QGroundControl w/ ArdupilotMega Mavlink Branch, RC Car LIve Test

The new ArduPilotMega Mavlink branch with the latest QGroundControl development branch enables the operator to dynamically load waypoints and set gains in flight. To test out the communication we setup a small ground based experiment with an RC Car. No gains were changed from the default ArduPilotMega gains. Also the inertial navigation code was used between GPS updates but the GPS reset the position/ velocity when each GPS packet was received. This led to some oscillations that will be corrected in later tests. The autopilot trim throttle/ steering is set at the beginning of the experiment using the autotrim feature of the ArduPilotMega autopilot system. At the end of the experiment the trim throttle was insufficient off-pavement and led to the end of the test. More experiments to come! We will be testing out the data-logging and in flight gain adjustment.


Below we have included a screenshot of the ground trajectory. We were using a ublox gps. Note that there was significant GPS signal degradation due to the surrounding buildings that led to the trajectory deviations from the flight plan.

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T3
Comment by Brian Wolfe on November 20, 2010 at 4:46pm
Nice work James. I'm off work this week and plan on following in your footsteps with my PicPilot. I want to evaluate the PixHawk GCS as well as a couple others including Happies. One of my main objectives is to find/modify or make one that runs well on a netbook.

Thanks for the work!!

Brian

Developer
Comment by James Goppert on November 20, 2010 at 4:54pm
Good luck! QGroundControl works on my netbook and the PixHawk guys use netbooks so you should be good to go there. If you have any features that you'd like added to QGroundControl let us know/ create a fork and help code the changes yourself. Checkout the mavlink protocol, it makes integration a lot easier.
Comment by Rana on November 20, 2010 at 6:02pm
Its amazing ! Incredible work !
Comment by madhuran wilson on November 21, 2010 at 8:01am
I See you have image recognition on the side :O

this thing is gona be a game changer for the ardu UAVs
Comment by Brandon Wampler on November 21, 2010 at 2:59pm
Yes, our computer vision obstacle avoidance algorithm is so robust it even works without a camera.

One change to your post James. We did change the cross-track gain to 0.1 and allow a 90 deg cross track entry angle.

Developer
Comment by Randy on November 22, 2010 at 2:57am
Maybe you need a magnetometer on there to help with the direction. It could be a good entrant into the Sparkfun AVC competition next year (mid April, I think)
Comment by pixhawk on November 24, 2010 at 10:30am


For all those interested in small screens - this is QGroundControl with the latest dev branch running at 800x600. Binaries will be out soon for Windows, Linux and MacOS.

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