swisscopters,
Estaou preparando algumas fotos, para que fique bem claro como fazer este upgrade para 2.6.
Acredito que ate o final de semana eu esteja postando.
Tutorial APM 2.5.2/Quadra Dedalus: montagem e setup completo
-
fernandogalha
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- Mensagens: 1510
- Registrado em: Qua Ago 03, 2011 8:38 pm
- Localização: USA - Illinois
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-
LeandroFurlan
- membro
- Mensagens: 284
- Registrado em: Dom Jan 15, 2012 10:40 am
- Localização: Cachoeiro de Itapemirim ES
[quote:2a49b87ffa="Felipioliveira"][quote:2a49b87ffa="LeandroFurlan"][quote:2a49b87ffa="Felipioliveira"]testei a versão 3.1 hoje ta surreal quad primeiro voo auto tune,stabilize travado . rth com menos de um metro de diferença,e o modo drift muito legal,o meu amigo que tem um phanton ficou de cara pois ele é adepto do quanto mais caro melhor.[/quote:2a49b87ffa]
tem como me ajudar com o codigo do GPS ?[/quote:2a49b87ffa]
veja se te ajuda amigo
http://diydrones.com/profiles/blogs/tutorial-programming-your[/quote:2a49b87ffa]
vou tentar me expressar melhor .
essa e a parte do GPS no arduino porem esse codigo esta dando erro olha ai
/**************************************************************************************
/
/*********************** GPS **************************/
/**************************************************************************************
/
/* GPS using a SERIAL port
only available on MEGA boards (this might be possible on 328 based boards in the future)
if enabled, define here the Arduino Serial port number and the UART speed
note: only the RX PIN is used, the GPS is not configured by multiwii
the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default
conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
//#define GPS_BAUD 115200
//Cameron's First Quad-X
#define GPS_SERIAL 0
#define GPS_BAUD 57600
/* GPS protocol
NMEA - Standard NMEA protocol GGA, GSA and RMC sentences are needed
UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
With UBLOX you don't have to use GPS_FILTERING in multiwii code !!! */
//#define NMEA
#define UBLOX ////for UBX Bus Powered - Cameron's First Quad-X
//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA &
RMC sentence
//#define GPS_PROMINI_SERIAL 57600 // Will Autosense if GPS is connected when ardu boots
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBandi http://code.google.com/p/i2c-gps-nav/
You have to use at least I2CGpsNav code r33 */
//#define I2C_GPS
/* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
optional sonar device. https://github.com/wertarbyte/tiny-gps/ */
/* get GPS data from Tiny-GPS */
//#define TINY_GPS
/* get sonar data from Tiny-GPS */ //#define TINY_GPS_SONAR
/* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from
OSD - tested and working OK ! */
//#define GPS_FROM_OSD
/* indicate a valid GPS fix with at least 5 satellites by flashing the LED - Modified by MIS - Using stable
LED (YELLOW on CRIUS AIO) led work as sat number indicator
- No GPS FIX -> LED blink at speed of incoming GPS frames
- Fix and sat no. bellow 5 -> LED off
- Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
#define GPS_LED_INDICATOR
//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to
display and log Home and Poshold positions
//#define DONT_RESET_HOME_AT_ARM // HOME position is reset at every arm, uncomment it
to prohibit it (you can set home position with GyroCalibration)
/* GPS navigation can control the heading */
#define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold
must be enabled for it
//#define NAV_TAIL_FIRST false // true - copter comes in with tail first
#define NAV_TAIL_FIRST true // true - copter comes in with tail first //Cameron's First
Quad-X
#define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates
it's head to takeoff direction
//Cameron - use the below link to get your magnetic declination
/* Get your magnetic decliniation from here : http://magnetic-declination.com/
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST) */
//#define MAG_DECLINIATION 3.96f //For Budapest Hungary.
/*
You are here*BELROSE NEW SOUTH WALES
Latitude: 33° 44' 22.3" S
Longitude: 151° 12' 37.2" E //Cameron - this line i.e 12"
Magnetic declination: 12° 28' EAST //Cameron - this line i.e 28'
Declination is POSITIVE
Inclination: -64° 9'
Magnetic field strength: 57019.5 nT
*/
//Cameron - from above info this is how you calculate your own specific location. You must modify the
12.47f to another number
#define MAG_DECLINIATION 12.47f // For Sydney - Belrose 12deg 28min East = 12 + 28/60
= 12.47 - Farzin's Quad-X is now GPS enabled
#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates,
helps eliminate gps noise but adds latency comment out to disable
#define GPS_LOW_SPEED_D_FILTER // below .5m/s speed ignore D term for POSHOLD_RATE,
theoretically this also removed D term induced noise commnent out to disable
#define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we
consider it reached (distance is in cm)
#define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav
tem como me ajudar com o codigo do GPS ?[/quote:2a49b87ffa]
veja se te ajuda amigo
http://diydrones.com/profiles/blogs/tutorial-programming-your[/quote:2a49b87ffa]
vou tentar me expressar melhor .
essa e a parte do GPS no arduino porem esse codigo esta dando erro olha ai
/**************************************************************************************
/
/*********************** GPS **************************/
/**************************************************************************************
/
/* GPS using a SERIAL port
only available on MEGA boards (this might be possible on 328 based boards in the future)
if enabled, define here the Arduino Serial port number and the UART speed
note: only the RX PIN is used, the GPS is not configured by multiwii
the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default
conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
//#define GPS_BAUD 115200
//Cameron's First Quad-X
#define GPS_SERIAL 0
#define GPS_BAUD 57600
/* GPS protocol
NMEA - Standard NMEA protocol GGA, GSA and RMC sentences are needed
UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
With UBLOX you don't have to use GPS_FILTERING in multiwii code !!! */
//#define NMEA
#define UBLOX ////for UBX Bus Powered - Cameron's First Quad-X
//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA &
RMC sentence
//#define GPS_PROMINI_SERIAL 57600 // Will Autosense if GPS is connected when ardu boots
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBandi http://code.google.com/p/i2c-gps-nav/
You have to use at least I2CGpsNav code r33 */
//#define I2C_GPS
/* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
optional sonar device. https://github.com/wertarbyte/tiny-gps/ */
/* get GPS data from Tiny-GPS */
//#define TINY_GPS
/* get sonar data from Tiny-GPS */ //#define TINY_GPS_SONAR
/* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from
OSD - tested and working OK ! */
//#define GPS_FROM_OSD
/* indicate a valid GPS fix with at least 5 satellites by flashing the LED - Modified by MIS - Using stable
LED (YELLOW on CRIUS AIO) led work as sat number indicator
- No GPS FIX -> LED blink at speed of incoming GPS frames
- Fix and sat no. bellow 5 -> LED off
- Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
#define GPS_LED_INDICATOR
//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to
display and log Home and Poshold positions
//#define DONT_RESET_HOME_AT_ARM // HOME position is reset at every arm, uncomment it
to prohibit it (you can set home position with GyroCalibration)
/* GPS navigation can control the heading */
#define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold
must be enabled for it
//#define NAV_TAIL_FIRST false // true - copter comes in with tail first
#define NAV_TAIL_FIRST true // true - copter comes in with tail first //Cameron's First
Quad-X
#define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates
it's head to takeoff direction
//Cameron - use the below link to get your magnetic declination
/* Get your magnetic decliniation from here : http://magnetic-declination.com/
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST) */
//#define MAG_DECLINIATION 3.96f //For Budapest Hungary.
/*
You are here*BELROSE NEW SOUTH WALES
Latitude: 33° 44' 22.3" S
Longitude: 151° 12' 37.2" E //Cameron - this line i.e 12"
Magnetic declination: 12° 28' EAST //Cameron - this line i.e 28'
Declination is POSITIVE
Inclination: -64° 9'
Magnetic field strength: 57019.5 nT
*/
//Cameron - from above info this is how you calculate your own specific location. You must modify the
12.47f to another number
#define MAG_DECLINIATION 12.47f // For Sydney - Belrose 12deg 28min East = 12 + 28/60
= 12.47 - Farzin's Quad-X is now GPS enabled
#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates,
helps eliminate gps noise but adds latency comment out to disable
#define GPS_LOW_SPEED_D_FILTER // below .5m/s speed ignore D term for POSHOLD_RATE,
theoretically this also removed D term induced noise commnent out to disable
#define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we
consider it reached (distance is in cm)
#define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav
[quote:a26b44aab9="LeandroFurlan"][quote:a26b44aab9="srocupado"]Link para o arquivo de conf. do neo (ublox)
http://ardupilot.com/downloads/?did=53[/quote:a26b44aab9]
o problema que preciso habilitar ela no arduino , ja tentei algumas linhas incluive o codigo 2.2 que ja tem ela, a ligação esta certa pois estava funcionando, porem tive que resetar a placa , acabei perdendo a parte de habilitar o gps , precisava da linhas para habilitar o gps[/quote:a26b44aab9]
Explica melhor o que vc quer fazer.
Se for para atualizar o firmware do gps, não precisa, pois a apm já manda as instruções de inicialização para o gps a cada boot.
Outra coisa, não precisa de arduino ou adaptador ftdi, tem um firmware da apm só para isso que faz a apm virar a ponte entre a ide do arduino e o módulo gps.
http://ardupilot.com/downloads/?did=53[/quote:a26b44aab9]
o problema que preciso habilitar ela no arduino , ja tentei algumas linhas incluive o codigo 2.2 que ja tem ela, a ligação esta certa pois estava funcionando, porem tive que resetar a placa , acabei perdendo a parte de habilitar o gps , precisava da linhas para habilitar o gps[/quote:a26b44aab9]
Explica melhor o que vc quer fazer.
Se for para atualizar o firmware do gps, não precisa, pois a apm já manda as instruções de inicialização para o gps a cada boot.
Outra coisa, não precisa de arduino ou adaptador ftdi, tem um firmware da apm só para isso que faz a apm virar a ponte entre a ide do arduino e o módulo gps.
-
LeandroFurlan
- membro
- Mensagens: 284
- Registrado em: Dom Jan 15, 2012 10:40 am
- Localização: Cachoeiro de Itapemirim ES
[quote:f5b5b6218a="srocupado"][quote:f5b5b6218a="LeandroFurlan"][quote:f5b5b6218a="srocupado"]Link para o arquivo de conf. do neo (ublox)
http://ardupilot.com/downloads/?did=53[/quote:f5b5b6218a]
o problema que preciso habilitar ela no arduino , ja tentei algumas linhas incluive o codigo 2.2 que ja tem ela, a ligação esta certa pois estava funcionando, porem tive que resetar a placa , acabei perdendo a parte de habilitar o gps , precisava da linhas para habilitar o gps[/quote:f5b5b6218a]
Explica melhor o que vc quer fazer.
Se for para atualizar o firmware do gps, não precisa, pois a apm já manda as instruções de inicialização para o gps a cada boot.
Outra coisa, não precisa de arduino ou adaptador ftdi, tem um firmware da apm só para isso que faz a apm virar a ponte entre a ide do arduino e o módulo gps.[/quote:f5b5b6218a]
bom aminha dificuldade esta sendo e fazer o gps funcionar novamente a multiwii não reconhece ela
http://ardupilot.com/downloads/?did=53[/quote:f5b5b6218a]
o problema que preciso habilitar ela no arduino , ja tentei algumas linhas incluive o codigo 2.2 que ja tem ela, a ligação esta certa pois estava funcionando, porem tive que resetar a placa , acabei perdendo a parte de habilitar o gps , precisava da linhas para habilitar o gps[/quote:f5b5b6218a]
Explica melhor o que vc quer fazer.
Se for para atualizar o firmware do gps, não precisa, pois a apm já manda as instruções de inicialização para o gps a cada boot.
Outra coisa, não precisa de arduino ou adaptador ftdi, tem um firmware da apm só para isso que faz a apm virar a ponte entre a ide do arduino e o módulo gps.[/quote:f5b5b6218a]
bom aminha dificuldade esta sendo e fazer o gps funcionar novamente a multiwii não reconhece ela
-
fernandogalha
- membro
- Mensagens: 1510
- Registrado em: Qua Ago 03, 2011 8:38 pm
- Localização: USA - Illinois
- Contato:
-
fernandogalha
- membro
- Mensagens: 1510
- Registrado em: Qua Ago 03, 2011 8:38 pm
- Localização: USA - Illinois
- Contato:
Grato Fernando.
Ontem instalei a versão 3.1 e re-calibrei o compass, clonei também os parâmetros do outro quad que esta uma beleza.
Se nada der certo ai vou fazer os acertos de PIDs, com foco no Yaw.
Fiz um rápido teste de voo na frente de casa, e também gostei muito da nova versão, o problema não se repetiu (círculos), no dia que tive o "probleminha" também estava ventando muito, vai saber..... :)
abs
Ontem instalei a versão 3.1 e re-calibrei o compass, clonei também os parâmetros do outro quad que esta uma beleza.
Se nada der certo ai vou fazer os acertos de PIDs, com foco no Yaw.
Fiz um rápido teste de voo na frente de casa, e também gostei muito da nova versão, o problema não se repetiu (círculos), no dia que tive o "probleminha" também estava ventando muito, vai saber..... :)
abs
