Showing posts with label apm. Show all posts
Showing posts with label apm. Show all posts

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Taranis/OpenTX APM Mode Switches

Here's the settings to make a 6-position switch for autopilots.
tl;dr: Create two 3-point curves with the specified points.  Mix onto channel 5 switches C and D using those curves.

Upcoming: adding voice notification!

CH05 (+100%)SC Curve(Curve 1) 
     (+100%)SD Curve(Curve 2) 

 Curve 1, type: 3 points (17,50,83)
Curve 2, type: 3 points (-100,0,0)

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APM2.5 Case on Thingiverse

Designer barneyj notes:
The mounting tabs were designed to fit on a Gaui 330x frame. I used micro servo mounting screws to screw the shell together. I made a cutout for the "ABC" status LEDs but I missed the "TX/RX" LEDs. I might incorporate it in the next iteration.
http://www.thingiverse.com/thing:36883

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Building ArduPilot Mega on Mac

Here how I set up Arduino to compile ArduPlane and ArduCopter on the Mac.

Install Arduino

Download ArduPlane and create a working directory

  • Get the newest copy of Arduplane from the Ardupilot repository.  I grabbed version 2.34.
  • My home directory is /Users/mh, and my working directory is /Users/mh/apm
  • Change to the working directory and unzip ArduPlane-2.34.zip.
  • You should see these directories.  There's some others that you can ignore.
/Users/mh/apm/ArduPlane-2.34
/Users/mh/apm/ArduPlane-2.34/ArduPlane
/Users/mh/apm/ArduPlane-2.34/libraries


Connect your APM to the computer via USB

  • IF YOUR APM IS ON AN AIRCRAFT, DISCONNECT THE AIRCRAFT BATTERIES OR REMOVE THE PROPS!
  • No kidding, the props can spin up unexpectedly and send you to the hospital for stitches!



Run Arduino and configure the environment

  • Run the Arduino program.  Restart it if it was already running so that it can see the APM USB connection.
  • Set the CPU type: Tools / Board / Arduino Mega 2560 (AtMega 1280 for APM1)
  • Set the APM serial port: Tools / Serial Port / /dev/tty.*usb*  The name will vary, look for tty and usb.
  • Set the sketchbook location:  Arduino / Preferences... / Sketchbook Location
  • Set it to the unzipped directory; In my case: /Users/mh/apm/ArduPlane-2.34
  • Quit Arduino and Restart.
  • Double check that the above three settings are still good.

Compile (Verify) the ArduPlane software

  • File / Open... and navigate to /Users/mh/apm/ArduPlane-2.34/ArduPlane
  • Open ArduPlane.pde.  This will give you a window with several files opened in tabs.
  • Click the Verify button.
  • After a while, you should get a message like "Binary sketch size: 157,232 bytes (of a 258,048 byte maximum)"

Upload to APM

  • Click the Upload button.
  • You should see the APM serial light blink furiously
  • You should get the message "*******"

Working on the Arducopter software

  • note: There's some unorthogonality with the downloaded Arducopter zip file.  There's no intermediate directory with a version number.
  • Grab the newest copy of ArduCopter from the ArduCopter repository. I grabbed version 2.5.5.
  • Unzip ArduCopter-2.5.5.zip  in some scratch directory.  This will give you two directories, Arducopter and libraries.  libraries is identical to the ArduPlane version, so you can ignore it.
  • Delete the directory ArduPlane-2.34/ArduCopter
  • Copy ArduCopter to ArduPlane-2.34.
  • You should see the directory ArduPlane-2.34/ArduCopter.
  • In Arduino, open the file ArduPlane-2.34/ArduCopter/ArduCopter.pde.
  • Compile and Upload as described above!

Working with git

  • The Arduplane projects are hosted on Google Code.  Get a Google account if you don't have one.
  • Instructions for checking out are on the ArduPilot source page.
  • You don't need to grab ArduCopter separately.  It will be in the ArduCopter directory as described above.  If you do grab it, it will have a single file pointing you to the ArduPlane repository.
Using command line tools
  • There are notes in README.txt
  • tl;dr: cd ArduPlane; make configure; edit ../config.mk; make; make upload
  • I had to edit the following entry in libraries/AP_Common/Arduino.mk to add the -C parameter.
upload: $(SKETCHHEX)        $(AVRDUDE) -c $(UPLOAD_PROTOCOL) -p $(MCU) -P $(PORT) -b$(UPLOAD_SPEED) -U flash:w:$(SKETCHHEX):i -C /Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/etc/avrdude.conf

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Zephyr II and ArduPilot Layout

Here's a few notes by Andreas on laying out a Zii with an Ardupilot Mega.

This is his first Zii.  One 5000 mAh 3S or one 3000 mAh 4S battery is placed sideways at the nose.








In his second Zii, he started with a plywood battery box.  He cut this himself; it's sized to hold two 4000 mAh 3S Turnigy Nano batteries.











To keep the radio components separated, he:

  • moved the video transmitter all the way to the winglet
  • put the RC receiver is in the center of the wing on the opposite side
  • put 3DR radio close to the APM in the main compartment
He mounted the ESC above the APM.

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Six-position APM switch for Turnigy 9x

This looks like a pretty nifty thing to do, courtesy of the ever-awesome HappyKillmore.  Basically it swaps out the pitch trim pot with a six-position switch that maps to the six APM control modes.  It's based on an original idea by Max Levine.  Video here.  Ready-made unit here, and here for kit that needs some soldering.

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Arctibaby and APM2

After getting the HobbyKing MicroQuad put together rather nicely, I was having a lot of problems with one of the motors running erratically.  I thought it might be a problem with the motor or ESC, but Andreas suggested swapping out the KKBoard and seeing if that would help.

We swapped in his APM2, and it flew rather nicely, modulo some PID tuning to get rid of the shakes.
Impressively, the APM2 is almost the same dimensions as the KKBoard.  As far as I know, this is the smallest quad that's run with the APM2, but I'm happy to receive any corrections.

I'm rather encouraged, it will be a lot of fun having a tiny platform that I can fly indoors!


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