aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sub: Update README

Browse Source
This commit is contained in:
Rustom Jehangir 2016-02-12 21:31:14 -08:00
parent 060010dda3
commit a10fbeae2b
1 changed files with 8 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduSub/README.md
View File

@ -12,7 +12,7 @@ The ArduSub project is a subsea vehicle control system designed primarily for RO
The majority of code changes required for the ArduSub are held in the [/ArduSub/](/ArduSub/) directory of this repository. Changes have also been made to a number of libraries:
- **AP_Baro:** Added support for MS58XX pressure sensors for water depth measurement
- **AP_Motors:** Added AP_Motors6DOF and AP_MotorsBlueROV classes
- **AP_Motors:** Added AP_Motors6DOF, AP_MotorsBlueROV6DOF, AP_MotorsVectoredROV classes
- **AP_RCMapper:** Added "forward" and "strafe" input axes
## Setup ##
@ -28,7 +28,7 @@ Since this is based on the ArduPilot project and includes the ArduPilot Hardware
- PixHawk variants (PXRacer, PX4V4)
- Navio+, Navio2 from Emlid
- PXFmini from Erle Robotics
- Erle Brain 2 and PXFmini from Erle Robotics
- BBBmini
The following autopilots *are not supported*:
@ -46,7 +46,7 @@ The ArduSub project currently supports two frame types:
- 6-DOF Thruster Configuration (for the [BlueRobotics BlueROV](http://bluerobotics.com/store/rov/bluerov/))
- Vectored Thruster Configuration with side-by-side vertical thrusters
The code must be compiled for the correct frame type, defined in AP_MotorsBlueROV.cpp.
The code must be compiled for the correct frame type using the commands below.
### Compilation and Flashing ###
@ -84,6 +84,10 @@ make px4-v2-vectored-upload
- ATC_ACCEL_Y_MAX to Disabled
- EK_ALT_NOISE to 0.1
- EK2_ALT_NOISE to 0.1
- RATE_YAW_FILT_HZ to 30
- PILOT_VELZ_MAX to 50 cm/s
- PILOT_ACCEL_Z to 50 cm/s/s
- POS_Z_P to 8.0 (above limit)
6. Setup Power Tab
- Analog Voltage and Current
- 10000 mAh
@ -96,7 +100,7 @@ make px4-v2-vectored-upload
- Change primary baro to 2ndBaro
8. Flight Modes
- Set all to stabilize
- Set last flight mode to altHold (Learning mode)
- Set Flight Mode 6 to altHold (Learning mode)
9. Set Up Camera Tilt (if desired)
- Use camera tab to connect RC8 to Output Channel 7
- Connect camera tilt servo or gimbal to Ch. 7