Updated for ACM 2.5.3 and APM 2.3.0 - Unified Ardustation 2 With Parameter Editing, Antenna Tracking and Auto Detection of Arducopter or ArduPlane - Blogs

This is an update from the original blog post in October 2011:

I've updated the Ardustation 2 source code to allow compilation with Arduino 1.0 Relax and the latest libraries for ACM 2.5.3 and APM 2.3.0. This update also includes a modification of parameter names for PID editing that match ACM and APM. The updated version is 2.0.12.

The download zip file also includes the libraries used to verify compilation of the software. The software has been lightly tested with ACM and 2.5.3 and has not been tested with APM 2.3.0. If you find any issues feel free to comment here or post an issue at the Ardustation 2 Google

The software is available here:

http://code.google.com/p/ardustation-ii/downloads/list

Download 2.0.12 for ACM 2.5.3 or APM 2.3.0 - compile with Arduino 1.0 Relax

Download 2.0.11 for ACM 2.0.48 or APM 2.24 - compile with Arduino 0022 Relax

Heino R. Pull

The original 10/2011 info follows:

With the help of Jeff E and Hai Tran, I've updated the Ardustation 2 Antenna tracker code to support the detection of the UAV platform from the Mavlink heartbeat. Parameter download and editing is automatically configured for ArduPilot 2.24 or ArduCopter 2.0.48 when Mavlink connects. The key parameters available for editing is modifiable in the source code with the PID gains set as the default for both platforms. A number of bug fixes have been made to previous versions of Ardustation 2 including a more standard Mavlink interface for the latest libraries distributed with APM 2.24 and ACM 2.0.48.

This version has been ground tested with APM 2.24 and ACM 2.0.48 with parameter editing, but testing is still needed to verify that the appropriate parameters are changed correctly. Please be cautious if you try this software out and verify the parameter changes with the Mission Planner. I don't have a fixed wing setup to test APM in the air, but I plan to test ACM 2.0.48 while tuning my loiter values on my quad this week. I've included the libraries used to compile the code in the zip file.

A video describing the original antenna tracking functionality is available here: Original Ardustation 2 Antenna Tracker Post and Video

The updated code is available here: Ardustation 2 ACM/APM Version 2.0.11

This software is based on Phillip Anthony Smith's Mavlink Ardustation. Thanks also to Jeff E and Hai Tran for their code additions and suggestions.

Andy and Mauricio: The easiest way to run a computer with Mission Planner and an Ardustation is to use a total of 3 Xbees. One in the aircraft and then one for the PC and one for the Ardustation. If all Xbees are on the same channel, they will "or" the data to the software in the aircraft automatically. Unfotunately, when working with parameters both the Mission Planner and the Ardustation will make requests on the transmit serial line for the aircraft to download the parameter values. Two xbees on the ground handle it pretty well. It would be possible to use one Xbee on the ground but since the AS and MP need to independently send the command to download parameters, you would need to wire together the transmit lines from the computer and the Ardustation. This requires some kind of "or"ing of the signals such as an open collector arrangement with a pullup or a logic gate. Using an extra Xbee makes it all very simple at the expense of an extra Xbee.

The Ardustation software only looks for parameter packets if it has been requested by hitting the menu selection so that is what adds the complication.

The patch antenna is indeed for FPV and I originally only used the antenna tracker function and ignored the parameter edit ability in my use. However there were enough requests from users who wanted to also edit parameters - so the parameter edit function was updated to both APM and ACM parameter types. If the Ardustation is sitting on a moving antenna, it is awkward to try to use the buttons and display so that is why it is nice to be able to use the Ardustation for antenna tracking only and to simultaneously use a computer with Mission Planner for parameter editing.

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Comments

Heino R. Pull October 16, 2011 at 5:09pm

Andy and Mauricio: The easiest way to run a computer with Mission Planner and an Ardustation is to use a total of 3 Xbees. One in the aircraft and then one for the PC and one for the Ardustation. If all Xbees are on the same channel, they will "or" the data to the software in the aircraft automatically. Unfotunately, when working with parameters both the Mission Planner and the Ardustation will make requests on the transmit serial line for the aircraft to download the parameter values. Two xbees on the ground handle it pretty well. It would be possible to use one Xbee on the ground but since the AS and MP need to independently send the command to download parameters, you would need to wire together the transmit lines from the computer and the Ardustation. This requires some kind of "or"ing of the signals such as an open collector arrangement with a pullup or a logic gate. Using an extra Xbee makes it all very simple at the expense of an extra Xbee.

The Ardustation software only looks for parameter packets if it has been requested by hitting the menu selection so that is what adds the complication.

The patch antenna is indeed for FPV and I originally only used the antenna tracker function and ignored the parameter edit ability in my use. However there were enough requests from users who wanted to also edit parameters - so the parameter edit function was updated to both APM and ACM parameter types. If the Ardustation is sitting on a moving antenna, it is awkward to try to use the buttons and display so that is why it is nice to be able to use the Ardustation for antenna tracking only and to simultaneously use a computer with Mission Planner for parameter editing.
mauricobain October 16, 2011 at 3:24pm

Hi Heino,

Excellent work. You can use the ardustation and the Mission Planner with PC at the same time? Also, there are a thing that I don't understand, and is why you need to use the Xbee and the Patch antenna? The patch antenna is for FPV?

Thanks,

Mauricio
Andy Demartini October 16, 2011 at 1:26pm

Heino, Thanks for doing this! Can you please explain how Ardustation would be set up if I am already using APM Planner with a 900 mhz XBee running at 57600 baud? Does A/S just monitor the data stream? Could it be placed inline with Mission Planner where it communicates with the airplane while listening to the downlink for the appropriate Mavlink packets?

Thanks,

Andy
Heino R. Pull October 16, 2011 at 11:18am

Hi Colin - it sure is hard to know what others are working on the site but I'm definitely interested in what you're doing. We should definitely compare notes and I'll check out your code also.
Colin October 16, 2011 at 10:11am

Nice work. I just had a play with this and it’s looking good. It’s a shame I spent the last couple of weeks doing very similar work.

I have been updating my version of Michael Smith’s Ardustation code (which used BinComm). It’s working fairly well now, with flight data and parameter editing (no antenna tracking). I’ll be ready to share it in a few days time- maybe we can “compare notes” so to speak.
Kirill October 16, 2011 at 7:21am

Looks very good! Well done!
Ian Beaney October 16, 2011 at 3:44am

Excellent work
3D Robotics

Chris Anderson October 15, 2011 at 10:15pm

SO impressive. Love this!

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