Full AUTO-AUTO LANDING with the ArduCopter v2.4xp with a Quadcopter and an Helicopter.

Here some videos samples of 8 full AUTO-LANDING tests flights that I have done with the firwmare ArduCopter v2.4xp1 (JLN mod). I have updated the official ArduCopter v2.4 firmware with a special Auto-Landing mod that I have developped and tested successfully in the previous v2.2xp2 release.

In the video you will see, full tests of the:
- STABILIZE mode (full manual flight evolutions),
- LOITER mode (GPS position hold),
- and 4 samples of FULL AUTO-LANDING with the v2.4xp1

The quadcopter is firstly set in LOITER mode and then the AUTO-LANDING is trigged by the Switch 7 of the transmitter. Setup: ArduPilot Mega v2 + Firmware ArduCopter v2.4xp1, Frame: Quadcopter DJI F450 Flame Wheel (X mode)

Here some videos samples of full AUTO-LANDING tests flights in HIL mode on AeroSIM-RC 3.83 with a Raptor 30 type helicopter (H1) done with the firwmare ArduCopter v2.4xp2 (JLN mod).  The official v2.4 firmware has been updated with a special Auto-Landing mod which uses only the BARO sensor. Tested with an ArduPilot Mega v1.4 connected in HIL mode on AeroSIM-RC v3.83 through the APM Mission planner.

more infos at: http://diydrones.com/profile/JeanLouisNaudin

Views: 6743

Tags: DRONE, UAS, UAV, arducopter, ardumega, ardupilot, multicopter, multirotor, quadcopter

Comment by Jack Crossfire on February 20, 2012 at 1:12pm

Waiting for someone to try the old motor cutoff based on acceleration technique.  That takes balls.


Developer
Comment by Jean-Louis Naudin on February 20, 2012 at 1:21pm

Here the PID settings that I have used for the AUTO-LANDING tests flights video:

The full ArduCopter v2.4xp1 firmware and the full PID params files that I have tested in flight can be downloaded HERE.

Regards, Jean-Louis

 

Comment by Rui Manuel Cravo Marques on February 20, 2012 at 1:46pm

Thank you Jean-Louis, I will try it tomorrow and let you know how it went :D

 


Developer
Comment by Jean-Louis Naudin on February 20, 2012 at 1:58pm

Hello Rui,

As you may notice there are 3 parameters in the yellow rectangle (above):

AUTO_LAND_P1 = 175

AUTO_LAND_P2 = 72

CH7_OPT = 9

AUTO_LAND_P1 and AUTO_LAND_P2 are parameters used by my ML Alogrithm for the final touchdown.

These two parameters are linked to the weight on the Power/weight ratio of the multicopter. These 2 parameters can be tuned for heavier or lighter copters so as to get a kiss landing.

The CH7_OPT = 9 is for the Switch on CH7 and the 9 is for activating the AUTO-LAND.

FYI: This AUTO-LAND feature is also used by the RTL.

Regards, Jean-Louis

 


Developer
Comment by Adam Rivera on February 20, 2012 at 2:00pm

Very cool Jean-Louis. Thanks for sharing.


Developer
Comment by Jean-Louis Naudin on February 20, 2012 at 2:08pm

Here the details about the AUTO_LAND curve computed by the ML algorithm used during the learning phase that I have done for the landing with my quadcopter. ( weight = 988 g). You see the computation of the parameters P1 and P2.

Regards,

Jean-Louis

Comment by ARHEXA on February 20, 2012 at 2:14pm

does it use the sonar to auto land ?

it would be really cool to use the sonar:

drop fast while above 4 meters, then slow down the descend,

and do the last meter or 50cm really slow and gentle


Developer
Comment by Jean-Louis Naudin on February 20, 2012 at 2:21pm

@Rui: I have forgotten to say how to use the SW on CH7 to activate the AUTO_LAND.

In the source it is set with:

#define CH7_OPTION   CH7_LAND

or in the MP by the command CH7_OPT = 9

In flight, if you want to do a simple test (no RTL is required for the test), set the quad in LOITER mode at above 2 or 3 meters above the ground, and then set the CH7 to ON then OFF, the AUTO_LAND is activated... Then wait and see (and cross the fingers...). Don't forget to switch back to MANUAL (stabilize).

Good luck...

@ARHEXA: it use the BARO... this is the challenge here... With sonar is too much easy  ;-)

Regards, Jean-Louis

Comment by Rui Manuel Cravo Marques on February 20, 2012 at 2:22pm

Jean-Louis, since I don't know how the computation is made, and how the algorithm works, and what x and y are, if I have a 1600 or 1500gr quad, how do changing the P1 and P2 params affect the drop ? Meaning, higher P1 will give me slower or faster descent ? and higher P2 ? I'm sorry for bugging you but I don't know how the calculus are made.

Comment by Rui Manuel Cravo Marques on February 20, 2012 at 2:24pm

:) I'll be making some tests tomorrow, I only have 1 battery now, since the other damaged on a crash :| grrrr

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