mirror of https://github.com/ArduPilot/ardupilot
77 lines
3.9 KiB
Plaintext
77 lines
3.9 KiB
Plaintext
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 may 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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