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76 lines
3.9 KiB
76 lines
3.9 KiB
Make sure you update the libraries from the arducopter trunk and the latest code from the ardupilotmega branch. |
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I have a lot of setup commands now. I may reduce and consolidate these soon. |
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Radio setup: |
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ch1 = roll |
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ch2 = pitch |
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ch3 = throttle |
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ch4 = yaw |
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ch5 = mode switch - use your 3 position switch |
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ch6 = used for in-air tuning - not currently active, look for "debugging with Channel 6" in radio.pde to enable |
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ch7 = use to set throttle hold value while hovering (quick toggle), hold to trim in air values - don't use your radio's trims! |
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ch8 = not used - this is the hardware manual - it's dangerous to use for quads |
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CLI interactive setup - You must go through each item and set the values to match your hardware |
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"setup" menu: |
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erase - run this first! erases bad values from EEPROMS just in case |
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reset - Performs factory reset and initialization of EEPROM values |
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radio - records the limits of ALL radio channels - very important! |
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pid - restores default PID values |
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frame - sets your frame config: [x, +, tri] |
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motors - interactive setup of your ESC and motors, enter this mode, then plug-in battery, |
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point at motors to make them spin |
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throttle will output full range to each motor - this is good for esc calibration |
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level - sets initial value of accelerometers - hold copter level |
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modes - sets the flight modes assigned to each switch position (you have 5 available) |
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current - enables an Attopilot current sensor: [on, off, milliamp hours] |
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compass - enables the compass [on, off] |
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mag_offset - interactive mode to set the limits of your compass |
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declination - look up your declination online for accuracy [decimal degrees] |
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show - a formatted output of all the settings |
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"test" menu: |
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pwm - outputs the pwm values of all 8 radio channels |
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radio - outputs the control values of all 8 radio channels in degrees * 100 or other value (see radio.pde) |
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stabilize - lets you test the stabilization with debugging output to the terminal - may spin the props |
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fbw - developers only |
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gps - outputs GPS data |
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adc - outputs raw adc values |
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imu - outputs euler angles |
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dcm - outputs DCM matrix values |
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battery - outputs voltage readings to analog in 0-3 |
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current - outputs voltage and current from an AttoPilot current sensor |
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relay - toggles the relay |
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waypoints - dumps stored waypoint commands |
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airpressure - raw output of absolute presure sensor |
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compass - outputs compass angles in degrees * 100 |
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xbee - outputs an XBEE sequence used for range testing |
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eedump - raw output of bytes in eeprom |
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Flight modes: |
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stabilize - copter will hold -45 to 45° angle, throttle is manual. |
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Alt_hold - You need to set your throttle_cruise value by toggling ch_7 for less than 1 second. (Mine is 330), |
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altitude is controlled by the throttle lever using absolute position - from 0 to 40 meters. |
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this control method will change after testing. |
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FBW - Simulates GPS Hold with the sticks being the position offset. Manual Throttle. |
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position_hold |
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- When selected, it will hold the current altitude, position and yaw. Yaw is user controllable. roll and pitch can be overridden temporarily with the radio. |
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RTL - Will try and fly back to home at the current altitude. |
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Auto - Will fly the mission loaded by the Waypoint writer |
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what's new to commands for ACM: |
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- CMD_ANGLE - will set the desired yaw with control of angle/second and direction. |
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- CMD_ALTITUDE - will send the copter up from current position to desired altitude |
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- CMD_R_WAYPOINT - is just like a waypoint but relative to home |
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- CMD_TRACK_WAYPOINT - coming soon, will point the copter at the waypoint no matter the position |
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Special note: |
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Any mode other than stabilize will cause the props to spin once the control switch is engaged. |
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The props will NOT spin in stabilize when throttle is in the off position, even when armed. |
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Arming is Yaw right for 1 sec, disarm is yaw left for 1 sec. Just give it some juice to confirm arming. |
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Good luck, |
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Jason |
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