Arrivata la APM 2.6 arducopter per il multirotore

Dopo la KK ho deciso di passare ad un sistema di navigazione e controllo di volo più evoluto.
Tra i sistemi offerti dal mercato come il DJI Naza, 3DRobotics APM, 3DR Pixhawk PX4 o l’italiana VBrain della Virtual Robotix, la scelta è finita sulla APM 2.6 arducopter, oggi leader nel mondo opensource ed è una delle schede autopilota più economiche, affidabile e molto flessibile, aggiornata costantemente da una marea di persone.

Con una la APM si può costruire un multirotore completo dotato di pilota automatico che supporta molte modalità di volo, tra cui:

    • volo pilotato manualmente
    • volo autonomo senza pilota
    • volare tra decine di waypoint GPS
    • controllo automatico della telecamera
    • decollo e atterraggio automatico.

La APM viene offerta dalla 3drobotics.com a $159.99 senza GPS e dopo svariate ricerche sono giunto alla conclusione di ordinare a mio rischio e pericolo una compatibile venduta da DealExtreame ad un presso molto concorrenziale di 38 euro.sku_313336_3

Dopo 73 giorni dall’ordine finalmente l’APM 2.6 è arrivata, tutto in ottime condizioni, ma ora resta l’incognita del funzionamento.sku_313336_2

Nuovo ordine Telemetria e OSD per APM 2.6

 

RC FPV Skid Undercarriage Landing Gear Kits Set for DJI F550 450
USD$ 23,99 – EURO 17.71


 

433Mhz Single TTL 3D Robotics 3DR Radio Telemetry Kit for APM APM2 – Blue + Green
USD$ 40,55 – Euro 29.94

Descrizione dal sito: 

The 3DR Radio telemetry system is designed as an open source Xbee replacement radio set, offering a lower price, longer range and superior performance to Xbee radios. It’s available in 915MHz; and in the following configurations: serial board (for the air) and USB (for the ground); The radio is a 2-way half-duplex wireless communication system with a standard TTL UART interface, based on HopeRF’s HM-TRP data link modules, and custom firmware that improves upon the modules’ original features and performance; The SiK firmware includes a bootloader that permits radio firmware upgrades over the serial interface, and radio firmware with configurable parameters. Firmware upgrades and configuration are fully supported in the APM Mission Planner. Configuration is also possible through AT commands; The item not support Win 7, please consider before buying; 3DR Telemetry Kit Specifications: Air module size:17 x 45mm (without antenna); Ground module size:17 x 69mm (without antenna); Air module Weight: 16.4g (include cable and antenna); Ground module Weight: 16.8g (include antenna); 433MHz; Receiver sensitivity to -121dBm; Transmit power up to 20dBm (100mW); Transparent serial link; Air data rates up to 250kbps; MAVLink protocol framing and status reporting; Frequency hopping spread spectrum (FHSS); Adaptive time division multiplexing (TDM); Supports for LBT and AFA; Configurable duty cycle; Built in error correcting code (can correct up to 25% data bit errors); Demonstrated range of several kilometers with a small omni antenna; Can be used with a bi-directional amplifier for even more range; Open source firmware; AT commands for radio configuration; RT commands for remote radio configuration; Adaptive flow control when used with APM; Based on HM-TRP radio modules, with Si1000 8051 micro-controller and Si4432 radio module; Please note that it is up to you to make sure you are allowed to use these radio modules in your country; These devices can be used as short range licence expemp devices the UK under ESTI EN300 220, please refer to Ofcom IR2030 document, page 17. You will need to configure the device to comply with your countries regulations;

3DR official instructions:

https://code.google.com/p/arducopter/wiki/APM13DRadio?wl=en

Special setting tool:

http://vps.oborne.me/3drradioconfig.zip

Official PCB and schematic diagram:

http://stuff.storediydrones.com/3DR-Radio.zip

http://stuff.storediydrones.com/3DR-Radio-USB.zip

 


 

On-Screen Display APM OSD MinimOSD ARDUPILOT MEGA OSD APM2.0 APM2.5 – Purple
USD$ 24,51 – Euro 18,10

Descrizione dal sito: 

MinimOSD is a super-tiny board designed by 3DRobotics. It’s all you need to get OSD telemetry data from ArduPilot Mega. Just connect your FPV camera and a video link and you’re ready to fly with instruments on screen. It’s intended to be a dedicated APM telemetry video output. So, it reads MAVLink messages from its RX and request rates from APM if you connect its TX to ArduPilot “telem” port. Important note: You cannot connect the OSD when your APM 2 is also connected via USB (they share the same port).Make sure you disconnect your USB cable from the APM 2 board before attempting to use the OSD. Details It has the Max7456 chip powered by two stages to avoid noises from servos attached to ArduPilot Mega board.

It provides an extra clean power line to feed the FPV camera and video link. The approach is to use two external power sources: 12V from a Lipo Battery and 5V from APM: Raw 12V from Lipo Battery: Feeds directly FPV camera and video transmitter.

It also feeds Max7456’s analog line (AVDD and AGND) by a 5V voltage regulator (avoiding noises from servos attached to APM).

5V from APM telem port: Feeds the ATmega 328P and Max7456’s digital line (DVDD and DGND); Note: Optionally, you can use two solder jumps to “tie” digital and analog lines. MinimOSD has no extra pins exposed, because the concept is “capturing all the needed data from MAVLink”.

E.g.: to show RSSI from RC receiver, that info needs to be on msgs #35 and #36 (RC_CHANNELS “RAW” and “SCALED”).

So, the analog reading of RSSI output from receiver needs to be done on APM analog ports and treated inside the APM code. PAL vs NTSC The format of the video does have an impact on how many characters the OSD can fit on the video feed. The MimimOSD can be configured by the ArduCAM OSD Config Tool to work at PAL or NTSC. The “PAL” solder jumper underneath the board is not used anymore (Firmware 2.0 or above).


 

New APM OSD 90A Voltage / Current Sensor Connector Power Module – Black + Red
USD$ 10,75 – Euro 7,93

Descrizione dal sito: 

Support Max. 90A measurement. 3A UEBC output. Length of cable: 25cm


Glass Fiber Flight Controller Anti-vibration Set/Shock Absorber for APM2.5/2.6 /KK /MWC

USD$ 5,50 – Euro 4,06

Descrizione dal sito: 

Material: glass fiber Suitable for different open source flight controller, such as APM2.5, 2.6, KK, MWC etc.

 

Nuovo Ordine APM2.6 e GPS U-blox LEA-6H

Nuovo materiale, APM2.6 e GPS U-blox LEA-6H, ordinato su DealExtreme per lo sviluppo del multirotore :

Sostegno per GPS: Axis GPS Foldable Antenna Holder Base
USD$ 9,37 – Euro 6,92


 

Scheda controllo di volo: APM2.6 APM Flight Controller Board w/ Side-Pin Connectors for Multi-copter ARDUPILOT MEGA 2.6
USD$ 58,71 – Euro 43,36


 

GPS per la APM2.6: U-blox LEA-6H High Accuracy GPS Module with Cable for APM2.5.2 ArduPilot MWC FPV
USD$ 53,13 – Euro 39,23

 

Speriamo che arrivino integri e soprattutto che funzionino senza troppi problemi.

3° volo

Ora si vola!

Pochi minuti di volo ma essenziali per stabilire i futuri set della radio. Durante il terzo volo, affrontato in una zona abbastanza isolata e priva di vento, sono stato costretto più volte a bruschi atterraggi senza riportare danni.

A priori, i comandi di movimento sono stati settati al 30% esponenziale, questo mi ha dato più fluidità negli spostamenti e il quadricottero in volo si è comportato molto bene, in assenza di comandi è stabile e fermo nella posizione in cui viene lasciato.

Come è finita? Con la totale inesperienza nel impartire i comandi di volo ho causato la perdita di controllo del Quad,  finito con un bel crash spettacolare in un fossato pieno d’acqua.

Recuperato il quadricottero dal fondo del fossato immerso in mezzo metro di acqua, con un elica lievemente danneggiata ed alimentato, ho staccato la batteria e messo al sole ad asciugare.

l


English version


Now you are flying!

A few minutes of flight but essential for establishing the future set of the radio. During the third flight, dealt with in a fairly isolated and no wind, I was forced several times a hard landing with no damage.

A priori, the movement controls have been set to 30% exponential, this gave me more fluidity in the movements and the quadricopter in flight has performed very well in the absence of controls is stable and firm in the position where you left off.

How did it end? With the total lack of experience in imparting the flight controls have caused the loss of control of the Quad, finished with a pretty spectacular crash into a ditch full of water.

Quadricottero recovered from the bottom of the moat surrounded by two feet of water, with a slightly damaged propeller and powered up, I disconnected the battery and put in the sun to dry.

Settaggio ESC Turnigy Plush 25A

Dopo qualche test, ricerche in rete e consigli da più esperti ho cambiato i valori di default, illustrati nella foto1, con quelli riportati nella foto2. La programmazione è finalizzata per dare una risposta più fluida ai motori.

Con la Turnigy Programming Card ho programmato i 4 ESC nel seguente modo:

1 Brake:                    OFF
2: Battery Type :       Ni-xx
3: Cut Off Type :      Soft-Cut
4: Cut Off Voltage :  Low
5: Start Mode:           Normal
6: Timming Mode:     High
7: Music/Li-Po Cells :   Tutti spenti
8: Governor Mode:     OFF

FOTO1 : SET di default
FOTO1 : SET di default
FOTO2 : SET dopo la programmazione
FOTO2 : SET dopo la programmazione