Waypoint Live Recording

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Waypoint Live Recording

Postby afernan » Thu Sep 05, 2013 7:48 am

I´ve coded this "mod" to enable AQ recording of WP´s during manual flight. Using the Tx "gear" switch (ch5) each time is set, a new wp is added to the list. Then you can run auto as usual or download to GCS to edit. This feature lets you fly auto missions without the need of any gcs. Convenient sound signals are set to drive you in the process.

Main features:
- no limitations of number of WP´s (limited to NAV_MAX_MISSION_LEGS, default = 25)
- can record in manual or PH mode (quite convenient) while ARMED or DISARMED
- absolute altitude recorded (wp´s have 3D info)
- deletion of WP´s can be done thru Tx

See how performs in this new video: (WLR V3)

------ UPDATE 5th Sep -----------------

New update V3 with following improvements:
NOW MUCH MORE SIMPLE:

- WP´s can be recorded in DISARMED also. So we can walk-&-recording waypoints ( I´ll show a video flying between trees, recorded like that)
- To delete WP´s simply set ROLL stick to the top left while in DISARMED (obviously). So we need only one switch (GEAR) to play full WLR (joebar idea).
- & diferents code clearings. Now even more safe.

I´ve flown several bateries this V3 without any single problem.
As usual, attached V3 with hex and changed code files
_____________________________________________________________________



Hope you enjoy, and I hope to see soon inside the trunk code.

Angel
Attachments
AQ code development - WLR descrition.zip
(36.07 KiB) Downloaded 185 times
post.zip
(370.45 KiB) Downloaded 227 times
Last edited by afernan on Thu Sep 26, 2013 2:09 pm, edited 9 times in total.
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Re: Waypoint Liver Recording

Postby Shogun » Thu Sep 05, 2013 8:04 am

Great addition, always wanted to have that! Thanks Angel!
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Re: Waypoint Live Recording

Postby joebar.rc » Thu Sep 05, 2013 10:50 am

I did have that recording function since way back in 6.2, what I personally did like, with deleting the waypoints is to use the gear switch as you do, but also in a disarmed state with roll left.
That way you dont have to reprogram the end points in gear.

It now seems (correct me if I'm wrong), that if you leave the gear switch (witch is normaly a 2-pos switch) up and disarm, all waypoint will be deleted.
And I also enabled the recording during disarmed state, that way I could walk around, hit the switch and continue the path...
Just a suggestion for ideas....

Code: Select all
   // waypoint recording : gear switch down 1s = record waypoint
    if (RADIO_GEAR > 250) {
      navData.set_flag = 1;         // set waypoint on switch low to high(debouncing)
      navData.navSetWPtimer = timerMicros();
      }else{                        // only record when switch is held for 1 second.                           
      if ( ( navData.set_flag) && (( timerMicros() - navData.navSetWPtimer) > (1e6*1) ) && (RADIO_ROLL > -500) ){
         navSetWPRecording();
         navData.wp_index++;   // increase waypoint index
         navData.wp_index = constrainInt(navData.wp_index, 1, NAV_MAX_MISSION_LEGS);
         navData.set_flag = 0;
         navData.navSetWPtimer = 0;
                       AQ_NOTICE ("WP Recorded");

      }else{                      // If waypoint rec switch is low AND AQ not armed AND roll is held left then erase waypoints...
        if ( ( navData.set_flag) && (( timerMicros() - navData.navSetWPtimer) > (1e6*1) ) && (RADIO_ROLL < -500) && (supervisorData.state == STATE_DISARMED) ){       
         navClearWaypoints();
                      AQ_NOTICE ("WP deleted");
            navData.set_flag = 0;
         }
Hi Angel,
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Re: Waypoint Live Recording

Postby afernan » Thu Sep 05, 2013 4:28 pm

@Joebar:
Thanks a lot for your comments.

I think you had a more clean code than mine, although in the basis are quite similar. I´ve took some parts of yours for mine to update and improve it. I´ll fly it this afternoon and report back

Thanks

Angel
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Re: Waypoint Live Recording

Postby afernan » Thu Sep 05, 2013 7:59 pm

New update V3 with following improvements:
NOW MUCH MORE SIMPLE:

- WP´s can be recorded in DISARMED also. So we can walk & recording waypoints ( I´ll show a video flying between trees, recorded like that)
- To delete WP´s simply set ROLL stick to the top left while in DISARMED (obviously). So we need only one switch (GEAR) to play full WLR (joebar idea).
- & several code clearings. Now even more safe.

I´ve flight tested several bateries without any single problem. Tomorrow I´ll add a new video sowing the perfo.
As usual, attached V3 with hex and changed code files (attached in first post)

Thanks for following this

Angel
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Re: Waypoint Live Recording

Postby afernan » Sat Sep 07, 2013 3:59 pm

WLR V3: Video showing new performances:

This demo include three test:
- 1st: recording WP´s by walking around trees in disarmed. Then, the mission is ran.
- 2nd: WP´s recording in Position Hold. Then Run mission
- 3rd. We deleted previous WP´s with the radio, we record new set of WP´s and we run.



or


Enjoy

Angel
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Re: Waypoint Live Recording

Postby kinderkram » Sat Sep 07, 2013 4:12 pm

Good job, Angel!
Looks like it's working flawlessly. Both methods (disarmed/in flight) are great tools for wp navigation.
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Re: Waypoint Live Recording

Postby plexus » Sun Sep 08, 2013 10:22 am

Good job indeed.
I am waiting my new AQ board to continue . I hope to get it very soon.
I see that autoquad is continuously in progress.
Alain
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Re: Waypoint Live Recording

Postby r0sewhite » Tue Sep 10, 2013 3:15 am

So far I have only used firmware on our copters that is flagged as stable. Angel, I think you made me break my own rules because I don't have the patience to wait for your waypoint live recording in a stable version. ;)
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Re: Waypoint Live Recording

Postby afernan » Tue Sep 10, 2013 7:28 pm

I've flown many times last versión (V3) without a single problem. I think you can fly it safely.

Amgel
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