FollowMe & Tap´n´Go implementation in r449: success

News, Setup, Compiling, Flashing, Development

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby JussiH » Thu Nov 05, 2015 8:57 am

Angel, Peter, Menno

Good work! Looking forward to test it when weather improves here!

Thanks

Jussi
JussiH
 
Posts: 2103
Joined: Thu Jun 21, 2012 9:25 pm

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby afernan » Sat Nov 07, 2015 12:47 pm

Update: Flight Tests with GCS (android) improved antenna BU353 (see details above in this post). There´s a BIG improvement in FollowMe.

GPS Accuracy:
- with my Nexus 5 terminal about 12m average, and not very stable.
- With BU-353 antenna acc= 6m and VERY stable, mainly the speed meassurement

See GCS screenshots below: first two images using Bu353 antenna. Last is with Nexus5 internal antenna. You can see the light blue circle showing the accuracy. Trajectory with internal antenna it´s a bit erratic also, while it´s very stable with BU353 (video promised).

in summary: it really worths this small external antenna BU353.

Attached fw and files to compile for 6.0 and 6.1 with all three addons: Wavepoint Live Recording, Tap´n´Go, FollowMe (I call WTF)
Enjoy
Angel
Attachments
r449-6.x-dimu-QUATOS-WTF.zip
(4.63 MiB) Downloaded 154 times
Screenshot_20151107-120025.png
Screenshot_20151107-110844.png
Screenshot_20151104-173314.png
Last edited by afernan on Sun Nov 15, 2015 3:58 pm, edited 1 time in total.
afernan
 
Posts: 1214
Joined: Sat Jul 07, 2012 5:24 pm
Location: Madrid, Spain

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby aBUGSworstnightmare » Wed Nov 11, 2015 8:25 am

afernan wrote:Update: Flight Tests with GCS (android) improved antenna BU353 (see details above in this post). There´s a BIG improvement in FollowMe.

GPS Accuracy:
- with my Nexus 5 terminal about 12m average, and not very stable.
- With BU-353 antenna acc= 6m and VERY stable, mainly the speed meassurement

See GCS screenshots below: first two images using Bu353 antenna. Last is with Nexus5 internal antenna. You can see the light blue circle showing the accuracy. Trajectory with internal antenna it´s a bit erratic also, while it´s very stable with BU353 (video promised).

in summary: it really worths this small external antenna BU353.

Attached fw and files to compile for 6.0 and 6.1 with all three addons: Wavepoint Live Recording, Tap´n´Go, FollowMe (I call WTF)
Enjoy
Angel


Hi Angel,

thanks for your work and for publishing this.
One question on waypoint live recording remains: Don't you think it's better to have the trigger-channel configurable by parameter?

At the moment you're using GEAR-switch (RADIO_GEAR, ch5 in your case) to do this. I think introducing a parameter for this gives users more flexibility when assigning channels.
Nevertheless, I still have to test the new additions so this is just my first feedback after looking at the sources.

Joerg
aBUGSworstnightmare
 
Posts: 1460
Joined: Fri Jun 22, 2012 5:24 pm

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby afernan » Fri Nov 13, 2015 2:18 pm

aBUGSworstnightmare wrote:
afernan wrote:Update: Flight Tests with GCS (android) improved antenna BU353 (see details above in this post). There´s a BIG improvement in FollowMe.

GPS Accuracy:
- with my Nexus 5 terminal about 12m average, and not very stable.
- With BU-353 antenna acc= 6m and VERY stable, mainly the speed meassurement

See GCS screenshots below: first two images using Bu353 antenna. Last is with Nexus5 internal antenna. You can see the light blue circle showing the accuracy. Trajectory with internal antenna it´s a bit erratic also, while it´s very stable with BU353 (video promised).

in summary: it really worths this small external antenna BU353.

Attached fw and files to compile for 6.0 and 6.1 with all three addons: Wavepoint Live Recording, Tap´n´Go, FollowMe (I call WTF)
Enjoy
Angel


Hi Angel,

thanks for your work and for publishing this.
One question on waypoint live recording remains: Don't you think it's better to have the trigger-channel configurable by parameter?

At the moment you're using GEAR-switch (RADIO_GEAR, ch5 in your case) to do this. I think introducing a parameter for this gives users more flexibility when assigning channels.
Nevertheless, I still have to test the new additions so this is just my first feedback after looking at the sources.

Joerg

Sure. That's in the todo list.
afernan
 
Posts: 1214
Joined: Sat Jul 07, 2012 5:24 pm
Location: Madrid, Spain

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby aBUGSworstnightmare » Sat Nov 14, 2015 2:05 pm

afernan wrote:Sure. That's in the todo list.

selectable switch for waypoint recording.zip
changes with selectable switch for waypoint live recording
(19.76 KiB) Downloaded 204 times

What about doing it like this - refer to the attachment.

The new parameter for defining the 'waypoint live record channel/switch' is NAV_WPREC_CHAN
switch waypoint.jpg
Channel needs to be configured in parameters list
switch waypoint.jpg (61.45 KiB) Viewed 6087 times


Question: why do you output two messages for a recorded waypoint:
dual message.jpg
Two messages will be generated for one recorded waypoint
dual message.jpg (65.77 KiB) Viewed 6087 times


First is generated here
Code: Select all
// afd WLR lines
void navSetWpCurrent(int k) {
   navData.missionLegs[k].type = NAV_LEG_GOTO;
   navData.missionLegs[k].relativeAlt = 0;
   navData.missionLegs[k].targetAlt = ALTITUDE + navData.presAltOffset;
//   navData.missionLegs[k].targetAlt = UKF_ALTITUDE + navUkfData.presAltOffset;   navData.missionLegs[k].targetRadius = 1.0f;
       navData.missionLegs[k].targetLat = gpsData.lat;
       navData.missionLegs[k].targetLon = gpsData.lon;
       navData.missionLegs[k].maxHorizSpeed = 2.0f; //  m/s
       navData.missionLegs[k].poiHeading = -0.0f; // relative
   AQ_NOTICE("point set\n");
   
}


Second here:
Code: Select all
...
   // only record when switch is held for 1 second.                           
   if ( ( navData.set_flag) && (( timerMicros() - navData.navSetWPtimer) > (5e5) ) ){
      navSetWpCurrent(navData.wp_index);
      signalingBeep(2000, 50);
      navData.wp_index++;   // increase waypoint index
      navData.wp_index = constrainInt(navData.wp_index,0, NAV_MAX_MISSION_LEGS);
      navData.set_flag = 0;
      navData.navSetWPtimer = 0;
      AQ_NOTICE ("waypoint set");
   }...
aBUGSworstnightmare
 
Posts: 1460
Joined: Fri Jun 22, 2012 5:24 pm

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby afernan » Sun Nov 15, 2015 5:57 pm

@Joerg:
thanks for the add and the comments:
I´ve added your lines so we can select from the QGC the switch for WLR. Also removed the "Waypoint set" message duplicated.
I´ve also corrected a small problem of initialization of the "targetradius" (NAV.c, line 104), added:

Code: Select all
navData.missionLegs[k].targetRadius = 1.0f; //  m/s


I´ve attached the compilation for 6.x and the files updated. Those include all four updates (WTF = WLR + TapNgo + FollowMe):
- WLR selectable with parameter "NAV_WPREC_CHAN" in the QGC
- FollowMe
- Tap´n´Go

Note:
FollowMe working very well by using a good external antena.
FollowMe with Heading: NOT working well yet (It works during a few seconds, then blocks the ANDROID terminal
Attachments
WTF set of files.zip
(33.71 KiB) Downloaded 158 times
r449-6.x-dimu-QUATOS-WTF.zip
(4.63 MiB) Downloaded 157 times
afernan
 
Posts: 1214
Joined: Sat Jul 07, 2012 5:24 pm
Location: Madrid, Spain

Spektrum X-Plus channel decoding -> 18 channels

Postby aBUGSworstnightmare » Wed Nov 18, 2015 2:22 pm

Hey there,

made another addition to this code: Spektrum X-Plus channel decoding!

What the hell is this?? Well, it's simple: if you have a Spectrum DX10t/DX18 or DX18t radio you can enable X-Plus channels, which let's your transmitter send 18 channels in total.

With the standard code AQ ist only able to use 12 channels when using a Spektrum Sat/Cypress onboard receiver. I've added some code so we now can use all 18 channels.

First off all, you need to have a transmitter which allows you to use X-Plus (DX10t/DX18 or DX18t) and enable X-Plus channels (FRAME RATE TAB)
SPM_1000.jpg
Enable X-Plus channels
SPM_1000.jpg (7.74 KiB) Viewed 5995 times

Note: This code supports DSMX only! Why should anybody want to loose resolution on channels by using DSM2....
SPM_0001.jpg
Input channel assignment on my DX10t
SPM_0001.jpg (12.52 KiB) Viewed 5995 times

SPM_0002.jpg
All X-Plus channels in use --> 18 RX channels in total
SPM_0002.jpg (10.93 KiB) Viewed 5995 times

channel monitor.jpg
Channel Monitor shows values of all 18 channels
channel monitor.jpg (68.53 KiB) Viewed 5995 times

qgc_2.jpg
Please not parameters tab! Current QGC will not allow you to choose channel 17 and 18 from dropdown list


I've tested this code with Spektrum DSMX sat receiver (SPM9645) bound to:
- AR10000
- AR9020
- AR7700
--> AR7700 is special, since this a a serial receiver which gives you diversity and 3 more PWM channels (think of using gimbal contol on M4 based crafts (with PWM ESCs)). You can either use the AR7700 stand-alone, together with the sat receiver, or the sat receiver only.
CIMG1867.jpg
new Spektrum AR7700 receiver: serial receiver with 3 additional PWM ports for gimbal control. Specially tailored for multi rotor use


and - for sure - with the M4r6 onboard receiver (Cypress!).
All work fine 8-)

Nevertheless, I need some help in testing because the code needs to be tested with other Spektrum transmitters for failures (less than 10 channels), as well as with DX18 and DX18t.

Attached to this post you will find the sources together with compiled versions for:
- M4r6 with Quatos and External ESC
- AQ 6 rev1 with DIMU and Quatos
- AQ6 rev1 with DIMU and PID
(if you need another version please let me know!)

ATTENTION: THIS IS EXPERIMENTAL FIRMWARE! PLEASE TAKE CARE IF YOU WANT TO TEST!!!
Compiled FW.zip
Compiled firmware with Follow me, Waypoint live Recording and new Spektrum code for X-Plus decoding
(450.32 KiB) Downloaded 155 times


@Max: Thank you for adding the mavlink-code changes to have all 18 channels displayed in the Rc channel widget!

Please note: requires mavlink from Peter (sandman) - viewtopic.php?f=31&t=4690#p35225!
Attachments
WTF set of files_Spektrum X-Plus.zip
Angels additions + new Spektrum code (source files)
(48.39 KiB) Downloaded 179 times
aBUGSworstnightmare
 
Posts: 1460
Joined: Fri Jun 22, 2012 5:24 pm

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby afernan » Mon Nov 23, 2015 7:24 am

Attached a compilation for r449-v6.0-DIMU-WTF-PID (no quatos). Have no flight tested yet!. Flight with care.

Enjoy
Attachments
r449-6.0-dimu-WTF.zip
(228.19 KiB) Downloaded 176 times
afernan
 
Posts: 1214
Joined: Sat Jul 07, 2012 5:24 pm
Location: Madrid, Spain

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby aBUGSworstnightmare » Mon Nov 23, 2015 3:17 pm

Hi Angel,

I've flight tested a version for AQ 6.0 + DIMU + QUATOS with all the changes detailed here (including Spektrum code changes for sure) after I've finished modification of my AQ6 CamCruiser.

Could not test to full extend (Follow me and Tap'nGo) due to weather restrictions but did not notice a problem so far.

Joerg
aBUGSworstnightmare
 
Posts: 1460
Joined: Fri Jun 22, 2012 5:24 pm

Re: FollowMe & Tap´n´Go implementation in r449: success

Postby kinderkram » Mon Nov 23, 2015 5:10 pm

afernan wrote:Attached a compilation for r449-v6.0-DIMU-WTF-PID (no quatos). Have no flight tested yet!. Flight with care.

Enjoy

Thx!
Functions and new scheme look fine. Flight test after I got it airborne...
kinderkram
 
Posts: 2911
Joined: Fri Jun 22, 2012 7:47 am

Previous

Return to AQ Firmware

Who is online

Users browsing this forum: No registered users and 1 guest