mirror of https://github.com/ArduPilot/ardupilot
49 lines
2.2 KiB
Plaintext
49 lines
2.2 KiB
Plaintext
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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:
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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 tuning - not currently active
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ch7 = use to set throttle hold value while hovering (quick toggle), hold > 5 seconds on ground to reset the accelerometer offsets.
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ch8 = not used
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setup:
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erase = run this first, just in case
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reset = run this second
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radio = run this third
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esc = just ignore this for now
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level = optional - sets accelerometer offsets
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flat = optional - sets accelerometer offsets to 0
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modes = interactive setup for flight modes
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pid = optional - writes default PID values to eeprom
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frame = optional - default is "+"
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enable_mag = enables the compass
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disable_mag = disables the compass
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compass = interactive setup for compass offsets
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declination = usage: "declination 14.25"
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show = shows all values
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Flight modes to try:
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stabilize - I'm having a little trouble inputting Yaw commands, would love some feedback on how to best handle it.
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alt_hold - You need to set your throttle_cruise value by toggling ch_7 for a second. Mine is 330
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- altitude is controlled by the throttle lever.
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position_hold - When selected, it will hold the current altitude, position and yaw. Yaw is user controllable. roll and pitch can be overridden with the radio.
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RTL - will try and fly back to home at the current altitude.
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Auto - not tested yet, i'm finishing a waypoint writing sketch and will be ready to test soon
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- what's new
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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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