mfarrukhali / ardupirates Goto Github PK

Testflights done with Heins new code

1. Acro and stabel mode work

2. Altitude Hold does not work ( Switch to Altidude causes Motor stop!! )

3. GPS not tested because if i switch to GPS Mode on Ground 3 Motors run nearly 
half Throttle

No Problems compiling and uploading
Configurator - works all normal

I will switch back to R193 until new code will be uploaded
Regards Norbert

Problems:

1. In the Code there is aux and aux2 in the configurator is it called Mode and 
Aux ( which belongs to where? Maybe documentate in the Code or change code?? )

2. No LED Output for different Modes in Stabel Mode ( R202 )
   equal which switch is moved orange and green are on ( green flashing if dissarmed)

3. Add a point where you can enable a motor idle when disarming Motors
   ( If Motors disarmed they should rotate slow ( for throttle example value 1200 )




Using Testcode from Hein for Hexa at the moment r202


regards Norbert

hi..
im usgin ardumega128
using ardupirates 
and i have test :
1. i try using motor 2409gold 1000k + propb 9050 3blade it's ok
2. i try using motor  hexTronik DT750+ propb 12x4.5  2blade it's ok

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=6247


but when i'm using 2830-13 850KV(from rctimer)

and try using prop 9050 3blade,10x4 2blade,10x6 2blade the QC is have big 
osilation.

and i don't change the program and setting for the 3 motor.

any body can help for my problem?
thank
jeny

I suggest we equip the Configurator's Serial monitor with a simple help system. 
It's a dark and mysterious place when you're starting out.

Here's how I think it should be;

1. If an empty command is sent, or the "?" character, show a simple list of all 
available commands
2. If we are in some sort of submode, show context-related help, like for 
instance in Hein's "PID Enjin".

Jakub J reported that GPS Hold does not work in ArduPiratesNG (trunk version). 
Altitude hold does work.

What steps will reproduce the problem?
1. I have checked the GPS signal
2. magnetometer is defined correctly
3.

What is the expected output? What do you see instead?

It suppose to hold on one point (no wind at all)
The quad is not stable, It makes circuits around one point, keeps over shutting 
the point. 
where in the code can i control the parameter of the GPS position hold?

What version of the product are you using? On what operating system?


Please provide any additional information below.

The transmitter mid values default to 1500, and cannot be set.
If the transmitter centre values are not exactly 1500 (as mine was), and 
adjustments cannot be made in small enough increments on the transmitter (such 
as my Spektrum DX7), this results in a command roll or pitch when the stick is 
in neutral. This causes a drift of the quad in stable mode, which can be easily 
prevented. 

I added the following to my GCS (around line 156) to enable setting the mid 
values. It took care of a lot of my drift.
    case '6': 
     roll_mid = readFloatSerial();
     pitch_mid = readFloatSerial();    
     yaw_mid = readFloatSerial();



In addition, there is a bit of jitter around the mid value when the control 
stick is in neutral. I added a deadband to help with this. Not a bug, but might 
be useful (more feature request?).

Around line 159 in Radio.pde (and similar idea for the other modes)

// Provide a deadband for transmitter jitter.
if( abs(ch_roll-roll_mid)   < 3 )  command_rx_roll = 0;
if( abs(ch_pitch-pitch_mid) < 3 )  command_rx_pitch = 0;

Radio.pde checks whether we are in the hexa configuration by checking if HEXA 
is defined.

The problem is that HEXA is ALWAYS defined, along with QUAD. AIRFRAME == HEXA 
would indicate we are using a hexa. but hexa is always defined.

The result is that flightOrientation has no effect, because the radio code for 
hexa is used overwriting the command inputs that are adjusted for x 
configuration.

With default parametrization of GPS Hold, I noticed that it oscillates heavily 
around its position. Other issues here have listed better settings for PID, 
which I have not tried yet, but will soon. Here are some results of my analysis 
that may help to develop even further stability:

gps_err_lon and gps_err_lat are not reset prior to entering the GPS Hold loop 
for the first time (when the switch is flicked). If it was active before and 
reactivated, it will use the old "error" values and compare this with new ones 
that it will develop. This will, in the first iteration of the GPS Hold loop, 
develop very high (non-limited) values for gps_lat_D and/or gps_lon_D. In my 
code, I now reset gps_err_lon and err_lat to 0 in the reset_I_terms to make 
sure the first iteration is always zero for the D-term.

I move the quadcopter and can see both in the Configurator and in the logs 
through the CLI that gyro and acc signals are swapped (if a turn the quad and 
leave it still all the values are the same except for one accelerometer value 
but should be a gyro value instead). 

What steps will reproduce the problem?
1. Turn the ardupilot over one axis and leave it still
2.
3.

What is the expected output? What do you see instead?

The expected output is that the value of both one gyro and one acc changes but 
after leaving it still just the gyro value stays different. Instead, the value 
of the acc stays different.

What version of the product are you using? On what operating system?

I'm using ardupirates NG rev 527 in a ATMega1280. I've checked the signals in 
the Configurator 1.22 (Windows XP) and with CLI through the Serial Monitor in 
Arduino 0022.

Please provide any additional information below.

I've used my quadcopter with this (suspected) bug and it seems to be stable. I 
noticed there was something wrong when I have troubles flying and unbalanced 
frame.

hi hein,

please check motors.pde in rev254.
there is no divide by 2 in x mode for control_roll and control_pitch as in 
rev220. but it should be to get the quad stable.

rev220:

#ifdef FLIGHT_MODE_X      
          // For X mode - APM front between front and right motor 
          rightMotor = constrain(throttle - (control_roll/2) + (control_pitch/2) + control_yaw, minThrottle, 2000); // Right motor
          leftMotor = constrain(throttle + (control_roll/2) - (control_pitch/2) + control_yaw, minThrottle, 2000);  // Left motor
          frontMotor = constrain(throttle + (control_roll/2) + (control_pitch/2) - control_yaw, minThrottle, 2000); // Front motor
          backMotor = constrain(throttle - (control_roll/2) - (control_pitch/2) - control_yaw, minThrottle, 2000);  // Back motor

rev254:

#ifdef FLIGHT_MODE_X      
          // For X mode - APM front between front and right motor 
          rightMotor = constrain(throttle - control_roll + control_pitch + control_yaw, minThrottle, 2000); // Right motor
          leftMotor = constrain(throttle + control_roll - control_pitch + control_yaw, minThrottle, 2000);  // Left motor
          frontMotor = constrain(throttle + control_roll + control_pitch - control_yaw, minThrottle, 2000); // Front motor
          backMotor = constrain(throttle - control_roll - control_pitch - control_yaw, minThrottle, 2000);  // Back motor

What steps will reproduce the problem?
1. engaging the yaw stick forces quad to turn around z axix
2. releasing the stick does not stop quad from turning further on

We want to program a harder stop after releasing rc stick

I suggest we consolidate the CLI functions and GCS into a new Comms.pde and 
obsolete the CLI and GCS.
This will allow us to do all configuration and managing from a single 
application at any time we want or need to. We need to possibly incoorporate 
some security to prevent users to change vital settings while in flight.
I know there have been issues with CLI over XBees, not sure whether this can be 
tackled or it is as simple as setting the XBees baudrate to 111000 instead of 
115200.

Hope to get your feedback quickly; I'm halfway through combining the two :)

The ICRx register are set to 3000, should be 2000 to set all PWM outputs to 
1ms, so the ESCs are off.

What steps will reproduce the problem?
1. Install a newly purchased Mediatek with 1.6 firmware
2. Upload and arm motors. Even when GPS fix, the red light blinks.

Red Light should lit when thwere is a GPS 3d FIX, instead it blinks.
There is no support for new firmware.

When I'm connected with the USB cable, everything seems to work fine. pulling 
the plug out, and the quad is not responding, except for the ESC's starts to 
beep.


I'm using ArduPiratesNG ver 1.1


does anyone has an idea what's wrong???

thx,
Meni.

Radio.pde uses #ifdef instead of #if 
Since QUAD and HEXA are always defined, the code defined in the QUAD block is 
ignored, disabling  //FLIGHT_MODE_X_45Degree

Line 138 is #ifdef QUAD
should be   #if AIRFRAME == QUAD

Line 162 is #ifdef HEXA
should be   #if AIRFRAME == HEXA

What steps will reproduce the problem?
1. Configurator is freezing when you try to change settings

If I want to change settings in the configurator the configurator is freezing 
with R569.

Downgraded to 564 all is working fine.

Norbert

What steps will reproduce the problem?
1. Gyros work properly 
2. All other channels(ele.,rud,ail.) worka
3. i check the throttle channel with a servo and its working.


I double check everythink 

Since several of us are now working together on different programs that need to 
communicate or interchange data, perhaps it's time to agree on some coding 
conventions. 

We are about to connect ArduPiratesNG to ArduPirates Configurator and Dani's 
Online Configurator. 

One of the issues that sometimes confuses is the Is or Use; IsGPS or UseGPS 
(personally the latter is better imho). 

This just one example, but I hope we can all chime in and get a common coding 
convention.

Of you guys see no use for this, just kick this issue to the curb :D

Integrate and test Hein's slope filter code into superstable & hexa

We want to achieve much more smooth stability on altitude hold.

Can we get Y6 support sooner rather than later?  I am getting ready to build 
the frame but I need a board to fly it.  So I can be an alpha tester.

Thanks,
Coby

Since setting up the code can be very confusing to newbies and pro's alike, I 
suggest we move all user-configurable settings towards the ArduUser.h. 
I don't think the main .pde should be the place where users should edit 
settings that are unique to their multirotor, location or person.

Moving all these settings towards ArduUser.h also prevents the situation where 
new code is released and several files have to be manually merged because of 
new code and user-specific changes are conflicting.

In such manner, it's also easier to just try or test several code release 
sequentially without having to edit multiple files each time. 
Improves usability and maintainability.

What steps will reproduce the problem?
1. Do mag calibration
2. initialize mag
3. read mag

What is the expected output? What do you see instead?
Instead of getting deviation from the north, the "yaw" angle displays an 
initial value and when airframe moved, the yaw deviates but goes back to the 
same initial value

What version of the product are you using? On what operating system?
last one on Mac

Please provide any additional information below.
I am trying to modify the code to perform fuzzy logic control. Haven't been 
able to find what the problem is. I am using the CalibCompass function from the 
CLI to get offstets, once I get them I initialize the compass and do the IMU 
routine with the DCM matrix. Pitch and Roll angles are working fine, but can't 
get the yaw angle

Hey guys i have a problem everytime i try to compile with arduino i get this  
error


 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp: In member function 'bool AP_Compass_HIL::init(int)':
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:46: error: 'mag_x' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:46: error: 'mag_y' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:46: error: 'mag_z' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp: In member function 'virtual void AP_Compass_HIL::calculate(float, float)':
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:82: error: 'mag_x' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:82: error: 'mag_y' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:82: error: 'mag_z' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:84: error: 'mag_x' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:84: error: 'mag_y' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:84: error: 'mag_z' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:104: error: 'heading_x' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:105: error: 'heading_y' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp: In member function 'void AP_Compass_HIL::setHIL(float, float, float)':
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:132: error: 'mag_x' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:133: error: 'mag_y' was not declared in this scope
 C:\Arducopter\libraries\AP_Compass\AP_Compass_HIL. cpp:134: error: 'mag_z' was not declared in this scope

my os is win 7 and im using all the latest files

1. Connect ATMega2560 at configurator 1.2.2, using windows 7
2. Go to stable mode panel
3. Change a value
4. Click "Update"

Dots up in "....Reading Flight Data...." disappear.
Leds TX and RX stop blinking
Configurator crashes, must close processes with ctr+alt+canc.
No changes are visible when re-connect ATMega.


The strange part is that in Acrobatic Mode panel I can change all values 
without problems...

thank's for your attention.

This was posted before on the NG issues list: 
http://code.google.com/p/arducopter/issues/detail?id=94

On Kinderkram's suggestion I've added the issue again here. You may also want 
to look at a similar solution by Dror - dcaspi on RCG: 
http://www.rcgroups.com/forums/showpost.php?p=17455791&postcount=4992

The code below restarts the calibration each time the gyros or accels change 
significantly. This gives the user more time to put down the quad after 
connecting the battery, and avoids taking off with miscalibrated gyros. As a 
bonus, the leds will cycle quickly while the calibration is restarting, and 
slowly if the calibration is continuing normally. You may want to tweak the 
threshold.

Sample code for Sensors.pde; the mods are #ifdef'ed for identification.

#define WAIT_STABLE_CALIBRATION 5
void calibrateSensors(void) {
...
#ifdef WAIT_STABLE_CALIBRATION  
  float aux_float[6];
#else  
  float aux_float[3];
#endif
...
  aux_float[0] = gyro_offset_roll;
  aux_float[1] = gyro_offset_pitch;
  aux_float[2] = gyro_offset_yaw;
#ifdef WAIT_STABLE_CALIBRATION  
  aux_float[3] = acc_offset_x;
  aux_float[4] = acc_offset_y;
  aux_float[5] = acc_offset_z;
#endif

  // Take the gyro offset values
  for(i=0;i<600;i++)
  {
    Read_adc_raw();   // Read sensors
#ifdef WAIT_STABLE_CALIBRATION  
    // restart calibration while gyros or accels unstable
    for(gyro = GYROZ; gyro <= ACCELZ; gyro++)   
    {
      float delta = AN[gyro] - aux_float[gyro];
      if (delta < -WAIT_STABLE_CALIBRATION || delta > WAIT_STABLE_CALIBRATION)
        i = 0; // restart
      aux_float[gyro] += delta * 0.2;
    }
#else  
    for(gyro = GYROZ; gyro <= GYROY; gyro++)   
      aux_float[gyro] = aux_float[gyro] * 0.8 + AN[gyro] * 0.2;     // Filtering  
#endif
...
}

What steps will reproduce the problem?
1. #define BATTERY_EVENT  1 in "Config.h"
2. trying to compile resultes in error "read_battery" is not declared


What version of the product are you using? On what operating system?
ArduPiratesNG sketches and libraries (both rev. 527)

What steps will reproduce the problem?
1. Where is the LP3 is on the board?
2. for the camera trigger servo
3.

What is the expected output? What do you see instead?


What version of the product are you using? On what operating system?


Please provide any additional information below.

Hi, I hope are well!

I need to understand code. Who can help me? Thanks.

[email protected] or [email protected]

What steps will reproduce the problem?
1. Does any body has a Y6 code?
2.
3.

What is the expected output? What do you see instead?


What version of the product are you using? On what operating system?


Please provide any additional information below.

What steps will reproduce the problem?
1. Activated compass
2. enter CLI compass offset
3. hangs

Expected output: x,y,z offset stream
Instead: nothing

ArduPiratesNG

CLI.pde   v2.01
---current------------------------------------
            case 'c':
        CALIB_CompassOffset();
        break;
---improved-----------------------------------
            case 'c':
        if(MAGNETOMETER == 1) {
          Flip_MAG();
          CALIB_CompassOffset();
          Flip_MAG();
        } else CALIB_CompassOffset();
        break;
----------------------------------------------

I'm not entirely confident that I completely grasp how MAGCALIBRATION works, 
but would there be a possibility that we calibrate true north via CLI or Serial 
Monitor by letting the user point the multicopter to true north, take mag 
readings and calculate the calibration programmatically ?

for gps only we have to go over gps with altitude hold. its not possible to 
switch to gps only without switching to altitude hold befor.

can u edit the switch matrix like this:

AUX2 OFF && AUX1 OFF = Stable Mode (Heading Hold only)
AUX2 ON  && AUX1 OFF = Altitude Hold only (AP_mode = 3) Yellow LED ON and RED 
LED OFF
AUX2 ON  && AUX1 ON  = Position & Altitude Hold LEDs both ON (GPS Not Logged - 
RED LED Flashing)
AUX2 OFF && AUX1 ON  = Position Hold only (AP_mode = 4) Yellow LED OFF and RED 
LED ON (GPS Not Logged - RED LED Flashing)

so we can switch gps and baro independently.

Hi,

When using FLIGHT_MODE_X, motors receive +/-control_roll +/- control_pitch. 

This means that the cyclic control range is twice as large as for + mode or 
FLIGHT_MODE_X_45Degree, and all PID settings and internal limits need to be 
reduced accordingly.

Just a suggestion, but IMO it's better to divide the cyclic control by 2 in 
motors.pde. I'm using this on my quad:

int half_control_roll_plus_pitch, half_control_roll_minus_pitch;
...
half_control_roll_plus_pitch = (control_roll + control_pitch) / 2;
half_control_roll_minus_pitch = (control_roll - control_pitch) / 2;

rightMotor = constrain(throttle - half_control_roll_minus_pitch + control_yaw, 
minThrottle, 2000); // Right motor
leftMotor = constrain(throttle + half_control_roll_minus_pitch + control_yaw, 
minThrottle, 2000);  // Left motor
frontMotor = constrain(throttle + half_control_roll_plus_pitch - control_yaw, 
minThrottle, 2000); // Front motor
backMotor = constrain(throttle - half_control_roll_plus_pitch - control_yaw, 
minThrottle, 2000);  // Back motor

When connecting APM with a serial terminal, the APM will start up with GPSERR 
messages over the serial connection.

During supply of regular flight data (telemetry) these messages will appear 
every once in a while. This might be the source of some erratic behaviour in 
hold mode.

Serious investigation needed as far as I am concerned; the GPS libraries should 
NOT directly access the serial port for anything. We should capture errors 
produced by libraries and handle them appropriately.

for gps only we have to go over gps with altitude hold. its not possible to 
switch to gps only without switching to altitude hold befor.

can u edit the switch matrix like this:

AUX2 OFF && AUX1 OFF = Stable Mode (Heading Hold only)
AUX2 ON  && AUX1 OFF = Altitude Hold only (AP_mode = 3) Yellow LED ON and RED 
LED OFF
AUX2 ON  && AUX1 ON  = Position & Altitude Hold LEDs both ON (GPS Not Logged - 
RED LED Flashing)
AUX2 OFF && AUX1 ON  = Position Hold only (AP_mode = 4) Yellow LED OFF and RED 
LED ON (GPS Not Logged - RED LED Flashing)

so we can switch gps and baro independently.

1. Acro Mode works fine 
2. Stabel Mode works fine

3. GPS Hold works fine
4. Altitude Hold is not very good ( maybe my Settings !! )

5. Swichtes should be changed like Warthox said in Issue 6


Testflights done.
Works very fine only Problem is the Altitude Hold in my case.
Copter goes up and down very often for 50 cm.
Position Hold works fine only.

Maybe a short Video later.

Regards Norbert

Here I provide a little analysis and discourse of what I think is incorrect 
about the way how the I-term is limited.

I flew with settings P:0.015, I:0.005 and D:0.010.  I noticed that the quad is 
very nervous and overshoots significantly. With I:0.005 I could not keep the 
GPS Hold on, because it was swaying 15 meters side to side. Dangerous. I:0.001 
significantly reduced this condition, but it was now hovering around the 
setpoint in a circle of a certain radius between 1-2 meters.

The I-term is formed by multiplying the accumulated error with the I-gain. The 
accumulated error is limited to some value X. In my experiments, I recorded the 
gps_lon_I and gps_lat_I on the DataFlash, together with the gps_lon_D terms.

MOD:GPS Hold mode
GPS:20.00,1.00,102.00,6.00
GPS:80.00,-40.00,40.00,-43.00
GPS:120.00,-88.00,-19.00,-6.00
GPS:230.00,-130.00,69.00,6.00
GPS:300.00,-221.00,-40.00,-50.00
GPS:360.00,-269.00,-9.00,42.00
GPS:350.00,-249.00,-69.00,67.00
GPS:360.00,-168.00,20.00,62.00
GPS:470.00,-13.00,101.00,75.00
GPS:690.00,159.00,109.00,18.00
GPS:980.00,333.00,69.00,0.00
GPS:1200.00,427.00,-49.00,-79.00
GPS:1200.00,385.00,-99.00,-134.00

The first two terms are the integrated values, the last two terms are the 
D-terms. The P and D settings here are not ideal, so that must be taken into 
account. Weather was relatively quiet, so more aggressive P and lower D would 
have been better.

In gusty wind conditions however it is not unlikely that the quad temporarily 
reaches 1 meter difference, especially at some higher altitudes. The way it 
returns (or fails to return) is I believe mostly attributable to the I-term 
development. The I-term @ 1m difference saturates in 10 iterations the way the 
limiter is currently set to 1200. An I-gain of 0.005 then results in a fixed 
tilt angle of 6 degrees, which only reduces in size as soon as the quad 
overshoots. 0.001 results in a tilt angle of 1.2 degrees. These angles are only 
reduced as soon as the quad overshoots (and it can be observed and calculated 
that it will overshoot). I think this is too aggressive a setting, so there are 
two issues I dealt with.

The I-term is supposed to resolve bias and to speed up the return to a 
particular setpoint. ( bias occurs when for example there is wind and a certain 
angle is needed to remain in position. This will be downwind when only a P-term 
is used, but the I-term will slowly bring the quad back to the real intended 
position. With P-term decreasing there, it shows how P and I work together to 
remain roughly at the right spot all the time).

I intend to resolve this (so have not yet tested) by setting the limiter max 
value to 12,000 and pre-multiplying the I-gain with 0.1. This should provide a 
better settings range for the I-term that can be set by the configurator, 
should reduce overshoot and should increase stability.

Hi,

I have be fly with R215 with success. Yesterday I have plug-in XL-MaxSonar and 
give a test. I get bad result, all motor run unstable and no alt hold at all. 
If I unplug the XL-MaxSonar, all Mode are working as normal. 

I also have test with R255 but get same result.

There is a "safty feature" in the code that should be removed:

http://diydrones.com/forum/topics/potentially-fatal-bug-in

i have 1 board ardumega1280 and 2560
in ardumega1280  board no problem
but in ardumega2560 
- upload firmware from arduion succes.
- setting from CLI (using terminal)No problem

but i cant entry to configuration program.
i'm using same program betwen 1280 & 2560


i have change the IMU boar, and have same problem

is ardupirates not compatibel with 2560?

than'k
jeny

What is the expected output? What do you see instead?
With USB connected and Serial monitor set to 115200 and carriage return set no 
menu shows up.  no text shows up.

Switch is set in the correct direction

Configurator works fine no issues there just nothing shows up with the CLI.   

With the switch in the wrong direction Serial monitor displays 
Arducopter v2.01 Serial data on Telemetry port, No commands or output on this 
serial.

What version of the product are you using? On what operating system
ArdupiratesNG, O/S Windows 7

Any ideas on how to get the CLI to work?

What steps will reproduce the problem?
1. Uncomment #define IsAM and #define IsCAM: camera stab isn't working
2. Comment #define IsAM and uncomment #define IsCAM: camera stab works

What is the expected output? What do you see instead?
AM and CAM should work togheter.

What version of the product are you using? On what operating system?
ArduPiratesNG R458