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T3 Trust Time Trial robotic airplane pattern flying using FLEXIPILOT from Krzysztof Bosak on Vimeo.
The overall time is disappointing but was expected.I used unprepared airframe, just trottled up settings,it is a surprise it flew the pattern without too much oscillations(it has gain scheduling related to throttle, what saved the day).Altitude hold is below average at 10m.Time: 1:26.The platform is dull gray development EasyStar workhorse rudder-only, too ugly to show.Onboard 2 GPS and 3 autopilots: one FLEXIPILOT piloting and logging, one FLEXIPILOT just logging,one RVOSD (not used except for display).
It includes an automatic update routine that should make life much easier when it comes to bug fixes and additions.
I have modified the GPS Emulator I wrote for Remzibi's OSD to capture and output GPS data to the ArduPilot using either Remzibi's USB to serial cable or DIYdrones' FTDI cable.
Using the config tool, create a flight path, save the mission and upload it to the ArduPilot. Then launch the GPS Emulator and select the saved mission... and voila.... your imaginary plane is flying on it's own!
The image above is 26 points in a circle around Chicago at 30 MPH.... the purple line is my flight path, the blue is the straight line between waypoints.
You can download the GPS Emulator from here: ConfigTool.zip.
Please NOTE: You'll need to install Remzibi OSD's Config Tool from here: Remzibi.Happykillmore.com
You can find instructions here: GPS Emulator for ArduPilot with Google Maps
PS, contrary to popular belief, when the Ardu is in the Middle switch setting (WP mode) it will fly in circles, not just once around and then circle around home....
Update for ArduPilot V2.3
Changes that must be made to the ArduPilot Source to make the GPS Emulator work:
easystar.h
//1-7 #define GPS_PROTOCOL 0 //4-1 #define ALTITUDE_ERROR_MAX 10 //
//4-4
#define ALTITUDE_ERROR_PITCH_MAX 14 //Limits, EasyStar climb by itself, you don't need to up the elevator (you may stall)...
ArduPilot_Easy_Star_V23.pde Tab
void loop()//Main Loop **** Change print_data(); to print_data_emulator();
GPS_NMEA.pde Tab
void fast_init_gps(void) { pinMode(12, OUTPUT);//Status led Serial.begin(9600); //Universal Sincronus Asyncronus Receiveing Transmiting //Serial.begin(38400); }
//Suggested changes below (to help with 5Hz buffer overruns)
//This code goes near line #80
if(gps_buffer[0]=='$')//Verify if is the preamble $
{
counter = 0; //Add this
checksum = 0; //Add this
unlock=1;
}
//This is near the bottom
{
counter++; //Incrementing counter
if (counter >= 200) //Add this
{ //Add this
Serial.flush(); //Add this
counter = 0; //Add this
checksum = 0; //Add this
unlock = 0;
}
}
System.pde Tab (Add the following)
void print_data_emulator(void) { static unsigned long timer1=0; static byte counter; if(millis()-timer1 > ATTITUDE_RATE_OUTPUT)
{
digitalWrite(13,HIGH);
Serial.print("!!!");
Serial.print ("STT:");
Serial.print((int)Tx_Switch_Status());
Serial.print (",WPN:");
Serial.print((int)last_waypoint);//Actually is the waypoint.
Serial.print (",DST:");
Serial.print(wp_distance);
Serial.print (",RER:");
Serial.print((int)roll_set_point);
Serial.print (",PSET:");
Serial.print(pitch_set_point);
Serial.println(",***");
timer1=millis();
digitalWrite(13,LOW);
}
}
