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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

  • Remco Bos March 12, 2009 at 1:37pm
    Hi Chris,

    After upgrading tho one of my adrupilot to 2.0.the gps module dont work anymore on my
    ather adrupilot 1.0.The light on the gps module burns weak and the blue light wont go on.please help.

    Remco
  • Saiful Azuwan March 11, 2009 at 11:59pm
    I see... thanks
  • 3D Robotics
    Chris Anderson March 11, 2009 at 11:55pm
    Saiful: It just acts like a FMA Co-Pilot.
  • Saiful Azuwan March 11, 2009 at 11:54pm
    Im lose about fly-by-wire. Can anyone explain in simple word what it is do? ;-)
  • 3D Robotics
    Chris Anderson March 11, 2009 at 5:07pm
    Dimitris: The middle position switch between waypoint and RTL mode is already in the software. It's in the first tab:

    if (Tx_Switch_Status()==0x02) //Check if we are in mode 2 (transmitter switch in middle position
    {
    current_wp=Waypoint_Switcher(current_wp,wp_distance, wp_radius); //Waypoint switcher...
    wp_Mode=current_wp; //Checks if we are in Waypoint or RTL...
    }
  • Dimitris March 11, 2009 at 11:12am
    Are these features already included in code 2.0? Are there some sentences that need to be uncommented in order to activate them?

    Dimitris
  • 3D Robotics
    Chris Anderson March 11, 2009 at 11:06am
    Dimitris: No, that is not the way it's currently configured. But we do support three-position control, and the in-between position can be fly-by-wire. You can enable that either a three-position toggle switch, if you happen to have one, or by setting your Tx to mix two channels, as in the case of most Futabas.

    You need to mix channel 5 with channel 6. For example channel 5 will only switch between manual/auto, and channel 6 will switch between RTL/Waypoint. Or channel 5 can switch autopilot on and off, and channel 6 can switch between waypoint and fly by wire. The option is called "PMX 1"
  • Dimitris March 11, 2009 at 10:59am
    Do we get fly-by-wire functionality (Co-pilot stabilization) when the ArduPilot is on manual mode (MUX off)?
  • Gagarien March 11, 2009 at 7:18am
    It's the term Chris created for flying with stabilazation only. On comercial aircraft/helicopters it is the term used were they manupilate flight controls via electrical/optical systems.
  • John March 10, 2009 at 9:31pm
    Great! The wiring instructions are on this page
This reply was deleted.