Test flight of the MAJA Drone in HIL mode with APM2560

Here a video of the MAJA drone on Xplane v9.2 tested in HIL (Hardware In the Loop) mode with the ArduMega 2560 board with the firmware ThermoPilot v5.0a (JLN) and the APM Planner.
I have used here the same PID setup than for the true MAJA drone tested in flight. The HIL flight with Xplane v9 is really equal to the true flight with the same hardware setup.

See the true flight of the MAJA drone with the APM at:
http://diydrones.com/profiles/blogs/successful-10-km-full

more infos at:
http://diydrones.com/profile/JeanLouisNaudin

Views: 522

Comment by Veikko Vierola on September 20, 2011 at 9:48am

Nice flying! Do you know why it overshoots the direction a bit after waypoint turn? Is there a bit too much gain or something? The turn looks quite fast.


Developer
Comment by Jean-Louis Naudin on September 20, 2011 at 10:16pm

Hello Veikko,

Thanks for your comments. The overshoot is due to the tuning of the PID gains, with a fine tuning this can be solved easily. You may use the Ziegler-Nichols method to do a such thing and the HIL mode with XPlane and the APM planner is a very usefull to do that.

Regards, Jean-Louis

Comment by Veikko Vierola on September 22, 2011 at 12:23pm

Ok I see. Is there a method to create a model of your own to the XPlane? I'd like to create a model that would be as close to my e-glider as possible (weight, CG, wingspan, wing-area, shapes, aileron sizes etc). This way maybe the PID testing in simulator would correlate pretty close with the reality. How did u make your MAJA-model to XPlane, is it aerodynamically equal to the real thing too?

Comment by Helldesk on September 22, 2011 at 12:51pm

X-Plane comes with Plane Maker which enables you to create your own planes. It's a bit quirky as far as the user interface is concerned, but it works and has the options available for creating pretty much any flying contraption there is.


Developer
Comment by Jean-Louis Naudin on September 22, 2011 at 10:36pm

Hello Veikko,

X-Plane v9 is one of the best realistic simulator and the flight model is really accurate. I have replicated an accurate model of my real MAJA drone for Xplane with the built in XPlane-maker tool. I can confirm you that it fly in the simulator as the true model.

Regards, Jean-Louis

Comment by Veikko Vierola on September 24, 2011 at 12:47pm

Cool.

Comment by Franco Marinelli on October 16, 2011 at 8:59pm

hello Jean ! I have a Maja uav too... Im growing crazy to tunning PID parameters.... please could you tell me what PID parameters are u using? My maja flies like snakes upwind!

 


Developer
Comment by Jean-Louis Naudin on October 16, 2011 at 11:21pm

Hello Franco,

Please switch to the dedicated blog page about the latest flight of the MAJA drone at:

http://diydrones.com/profiles/blogs/full-autonomous-flights-of-the-...

I have added my PID setup that I currently use with my MAJA.

Regards, Jean-Louis

Comment by Franco Marinelli on October 17, 2011 at 7:18am

Ok jean, the only thing i dont have is a magnetometer installed.. can it be the problem of the ziggzagging?

thanks!

Comment by Franco Marinelli on November 3, 2011 at 7:53pm

Hi Jean! please could you send me the x-plane file of the Maja?

Im trying to set the correct PID values with crosswind in the simulator...but I need the Maja so my test be better.

Thanks!

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