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linuxguy123
@linuxguy123
Or... let's say XYZ is in NEU, still 200,80,200 from home.
How does one add NEU to LLH or ECEF in AP ?
Does AP have any code to handle NED or NEU arithmetic ? location.cpp and location_double.cpp do not.
linuxguy123
@linuxguy123
Found my answer... cd autopilot grep -R NED...
linuxguy123
@linuxguy123
What is the significance of some library modules being prefixed with AC versus others with AP ?
linuxguy123
@linuxguy123
I have a second question. I did a git clone of Ardupilot a while back and made some changes. Is there a way to figure out what version/date the clone was based on and then do a diff against the original to get a diff file for my changes ? A diff against the current master would be too many differences.
Does AP in the library stand for Auto Pilot ? What does AC stand for ?
Abhay Saxena
@aby03
AC is attitude control
linuxguy123
@linuxguy123
Thank you.
Is AP Auto Pilot ?
Abhay Saxena
@aby03
I need to replace PID controller in ardupilot with custom torque controller. So, to approach the problem, I am starting with making a new manual mode which doesnt use AC or AP libraries, applies my basic PID in the mode only(which will later be replaced) and pass commands directly to motors. I will later include the control loop in attitude control so i can use it with other Autopilot modes too. Any suggestions or advice which could help?
linuxguy123
@linuxguy123
airframe torque ? Or motor torque ?
No AC or AP libraries ? Tell me more.
Abhay Saxena
@aby03
motor torque
I am using AP_Motors
started off copying mode_stabilize.cpp and phasing out parts I dont require and adding parts I do
Harshit Kumar Sankhla
@harshitsankhla
hi, needed little help analyzing the logs of Rover (through SITL), I’m getting 2 files (.BIN and .TXT) but there is no information in them, or is there a specific way to read them ?
linuxguy123
@linuxguy123
Interesting, but I can't help you.
Harshit Kumar Sankhla
@harshitsankhla
never mind, I added —aircraft NAME to while launching and that gave the required files
Randy Mackay
@rmackay9
@linuxguy123, @aby03, a bit of clarification, libraries that start with "AC_" are normally Copter specific libraries. For example "AC_WPNav" is Copter's waypoint navigation library. Libraries starting with "AP_" (which stands for ArduPilot) could be used by any of the vehicles. You'll find though that sometimes even "AC_" libraries (like "AC_PID") are used by many (perhaps all) vehicles.. they started out as Copter only but are everywhere now
@harshitsankhla, log file analysis should mostly be done in the forums (for example Copter's support forum is here: https://discuss.ardupilot.org/c/arducopter/copter-40). We also have some wiki pages on the subject to get you started: https://ardupilot.org/copter/docs/common-logs.html
Andy Piper
@andyp1per
@saiprasadsun I have a fix for this on ubuntu ArduPilot/ardupilot#13272 but can you tell me what lsb_release -c -s returns on your WSL environment
Nicolas
@Nicolas_Sunbirds_gitlab

Hey, it's me again !
So, I successfully compiled ardupilot using WSL (indeed, way much easier).
However now, I can't make the X-plane HITL work using qGroundControl. It connects, but I do not have any feedback. I configured x-plane, with the right TCP ports etc
So I tried using the x-plane SITL, but I still have a problem :

Serial port 0 on TCP port 5760
Waiting for connection ....
Connection on serial port 5760
bind port 5762 for 2
Serial port 2 on TCP port 5762
bind port 5763 for 3
Serial port 3 on TCP port 5763
Home: -35.363262 149.165237 alt=584.000000m hdg=353.000000
validate_structures:414: Validating structures

I can't find anything on the internet concerning this problem.

Does any of you have any idea about one of these problems ?

MattAuto28
@MattAuto28
@rmackay9 That's odd, as no terrain database was being used, so the terr.xxx messages must be coming from somewhere that is not a terrain database. And it definitely seems to correlate with the rangefinder data. But you're right, I'll direct the rest of this on the forums somewhere.
Lucas De Marchi
@lucasdemarchi
@rmackay9 can you create the PR with the updated defaults? I'm not really sure what params I have to update
linuxguy123
@linuxguy123
The waypoints in Mission Planner are in LLH. Yet navigation happens NED. Does anyone know where the waypoints are converted to NED coordinates ?
charleslinquist
@charleslinquist
On a PixHawk(1), if I replace the MPU6000 with an ICM20689 accelerometer/gyro, will the firmware automatically recognize the new chip and initialize and use it, or will the code assume an MPU6000 since the board is an old one?
murata,katsutoshi
@muramura

I watched a video running an automated flight plan on a vtol plane. I saw the vtol plane making a big turn. I know that airplanes have a minimum speed to gain lift. Is ardupilot customizing the flight speed to carry out the automated flight plan, or is it done by gcs, eg the mission planner?

https://m.youtube.com/watch?feature=youtu.be&v=I5mHgk-_SKY

Randy Mackay
@rmackay9
@lucasdemarchi, sure, np. i've done it a couple of times here and there so makes sense for me to do it..
RhinoAus
@RhinoAus
Is it possible to flash ardupilot to a cube via anything other than OTG? Is it possible to flash via telem1 for example? Access to the USB plug can be inconvenient in my build
Sérgio Vinha
@VinhA2018
hello, is it possible to fly a plane in a rectangle, however the small size distances perform a circle and then in a straight line, etc? I would have 4 waypoints and in between 2 I would perform a circle and not fly in a straight line?
RickReeser
@RickReeser
@RhinoAus yes, the JST port labeled "USB" on the standard carrier board is the same circuit as the micro USB socket on the Cube. The buzzer/micro USB cable that is included with the board can be used to power the board and flash firmware.
Andy Piper
@andyp1per
I'm trying to write a quadplane SITL test for the FFT stuff. The test takes off in QHOVER and then switches to LAND as I want to test frequencies in both plane and copter mode. However the vehicle never lands - it just seems to circle. Is there a good way to get it back on the ground?
Pierre Kancir
@khancyr
Do_flight_termination? XD
Andy Piper
@andyp1per
I can't find anything by that name in quadplane.py, arduplane.py or common.py?
WickedShell
@WickedShell
If you change the mode to QLAND it will just quad down wherever it is
Otherwise you could plan a mission, but QLAND may be sufficent for your case
jwcalvert
@jwcalvert
@Nicolas_Sunbirds_gitlab I see you have successfully compiled on ubuntu, much easier. Do you think it would work OK on a PC with nothing but ubuntu as its OS?
I am considering re-purposing one of them to ubuntu exclusively.
jwcalvert
@jwcalvert
@Nicolas_Sunbirds_gitlab Duh, I can'read. Of course it will.
linuxguy123
@linuxguy123
@charleslinquist I think you'll need to edit the hardware build file so that the correct HAL file is used. Or mod the HAL file yourself. I haven't check this, just thinking out loud... I am not aware of anything in code that queries devices for ID strings.
Andy Piper
@andyp1per
@WickedShell QLAND means it's always in quad mode. Is there an easy way to QHOVER switch to forward flight for a while and then back to QLAND?
linuxguy123
@linuxguy123
@muramura Tidge did a video and explained that there is a "transition speed" parameter where Adupilot switches the control frame from QPlane to regular plane. So I suspect it does it automagically, if that parameter is set correctly. I think you could also trigger this by setting up special flight modes, one for QuadPlane operation and the other for a regular plane and then switching flight modes in your mission plan. I haven't tested any of this, just thinking out loud.
Guohao
@Guohao91
hello guys, good evening. how many gentlemen are working with Dronkit python here?
I've been working on that for a few of months
alinscodes
@alinscodes
Hi Guys. I have activated the btn_enable parameter in mission planner and I have used BTN_PIN1 to be pin 54 (AUX5 on pixhawk). How do I view the changes of this signal in mission planner? If I go to flight data and then tab Status which one of these variables is BTN_PIN1 so I can view it? Thanks
Amilcar Lucas
@amilcarlucas
miniPix compilation is broken on master
UART6 gives an error
SteveJos
@SteveJos
Image Pasted at 2020-1-17 11-00.png
here is the screenshot of the compilation error
xyz
@ashish-yadav1
how to add geotiff in Mp