Using ArduPilot 2.x in the field

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:

Ensure that the autopilot is in manual mode (channel five toggle off) and GPS is connected
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.
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)
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.
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).
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.
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:

Ensure that the autopilot is in manual mode (channel five toggle off) and GPS is connected
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.
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)
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.
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.
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).
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.
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.

I tried two test flights today; the wind was blowing about 10mph which made it tough to really gauge the performance. in the first test flight the stabilization seemed to work ok, though there was some oscillating in all directions. In both waypoint and RTL mode, the plane was not flying in the correct direction, and seemed to be devoting most of the rudder to stabilization (if that makes sense). I landed and stepped through the calibration procedure again, and this time the plane entered a death spiral in both rtl and waypoint mode. Later at home I tried disconnecting the gps after calibration and it seemed to be responding correctly for both roll and pitch correctionn. As you mentioned, the movements were gradual which makes sense. I'll have to give it another try on a calmer day, but I was concerned I might not be calibrating the sensor correctly.

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Comments

Jason April 12, 2009 at 8:39pm

I tried two test flights today; the wind was blowing about 10mph which made it tough to really gauge the performance. in the first test flight the stabilization seemed to work ok, though there was some oscillating in all directions. In both waypoint and RTL mode, the plane was not flying in the correct direction, and seemed to be devoting most of the rudder to stabilization (if that makes sense). I landed and stepped through the calibration procedure again, and this time the plane entered a death spiral in both rtl and waypoint mode. Later at home I tried disconnecting the gps after calibration and it seemed to be responding correctly for both roll and pitch correctionn. As you mentioned, the movements were gradual which makes sense. I'll have to give it another try on a calmer day, but I was concerned I might not be calibrating the sensor correctly.
3D Robotics

Chris Anderson April 12, 2009 at 8:09pm

Is everything else working right? After you've reset the autopilot and you're holding it in your hand and you enable the autopilot and tilt it to the sides and pitch it up and down, do the control surfaces move as you would expect? (The movements are pretty gradual, since they're PID damped)
Jason April 12, 2009 at 8:04pm

Hi Chris. I am using the 2.0 code. My setup is an Easystar and recommended GPS. Thanks!
3D Robotics

Chris Anderson April 12, 2009 at 7:27pm

Which code are you using? (Please link to it)
Jason April 12, 2009 at 6:42pm

Got a question. I followed the steps above to calibrate the sensor, but I noticed that when I get GPS lock, ardupilot moves the rudder once, then the elevator once. When I hold the plane nose down and turn on the ardupilot switch, the elevator does not move to confirm the sensor settings were saved. Any ideas?
John_Mac March 17, 2009 at 5:19pm

The WayPoints are hardwired into the code (WayPoints.c). So I assume to change the WPs in the field you need to bring your Laptop, enter new WPs, update wp_number, compile and download code right?
3D Robotics

Chris Anderson March 14, 2009 at 3:40pm

Sure, here it is (I've also put it in the main post). It's fine to use channel 6 for autopilot on/off.
Ken Smith March 14, 2009 at 2:00pm

Would you have a block diagram similar to the attached for 2.0 setup using rudder and elevator only? I use rudder on channel 1, elevator channel 2.
also, I am hoping I can use channel 6 for autopilot off/on since 5 is used to actuate camera shutters. Any problem you see with that?

Ken
Amoisonic March 13, 2009 at 12:19am

Chris:After I have calibrated the ArduPilot 2.0 with nose point to ground,it found out that the rudder has effect on the orientation of the plane but elevator has mininal movement when testing on ground.Is it normal when on ground test ?
3D Robotics

Chris Anderson March 12, 2009 at 2:22pm

Remco: ArduPilot 2.0 puts the EM406 in binary mode, which disables the LED on the module and stops generating NMEA sentences. That explains why it doesn't seem to work on ArduPilot 1.0 code. If you let the GPS module sit for a few days the internal capacitor will run out and it will return to its default NMEA mode and work as expected with ArduPilot 1.0. But for that reason we don't recommend that you share a GPS module between both code bases.

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