Chris Anderson

ArduPilot 2.1 released + setup utility and ground station

A big code release tonight--this is the full setup that won the Sparkfun autonomous vehicle competition. Along with general improvements to the code, this is the entire package of autopilot, setup utility and ground station code. It's a full Unmanned Aerial System, not just a UAV!

ArduPilot 2.1

  • All the features of ArduPilot 2.0 plus...
  • Supports XY sensor in diagonal postion
  • Requires Z sensor [UPDATE: FMA is no longer carrying those. While we sort out alternative sources, you can buy them from Dean Goedde for $40 (scroll down for price list)
  • Controls throttle if airspeed sensor is attached via the ArduPilot expansion board.
  • Supports desktop setup utility for waypoints and autopilot settings. (Waypoints are no longer manually entered in the code. They can only be entered with this utility.)
  • Last version of the code to support the original ATMega168-based board. Future versions will require the new ATMega328-based board.
  • Field setup procedures are here
  • Get it here

If you are using the expansion board and airspeed sensor, to control the throttle you must solder a wire from digital pin 8 to "MUX IN 3"

Desktop setup utility

  • Add waypoints manually; utility displays them on Google Maps
  • Set max altitude, speed, circle radius
  • Set elevator, aileron/rudder trim
  • More features coming
  • Get it here ("ArduPilotConfigUtility")

When using this utility for the first time with ArduPilot, click Write before anything else in order to format the EEPROM. Also, ensure that the "Set RTS on close" box is checked in your serial port's advanced properties (control panel/device manager), as described in our Arduino debugging tips)

Ground station

  • Requires free Labview runtime engine and serial drivers (install both. Note: if you've already installed Lego's Mindstorms NXT software you may find you've got a driver conflict, because it's based on LabView, too. Uninstall the Mindstorms software first.)
  • Works with Xbee wireless modules
  • Displays real-time attitude, speed, altitude, current waypoint, heading, distance to next waypoint, etc
  • Displays real time position on Google Earth
  • Get it here
  • Source code is here

Views: 835

Jonas Comment by Jonas on April 21, 2009 at 12:49am
Real nice!!

My Xbee's and new Ardupilot's where send today so I hope I can test it.
Saiful Azuwan Comment by Saiful Azuwan on April 21, 2009 at 1:14am
Great! Thank You... This is what I waiting
Michael Comment by Michael on April 21, 2009 at 5:16am
Impressive guys! You really are getting these out at quite a clip.
Tom in ON Comment by Tom in ON on April 21, 2009 at 6:17am
Amazing! Thanks Chis and Jordi and all who contributed... Thanks for all the work and for sharing it with us.

Is there any way to share the circuit and programming code for the pressure sensor? I may attempt to build an interface of my own. One problem is that I only have a MPXV5004GC6U and not the DP. However, I also have a MPXV7002DP with a -.3/+.3 PSID range that should work. I did some searching and it should still be able to support speeds upto 200Kmh.
Howard Gordon Comment by Howard Gordon on April 21, 2009 at 6:45am
Looks great.

I'd like to ask about the ground station. What version of Labview is required to create the ground station from sources rather than just the run-time .exe, and will you be publishing the ground station source code ?
Tom in ON Comment by Tom in ON on April 21, 2009 at 7:06am
Have another question concerning the ground station. Is there a software based solution for OSD? If you are using a laptop with the ground station software and also using a composite video link into the laptop with video capture, can you superimpose a text layer (with ground station data) over the video layer showing on the laptop?
Chris Anderson Comment by Chris Anderson on April 21, 2009 at 7:34am
@Howard. Yes, Jordi has posted the code before. We'll update that with the latest version.

@Tom. Stay tuned for an OSD announcement. I think you'll be impressed :-)
Howard Gordon Comment by Howard Gordon on April 21, 2009 at 7:44am
Thanks. I'll look for the code. For someone who doesn't already have Labview, what is required to get started ? It looks like a full license for Labview costs $1290 and a "pro" version costs $2500, though a student version costs $80.
tycinis Comment by tycinis on April 21, 2009 at 7:52am
@Howard Gordon :

The full programme is not required , just a small free apps : Download

once installed , run the .exe an go ;)
Howard Gordon Comment by Howard Gordon on April 21, 2009 at 7:58am
I'm looking for the full version of Labview so I can modify source code. Labview is popping up on some of my other projects, so I figure it's time to become more familiar.

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