カテゴリ: ArduPilot

ArduPilot AntennaTracker

2014.12.12 Drone空撮 ArduPilot

ArduPilot AntennaTracker Movie on Youtube HP ArduPilot AntennaTracker HP ArduPilot AntennaTracker

・飛行中のArduCopterに指向性アンテナを向け遠隔測定範囲を拡大する
・ArduPilot AntennaTracker FirmWareは Pxhawk/APM2で動作する

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 Multi Copter Aerial Video & PhotoGraphy

HKPilot Mega & Mega Mini Combo

2014.07.17 Drone空撮 ArduPilot

HKPilot Mega & Mega Mini Combo Movie on Youtube


HobbyKing HKPilot Mega Mini Combo Flight Controller GPS and Power Module $119.99
HKPilot Mega 2.5.2 Master Set With OSD, LEA-6H GPS, Power module,
                      Telemetry Radio (433Mhz) (XT-60) $169.99

 Multi Copter Aerial Video & PhotoGraphy

ArduPilot : Editing the ArduPilot configuration file

2012.03.21 Drone空撮 ArduPilot
ap_config1.jpg

* 最初に機体に固有の設定でヘッダ·ファイルをカスタマイズする必要がある
* ヘッダ·ファイルは 機体ごとに 複数もつことが出来る
* 既設のヘッダ·ファイルは EASY STAR を 安定飛行させるために 最適化されたものであり
* それぞれの機体ごとに ヘッダ·ファイルを用意して カスタマイズする必要がある
* Ver2.6.2以降、ヘッダ·ファイルは 2つに分割され 航空機用の設定のAP_PID_settings.h と
*、オプション指定用の AP_Config.h で 構成されている

Fc2_6.jpg

/* ArduPilot 2.7.1 Header file : July 23, 2010 */


/*
These Flight Modes can be changed either here or directly in events.pde

MANUAL = Full manual control via the mux - cannot be overridden
CIRCLE = Fly in a stabilized 'dumb' circle - for planes with no GPS
STABILIZE = Try and maintain level flight
FLY_BY_WIRE_A = Autopilot style control via user input, manual throttle
FLY_BY_WIRE_B = Autopilot style control via user input, aispeed controlled with throttle
AUTO = What you bought the thing for
RTL = Come home - Home is set at first good GPS read from ground startup
LOITER = Circle around current location
TAKEOFF = full throttle with desired pitch, stabilized roll
LAND = You must specify the landing waypoints in this header - read the manual
*/
#define POSITION_1 MANUAL // the default, don't bother changing.
#define POSITION_2 STABILIZE
#define POSITION_3 FLY_BY_WIRE_A
// So why isn't AUTO here by default? Well, please try and run Stabilize first, 
// then FLY_BY_WIRE_A to verify you have good gains set up correctly 
// before you try Auto and wreck your plane. I'll sleep better that way...


// Debug options - set only one of these options to 1 at a time, set the others to 0
#define DEBUG_SUBSYSTEM 0  // 0 = no debug
// 1 = Debug the Radio input
// 2 = Debug the Servo output
// 3 = Debug the Sensor input
// 4 = Debug the GPS input
// 5 = Debug the GPS input - RAW HEX OUTPUT
// 6 = Debug the IMU
// 7 = Debug the Control Switch
// 8 = Debug the Throttle
// 9 = Radio Min Max values



/***************************************/
//HARDWARE CONFIGURATION
#define SHIELD_VERSION  1 // Old (red) shield versions is 0, the new (blue) shield version is 1, -1 = no shield
#define AIRSPEED_SENSOR 0  // (boolean) Do you have an airspeed sensor attached? 1= yes, 0 = no.

#define GPS_PROTOCOL  4 // 0 = NMEA
// 1 = SIRF,
// 2 = uBlox
// 3 = ArduIMU
// 4 = MediaTek,
// 5 = Simulated GPS mode (Debug),
// -1 = no GPS
//Ground Control Station:
#define GCS_PROTOCOL  0 // 0 = Standard ArduPilot (LabVIEW/HappyKillmore),
// 1 = special test,
// 2 = Ardupilot Binary(not implemented),
// 3 = Xplane
// 5 = Jason's GCS,
// -1 = no GCS (no telemtry output)

/***************************************/
//Thermopile sensors:
#define ENABLE_Z_SENSOR 1   // 0 = no Z sensor, 1 = use Z sensor (no Z requires field calibration with each flight)
#define XY_SENSOR_LOCATION 0  // XY Thermopiles Sensor placement
// Mounted right side up: 0 = cable in front, 1 = cable behind
// Mounted upside down: 2 = cable in front, 3 = cable behind
#define PITCH_TRIM 0 // deg * 100 : allows you to offset bad IR sensor placement
#define ROLL_TRIM 0 // deg * 100 : allows you to offset bad IR sensor placement
#define AOA 0 // deg * 100 : the angle your plane flies at level - use the IMU to find this value.
#define ALT_EST_GAIN .01 // the gain of the altitude estimation function, lower number = slower error correction and smoother output


/***************************************/
//Battery:
#define BATTERY_EVENT 0  // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
#define INPUT_VOLTAGE 5200.0  // (Millivolts) voltage your power regulator is feeding your ArduPilot to have an accurate pressure and battery level readings. (you need a multimeter to measure and set this of course)



/***************************************/
// RADIO
#define THROTTLE_PIN 11 // pin 13, or pin 11 only (13 was old default, 11 is a better choice for most people)
#define THROTTLE_OUT 1 // For debugging - 0 = no throttle, 1 = normal throttle
#define THROTTLE_FAILSAFE 0  // Do you want to react to a throttle failsafe condition? Default is no 0, Yes is 1
#define THROTTLE_FS_VALUE 975 // (microseconds) What value to trigger failsafe
#define REVERSE_THROTTLE 0 // 0 = Normal mode. 1 = Reverse mode - Try and reverse throttle direction on your radio first, most ESC use low values for low throttle.
#define FAILSAFE_ACTION 2 // 1 = come home in AUTO, LOITER, 2 = dont come home
#define AUTO_TRIM 1 // 0 = no, 1 = set the trim of the radio when switching from Manual
#define SET_RADIO_LIMITS 0 // 0 = no, 1 = set the limits of the Channels with the radio at launch each time; see manual for more
#define RADIO_TYPE 0  // 0 = sequential PWM pulses, 1 = simultaneous PWM pulses
#define CH1_MIN 1000  // (Microseconds) Range of Ailerons/ Rudder
#define CH1_MAX 2000  // (Microseconds)
#define CH2_MIN 1000  // (Microseconds) Range of Elevator
#define CH2_MAX 2000  // (Microseconds)
#define CH3_MIN 1000  // (Microseconds) Range of Throttle - Important - please use debug mode to find your PWM values and set them here.
#define CH3_MAX 2000  // (Microseconds)
#define CH4_MIN 1000  // (Microseconds) Range of Rudder
#define CH4_MAX 2000  // (Microseconds)
#define ADVERSE_ROLL 0.2 // adverse roll correction based on Aileron input
#define CH4_RUDDER 1 // 1 = Use CH4 for rudder, 0 = use CH4 for something else - like an egg drop.

#define PAYLOAD_CLOSED 45 // -45 to 45 degrees max
#define PAYLOAD_OPEN -45 // -45 to 45 degrees max

/***************************************/
// AIRFRAME SETTINGS
#define MIXING_MODE 0 //Servo mixing mode 0 = Normal, 1 = Elevons (or v tail)

// NOTE - IF USING ELEVONS, 1-2 AND 1-3 SHOULD BE 1
#define REVERSE_ROLL 1 // To reverse roll, PUT -1 to reverse it
#define REVERSE_PITCH 1 // To reverse pitch, PUT -1 to reverse it
#define REVERSE_RUDDER 1 // To reverse rudder for 4 channel control setups

// JUST FOR ELEVONS:
#define REVERSE_ELEVONS 1     // Use 1 for regular, -1 if you need to reverse roll direction
#define REVERSE_CH1_ELEVON -1  // To reverse channel 1 elevon servo, PUT -1 to reverse it
#define REVERSE_CH2_ELEVON 1  // To reverse channel 2 elevon servo, PUT -1 to reverse it


/***************************************/
// Airplane speed control
#define AIRSPEED_CRUISE 13 // meters/s : Speed to try and maintain - You must set this value even without an airspeed sensor!
#define AIRSPEED_RATIO 0.1254 // If your airspeed is under-reporting, increase this value to something like .2

// NOTE - The range for throttle values is 0 to 125
// NOTE - For proper tuning the THROTTLE_CRUISE value should be the correct value to produce AIRSPEED_CRUISE in straight and level flight with your airframe
#define THROTTLE_MIN 0 // (0-100 %) Raise it if your plane falls too quickly when decending.
#define THROTTLE_CRUISE 35     // (0-100 %) Default throttle value - Used for central value.
#define THROTTLE_MAX 60        // (0-100 %) Throttle (lower this if your plane is overpowered)

// For use in Fly By Wire B mode in meters per second
#define AIRSPEED_FBW_MIN 6 // meters/s : Minimum airspeed for Fly By Wire mode B, throttle stick at bottom
#define AIRSPEED_FBW_MAX 30 // meters/s : Maximum airspeed for Fly By Wire mode B, throttle stick at top



/***************************************/
//NAVIGATION: PARAMETERS
//Note: Some Gains are now variables
#define HEAD_MAX 4000           // deg * 100 : The maximum commanded bank angle (left and right) degrees*100
#define PITCH_MAX 1500 // deg * 100 : The maximum commanded pitch up angle degrees*100
#define PITCH_MIN -2000         // deg * 100 : The maximum commanded pitch down angle degrees*100
#define LOITER_RADIUS 40  // meters : radius in meters of a Loiter


/***************************************/
// Auto launch and land
// If you are using ArduIMU the minimum recommended TAKE_OFF_PITCH is 30 degrees due to linear acceleration effects on the IMU
//  If your airframe cannot climb out at 30 degrees do not use this feature if using ArduIMU
#define USE_AUTO_LAUNCH 0 // If set to 1 then in AUTO mode roll will be held to zero and pitch to TAKE_OFF_PITCH until TAKE_OFF_ALT is reached
#define TAKE_OFF_ALT 75 // meters. Altitude below which take-off controls apply
#define TAKE_OFF_PITCH 15 // degrees : Pitch value to hold during take-off

// This section is for setting up auto landings
// You must have your airframe tuned well and plan your flight carefully to successfully execute auto landing
#define USE_AUTO_LAND 0 // If set to 1 Last waypoint will be the landing target. Set altitude to 0 for last WP
#define LAND_PITCH 15 // degrees : Pitch value to hold during landing
#define AIRSPEED_SLOW 5 // meters/s
#define THROTTLE_SLOW 20     // 0-100 : This should be the throttle value that produces AIRSPEED_SLOW in straight and level flight

#define SLOW_RADIUS 60 // meters : When this becomes the current waypoint we will decrease airspeed_cruise to AIRSPEED_SLOW. Replace 999 with the beginning of your landing pattern
#define THROTTLE_CUT_RADIUS 40 // meters : When this becomes the current waypoint we will cut the throttle; set it so it is well beyond the touchdown zone so that it is not reached, else you will enter RTL mode or loop waypoints
    


#define XTRACK_GAIN 10  // Amount to compensate for crosstrack (degrees/100 per meter)
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100

/***************************************/
//ATTITUDE: ROLL GAINS [Start with changes of no more than 25% at a time]
// IMPORTANT!! Servo Gain values will be 100 times less than equivalent gains for ArduPilot 2.5
#define SERVO_ROLL_P .004 // Primary value to tune - overall proportional term determines how much rudder/aileron you use to turn
#define SERVO_ROLL_I .00 // roll PID integrator gain (value should generally be low)
#define SERVO_ROLL_D .00 // roll PID derivative gain (for advanced users - should be zero for most airframes)
#define SERVO_ROLL_INT_MAX 500 // Maximium integrator value in degrees * 100
#define ROLL_SLEW_LIMIT 0 // Use to limit slew rate of roll servo. If zero then slew rate is not limited
// Value is degree per second limit

/***************************************/
//ATTITUDE: PITCH GAINS [Start with changes of no more than 25% at a time]
//IMPORTANT!! Servo Gain values will be 100 times less than equivalent gains for ArduPilot 2.5
#define SERVO_PITCH_P .005 // Pitch Proportional gain
#define SERVO_PITCH_I .0 // Pitch integrator gain (value should generally be low)
#define SERVO_PITCH_D .0 // Pitch derivative gain (for advanced users - should be zero for most airframes)
#define SERVO_PITCH_INT_MAX 500 // Maximum integrator value in degrees * 100
#define PITCH_COMP .20 // Pitch compensation vs. Roll bank angle.
// NOTE!! The implementation of pitch compensation has been changed.
// The optimal value for your airframe will likely differ between 2.5 and 2.6

/***************************************/
//ATTITUDE: RUDDER GAINS
// IMPORTANT!! Servo Gain values will be 100 times less than equivalent gains for ArduPilot 2.5
#define SERVO_RUDDER_P .000 // Primary value to tune - overall proportional term determines how much rudder you use to coordinate turn
#define SERVO_RUDDER_I .0 // roll PID integrator gain (value should generally be low)
#define SERVO_RUDDER_D 0.0 // roll PID derivative gain (for advanced users - should be zero for most airframes)
#define SERVO_RUDDER_INT_MAX 500 //Maximium integrator value in degrees * 100
#define RUDDER_MIX 0.5

/***************************************/
//NAV: ROLL GAINS [Start with changes of no more than 25% at a time]
#define NAV_ROLL_P .7 // Primary value to tune - overall proportional term determines how aggressively we bank to change heading
#define NAV_ROLL_I .01 // roll PID integrator gain (value should generally be low)
#define NAV_ROLL_D .02 // roll PID derivative gain (for advanced users - should be zero for most airframes)
#define NAV_ROLL_INT_MAX 500 // Maximium integrator value in degrees * 100


/***************************************/
//NAV: PITCH GAINS [Start with changes of no more than 25% at a time]
#define NAV_PITCH_ASP_P .65 // Overall proportional term determines how aggressively we change pitch to maintain airspeed
#define NAV_PITCH_ASP_I .0 // PID integrator gain (value should generally be low)
#define NAV_PITCH_ASP_D 0.0 // PID derivative gain (for advanced users - should be zero for most airframes)
#define NAV_PITCH_ASP_INT_MAX 500 // Maximium integrator value in degrees * 100

#define NAV_PITCH_ALT_P .65 // Overall proportional term determines how aggressively we change pitch to maintain airspeed
#define NAV_PITCH_ALT_I .0 // PID integrator gain (value should generally be low)
#define NAV_PITCH_ALT_D 0.0 // PID derivative gain (for advanced users - should be zero for most airframes)
#define NAV_PITCH_ALT_INT_MAX 500 // Maximium integrator value in degrees * 100

/***************************************/
//ENERGY HEIGHT: THROTTLE OUTPUT GAINS [Start with changes of no more than 25% at a time]
#define THROTTLE_TE_P .50 // Proportional
#define THROTTLE_TE_I .0 // Integrator
#define THROTTLE_TE_D .0 // Derivative
#define THROTTLE_TE_INT_MAX 20 // (0-100) Integrator limit.
#define THROTTLE_SLEW_LIMIT 0 // Use to limit slew rate of throttle output. If zero then slew rate is not limited
// Value is throttle value (0-100) per second limit

#define P_TO_T 2.5 // Pitch to Throttle feedforward gain (used when no airspeed sensor)

/***************************************/
//FLY BY WIRE AIRSPEED: THROTTLE OUTPUT GAINS 
#define THROTTLE_ALT_P .32  //Proportional
#define THROTTLE_ALT_I .04  //Integrator
#define THROTTLE_ALT_D 0.0  //Derivative
#define THROTTLE_ALT_INT_MAX 20 // (0-100) Integrator limit.

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