User:Opt

Currently operating two Paparazzi powered aircraft

Parrot AR.Drone V2.0

Quadrokopter

Taking control

What framework to use to work with the ARDrone. For me this revolves around ROS and Paparazzi.

• standard
• standard + QGC
• paparazzi
• ros
  • installed ubuntu 12.04 LTS
  • installed ros-groovy-ros-full
• node.js

Issues

• Control
• Access to sensors
• Flight recorder

Video stream

• gst stuff installed fine as per instructions from wiki

GPS

• Flight recorder doesn't work
• Using drotek from http://www.drotek.fr/shop/en/home/161-ublox-gps.html
• ublox 6 works, need GPS_PORT_ID = USB_PORT_ID, already obsolete in current (<2014-06-10 Tue>) git
• needs cdc-acm.ko kernel module
  • get linux.tar.bz2 from parrot.com:
  • https://devzone.parrot.com/projects/show/oss-ardrone2
  • get gcc cross compiler
  • unpack linux sources
  • cp kernel.config .config
  • set ARCH=arm, CROSS_COMPILE=arm-linux-gnueabi- in Makefile
  • make menuconfig
  • make modules
  • make modules_install INSTALL_MOD_PATH=../linux-modules

Joystick

• cp some-joystick.xml to gamepad.xml, change settings

• exec input2ivy -ac ardrone2_raw gamepad.xml

Magnetometer

• ardrone2_raw magnetometer problem: img_mag_raw stops reading from sensor, then TBE / toiled bowl effect, see ppz-l mails
• fixed <2014-06-10 Tue>

Messages / Debugging / ivyprobe

• use -c parameter for messages to select from message classes
• (telemetry, ground, datalink, …)
• enable debugging messages in GCS / settings app in order to
• receive e.g. IMU_RAW messages

Ivyprobe needs a regexp as parameter to show you something:

• to see all messages: ivyprobe '(.\*)'
• to see a specific message (rotorcraft status for instance): ivyprobe '(.\* ROTORCRAFT_FP .\*)'

With "messages" tool, you can also start with an option to see messages from an other class than telemetry (downlink): messages -c datalink

PID tuning

sluggish yaw response:

[GH]: I have started to fly an ardrone in manual today, and it seems that the SP_MAXR which define the max yaw rate is way to high and can be reduced to 200 deg/s or less for an easier control in manual. Also the gains can be increased compared to the values in example file. I'm using PGAIN=1600 DGAIN=450 IGAIN=120 for PHI and THETA without issues (indoor flight only for now).

Btw, the mag seems to be really crappy…

Lisa/M v2 10-inch quadrotor

Documentation in progress.