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Using ArduPilot 2.x in the field

Posted by Chris Anderson on March 10, 2009 at 8:30pm

Instructions for using ArduPilot 2.x in the field:

ArduPilot 2.1 and above (with Z sensor). This version of the software auto-calibrates the IR sensors. The only thing you need to do at the field is to record the "home" GPS position in EEPROM memory, which will not be erased when you reset or power down the board. To do so, follow these instructions:
  1. Ensure that the autopilot is in manual mode (channel five toggle off) and GPS is connected
  2. Place a jumper cap on pins D6 and D7 (you can also connect a regular RC power switch to those pins if you want to control the autopilot from outside of the aircraft). Ensure that your aileron and elevator sticks are in the center position, and power on the board.
  3. The yellow status LED will blink for a few seconds as the autopilot programs the GPS for binary mode. Then the blue lock GPS will blink rapidly, which means the autopilot is waiting for GPS lock. You can now remove the jumper (or return the switch to the normal position)
  4. When the autopilot has established a GPS lock it will move the rudder. Note that ArduPilot puts the EM406 into binary mode, which disables the red LED on that module, so it will not blink.
  5. You’re now ready to fly! Press the reset button on the ArduPilot board to restart it (your calibration settings are saved in permanent memory and will not be erased).
  6. ArduPilot 2.0 supports two autonomous modes: waypoint and return-to-launch (RTL). If you have a three-position toggle switch or a proportional dial on your RC transmitter, the middle position is Waypoint Mode and the up (or full clockwise) position is RTL Mode. These can be changed in the software if desired. The Mode LED on the ArduPilot board will light up with it is in Waypoint Mode.
  7. To use fly-by-wire mode (just stabilization, like the FMA Co-Pilot), simply disconnect the GPS. ArduPilot also automatically switches into stabilazation mode if it ever loses GPS lock.
ArduPilot 2.0 (no Z sensor): This version requires that the IR sensor be calibrated in the field, on arriving and if the weather conditions change significantly:
  1. Ensure that the autopilot is in manual mode (channel five toggle off) and GPS is connected
  2. Place a jumper cap on pins D6 and D7 (you can also connect a regular RC power switch to those pins if you want to control the autopilot from outside of the aircraft). Ensure that your aileron and elevator sticks are in the center position, and power on the board.
  3. The yellow status LED will blink for a few seconds as the autopilot programs the GPS for binary mode. Then the blue lock GPS will blink rapidly, which means the autopilot is waiting for GPS lock. You can now remove the jumper (or return the switch to the normal position)
  4. When the autopilot has established a GPS lock it will move the rudder. Note that ArduPilot puts the EM406 into binary mode, which disables the red LED on that module, so it will not blink.
  5. Holding the aircraft without obscuring the thermopile sensor, point the nose at the ground. Switch the autopilot on with your RC toggle switch. The elevator will move, signaling that the sensor has been calibrated.
  6. You’re now ready to fly! Switch the aircraft back into manual mode for launch, and press the reset button on the ArduPilot board to restart it (your calibration settings are saved in permanent memory and will not be erased).
  7. ArduPilot 2.0 supports two autonomous modes: waypoint and return-to-launch (RTL). If you have a three-position toggle switch or a proportional dial on your RC transmitter, the middle position is Waypoint Mode and the up (or full clockwise) position is RTL Mode. These can be changed in the software if desired. The Mode LED on the ArduPilot board will light up with it is in Waypoint Mode.
  8. To use fly-by-wire mode (just stabilization, like the FMA Co-Pilot), simply disconnect the GPS. ArduPilot also automatically switches into stabilazation mode if it ever loses GPS lock.
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Comments

  • Rana January 4, 2010 at 10:32am
    Hello Folks !
    Above instructions in two page large font PDF document, what I suggest to take print and handy in the field;
    I have extesively tested ArduPilot 1.0 & 2.0 and found it is matchless and simply great autopilot in just 25US$.
    Instructions for using ArduPilot 2.x in the field.pdf
    https://storage.ning.com/topology/rest/1.0/file/get/3691995330?profile=original
  • Rana January 4, 2010 at 10:18am
    No body in the world can beat Ardupilot on its price vs. functionality.
    Nice write up as quick instructions in the flying field.
  • 3D Robotics
    Chris Anderson January 4, 2010 at 10:00am
    Marco, that's totally weird. I suspect a soldering problem with your board--maybe the interface forces some pins out of a short situation?
  • marco January 4, 2010 at 8:53am
    Hello Chris,
    first of all the whishes for an Happy New Year,
    tanks to your suggestion of using Sirfdemo.
    I found out the reason of the problem but don't understand why.
    The GPS gets lock with every version of the Arduoilot and with every configuration only if I leave the FTDI interface inserted in the Ardupilot even if not connected to the USB of the PC (i.e. without the USB cable, just the Sparkfun FTDI inserted).
    In this way everiting works properly.
    Any idea about this?
    Tanks in advance.
    marco
  • marco December 3, 2009 at 10:18am
    Tanks Chris,
    my GPS modules are both EM406A from Globalsat with chipset SIRF StarIII
    I bought them from Sparkfun.
    Could you help me again with the configuration file?
  • 3D Robotics
    Chris Anderson December 3, 2009 at 9:19am
    If you're using the 2.4 code, you need to ensure that the configuration file is set for the right GPS module. I don't see why being in Italy should be a problem; we have plenty of users in Southern Europe (I can't remember any particular ones in Italy, but I'm sure there are some).

    You might want to check the GPS modules with Sirfdemo, which will at least tell you if they're getting a lock.
  • marco December 3, 2009 at 7:52am
    Hello Chris, tanks a lot for the support.
    I will try to get a shield.
    I didn't tell ypu but I am using Arduino IDE 16 with no proflem.
    Config tool works OK.
    For now I have double checked again the connectors and they appear to be OK.
    I tested too the electrical continuity between the end of the long connector and the serial pinouts for the FDDI and all was OK..
    As a last try, tell me if it is correct. I uploaded the 2.4 release without the shield.
    Configured WAAS disabled and SIRF protocol.
    Guess? No lock again after half an hour.
    May be this afternoon the weather is very cloudy, will try again in a sunny day.
    Fly by wire is OK and so on.
    I really believe that GPS signal in Italy is degraded and should configure Ardupilot less stringently.
    Or should I wait for the famous week to reset the GPS before reconfigure it.
    I would try to change the blue led blinking delay in case of some data flows from the GPS in order to have some sort of debug for the issue..
    Any other idea?
    Do you know if anybody else in Italy is working with Ardupilot?
    One time more thank you again for your patience.
  • 3D Robotics
    Chris Anderson December 3, 2009 at 7:24am
    I'm afraid 2.1 is long gone and no longer supported; I can't even remember how that software worked. If you can get a shield, you can stay up to date with the latest software and we can support you.
  • marco December 3, 2009 at 1:31am
    Tried with the short cable for more than half an hour with no results.
    I can I try to tracethe software?
    Thanks again in advance for any suggestion.
  • marco December 2, 2009 at 11:33am
    Thank to you both for your quick answers.
    Unfortunately there are no pins bent on connectors.
    Could be I am wrong but iyt seems rhe GPS doesn't get enough informations to lock.
    Anyway tomorrow I will try the short cable coming with EM406.
    Thanks in advance for any other suggestion.
This reply was deleted.