and forth 180 degrees, overshooting by 90 degrees each time. As undesirable as that was, it was impressive to note that the plane was never out of control. I then tried 0.35, and that didn't turn at all. The 3rd try was 0.5, and that works pretty darn well for the current setup. I must have tried it 10 times, flying in every direction I could think of, and the RTL just turned back to home, and then circled overhead. Very cool. Can't wait to try some waypoints.
Rusty
i guess the settings will have to be changed a bit of it is for a car or a boat since the corner are very strong compare to an airplane,
but it should work as it first before try to change anything
you'll have to try it and try it Happy!
good work on that, when the setting is done you're in!!
@13brv3, only a few comments corrected (typos) and settings.
good work Jordi and Chris! i can't wait to finish my new UAV to try out the new version.
regards
jeremy
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