I had a couple of very brief flights with my slightly modified ArduPilot 2.6 code this evening.

I only had the chance to do a couple of passes in fly by wire mode, but the initial results are promising.

Still some gain tuning to do, but this isn't bad for a first attempt.

In the plot below:

Blue line is bank angle

Red line is pitch

Green is heading.

Blue DOTS indicate times when the Ardupilot was in Fly By Wire…

In case it is useful to anyone, here is my code for controlling the 4th channel through the Ardupilot board.

The main thing that stumped me for a while is you need to change timer2 from CTC mode to Normal mode. The default Ardupilot code has Timer 2 in CTC mode which resets the counter every time the throttle compare interrupt is captured. To drive two channels you need to be in Normal mode allowing the timer to go all the way to 255 before resetting.

Channels 3…

I think I've debugged one of the issues I was having with my OpenLog connecting to Ardupilot. This will probably be blatantly obvious to you veteran Arduino Programmers, but it got me, so I figured I'd post in case it helps anyone else.

After a few flights with only the open log and the ArduIMU, I decided to integrate the ArduPilot board and move the logger to the Ardupilot board. My ArduIMU was now talking to the…