An update on my project (please see my previous two posts).
This is a screencast of APM2 running in HIL mode with the X-plane RC plane in an 8kt wind over a simple course, takeoff, circuit including loiter, land, fully auto (radio not touched). In JSBSim/SITL results are actually better than X-plane HIL which has poor resolution and slow sensor update.
If anyone wants to try this firmware, in X-plane or in HIL or SITL *please* let me know. I would like testers.
I can build it for APM1, ardupilot-mega and APM2 boards or of course there is the desktop version for SITL
I'll upload the source to a git clone soon as well.
My plan is to fly a skyfun and/or skywalker with it when the weather relents.
features so far:
Same base code as ArduPlane, but new navigation, stabilize and autopilot PDEs
WAYPOINTS and the normal mission planner stuff
Auto-trim - boot with elevator stick at top of the range and plane will fly a short routine to self-tune as soon as you hit AUTO mode.
Presets - presets for several different kinds of UAVs
More free memory
Trig lookup tables to free up cpu