Autopilot - Revision history

Aran Dokoupil at 18:08, 15 March 2026

2026-03-15T18:08:53Z

← Older revision		Revision as of 18:08, 15 March 2026
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	Implementing the different sensors into ardupilot and using that data to respond to the environment. These sensors are at least the height sensors and the rudder sensor for the steering angle.		Implementing the different sensors into ardupilot and using that data to respond to the environment. These sensors are at least the height sensors and the rudder sensor for the steering angle.

			As of March 2026, some progress was made with LUA scripting, see git, some additional reading:

			https://ardupilot.org/plane/docs/common-sensor-testing.html

	== Relevant links for configuring Ardupilot ==		== Relevant links for configuring Ardupilot ==

Aran Dokoupil at 20:09, 21 October 2024

2024-10-21T20:09:12Z

← Older revision		Revision as of 20:09, 21 October 2024
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	For steering on foils an extra MCU is added onto the board namely: ATSAMD20E18A. This MCU can receive data from the rudder that gives the steering position and sends it through to the cube.		For steering on foils an extra MCU is added onto the board namely: ATSAMD20E18A. This MCU can receive data from the rudder that gives the steering position and sends it through to the cube.

			== Height Sensors ==
			Currently testing ultrasonic height sensors, the RS485 version of the DYP-A02YY4W-V2.0.

	== Ardupilot settings ==		== Ardupilot settings ==

Quintenlb: Hardware description and future plans.

2023-03-21T22:17:02Z

Hardware description and future plans.

← Older revision		Revision as of 22:17, 21 March 2023
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	To connect to the ardupilot on the cube for tweaking settings and tuning control loops, [https://ardupilot.org/planner/docs/mission-planner-overview.html Mission Planner] will be used. The following section have tweaked settings found in Mission Planner.		To connect to the ardupilot on the cube for tweaking settings and tuning control loops, [https://ardupilot.org/planner/docs/mission-planner-overview.html Mission Planner] will be used. The following section have tweaked settings found in Mission Planner.

	== ~~Setup~~ ==		== Hardware ==
	The cube is a plug-and-play unit and therefore does not need setup changes in the underlying ardupilot software. Only necessary settings should be tweaked.		The cube is a plug-and-play unit and therefore does not need setup changes in the underlying ardupilot software. Only necessary settings should be tweaked.

	Apart from the settings, tuning needs to be done in Mission Planner, this can only be done with the solar boat in the water and therefore no values are known for now.		Apart from the settings, tuning needs to be done in Mission Planner, this can only be done with the solar boat in the water and therefore no values are known for now.

			The ardupilot PCB supports three servo motors, two front and one back motor. It has two isolated power supplies for the servo motors. Support for CAN and the cube is powered by the 24v input from the CAN connection.

			It has its own GPS antenna and four UART serial ports, where Serial1 is used for the MAVLINK connect to Mission Planner that is running on a laptop. Two of these serial ports will be used to implement the height sensors that will be mounted on the boat for measuring the height of the water. This ensures that the system correctly responds to waves where the boat can 'surf' over.

			For steering on foils an extra MCU is added onto the board namely: ATSAMD20E18A. This MCU can receive data from the rudder that gives the steering position and sends it through to the cube.

	== Ardupilot settings ==		== Ardupilot settings ==
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	This mode supports "Automatic Altitude Holding", that makes sure that the same level of altitude is automatically kept. Further testing is needed for determining the control loops and their coefficients.		This mode supports "Automatic Altitude Holding", that makes sure that the same level of altitude is automatically kept. Further testing is needed for determining the control loops and their coefficients.

			Implementing the different sensors into ardupilot and using that data to respond to the environment. These sensors are at least the height sensors and the rudder sensor for the steering angle.

	== Relevant links for configuring Ardupilot ==		== Relevant links for configuring Ardupilot ==

Quintenlb: Added ardupilot picture

2023-03-21T22:04:26Z

Added ardupilot picture

← Older revision		Revision as of 22:04, 21 March 2023
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	== Platform ==		== Platform ==
	Ease of development dictated the choice to run the control loop on existing hard- and software. which was chosen to be Ardupilot running on a [https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview orange cube].		Ease of development dictated the choice to run the control loop on existing hard- and software. which was chosen to be Ardupilot running on a [https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview orange cube].
			[[File:Ardupilot.jpg\|thumb\|Ardupilot PCB with the orange cube mounted.]]
			To make use for our application a PCB has been designed to integrate into the hydrofoil design.

	~~To make use for our application a PCB has been designed to integrate into the hydrofoil design.~~ To connect to the ardupilot on the cube for tweaking settings and tuning control loops, [https://ardupilot.org/planner/docs/mission-planner-overview.html Mission Planner] will be used. The following section have tweaked settings found in Mission Planner.
			To connect to the ardupilot on the cube for tweaking settings and tuning control loops, [https://ardupilot.org/planner/docs/mission-planner-overview.html Mission Planner] will be used. The following section have tweaked settings found in Mission Planner.

	== Setup ==		== Setup ==

Quintenlb: Added ardupilot settings of mission planner

2023-03-21T22:02:12Z

Added ardupilot settings of mission planner

@@ Line 1: / Line 1: @@
 == Platform ==
-Ease of development dictated the choice to run the control loop on existing hard- and software. which was chosen to be Ardupilot running on a Beaglebone blue.
+Ease of development dictated the choice to run the control loop on existing hard- and software. which was chosen to be Ardupilot running on a [https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview orange cube].
 == Setup ==
-For the beagle bone setup follow [https://ardupilot.org/copter/docs/common-beagle-bone-blue.html this] tutorial. The versions of Debian and Ardupilot used in this tutorial are old. The Debian image used on the beaglebone is the [https://rcn-ee.net/rootfs/bb.org/testing/2022-11-01/buster-console-armhf/am57xx-eMMC-flasher-debian-10.13-console-armhf-2022-11-01-1gb.img.xz 10.13 eMMC flasher]. The procedure to flash Debian to the onboard eMMC can be found [https://beagleboard.org/static/librobotcontrol/flashing.html here]. Also make sure to use version 4.3.1 of ardupilot by using the command bellow during the Ardupilot tutorial.
+The settings below are the changed settings used by the ardupilot. There are more ports available on the ardupilot, whenever more are used or are changed the table will be updated.
-<code>sudo wget -O /usr/bin/ardupilot/arduplane https://firmware.ardupilot.org/Plane/stable-4.3.1/blue/arduplane</code>
+This mode supports "Automatic Altitude Holding", that makes sure that the same level of altitude is automatically kept. Further testing is needed for determining the control loops and their coefficients.
 == Relevant links for configuring Ardupilot ==

Aran Dokoupil: /* Relevant links for configuring Ardupilot */

2023-03-10T09:52:42Z

Relevant links for configuring Ardupilot

← Older revision		Revision as of 09:52, 10 March 2023
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	https://ardupilot.org/copter/docs/crash_check.html		https://ardupilot.org/copter/docs/crash_check.html

	https://ardupilot.org/copter/docs/flight-modes.html --~~Stabalize~~ mode seems best fit		https://ardupilot.org/copter/docs/flight-modes.html --FBW-A mode seems best fit for front only, FBW-B for finalized system

			https://ardupilot.org/plane/docs/fbwb-mode.html

	https://ardupilot.org/copter/docs/stabilize-mode.html		https://ardupilot.org/copter/docs/stabilize-mode.html

Aran Dokoupil: /* Relevant links for configuring Ardupilot */

2023-02-17T08:00:58Z

Relevant links for configuring Ardupilot

← Older revision		Revision as of 08:00, 17 February 2023
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	https://ardupilot.org/rover/docs/sonar-sensors.html --Two sonar sensors		https://ardupilot.org/rover/docs/sonar-sensors.html --Two sonar sensors

			https://ardupilot.org/dev/docs/plane-architecture.html --Plane architecture and files

Aran Dokoupil: /* Relevant links for configuring Ardupilot */

2023-02-16T17:29:57Z

Relevant links for configuring Ardupilot

← Older revision		Revision as of 17:29, 16 February 2023
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	https://ardupilot.org/plane/docs/fixed-wing-faq.html --Disable Gyro calibration on start-up		https://ardupilot.org/plane/docs/fixed-wing-faq.html --Disable Gyro calibration on start-up

			https://ardupilot.org/rover/docs/sonar-sensors.html --Two sonar sensors

Aran Dokoupil: /* Relevant links for configuring Ardupilot */

2023-02-16T10:19:56Z

Relevant links for configuring Ardupilot

← Older revision		Revision as of 10:19, 16 February 2023
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	https://ardupilot.org/copter/docs/stabilize-mode.html		https://ardupilot.org/copter/docs/stabilize-mode.html

			https://ardupilot.org/plane/docs/fixed-wing-faq.html --Disable Gyro calibration on start-up

Aran Dokoupil at 14:27, 6 November 2022

2022-11-06T14:27:45Z

← Older revision		Revision as of 14:27, 6 November 2022
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	== Setup ==		== Setup ==

	For the beagle bone setup follow [https://ardupilot.org/copter/docs/common-beagle-bone-blue.html this] tutorial. The versions of Debian and Ardupilot used in this tutorial are old. The Debian image used on the beaglebone is the [https://rcn-ee.net/rootfs/bb.org/testing/2022-11-01/buster-console-armhf/am57xx-eMMC-flasher-debian-10.13-console-armhf-2022-11-01-1gb.img.xz~~<nowiki>~~ 10.13 eMMC flasher]. The procedure to flash Debian to the onboard eMMC can be found [~~</nowiki>~~https://beagleboard.org/static/librobotcontrol/flashing.html~~<nowiki>~~ here]. Also make sure to use version 4.3.1 of ardupilot by using the command bellow during the Ardupilot tutorial. ~~</nowiki>~~		For the beagle bone setup follow [https://ardupilot.org/copter/docs/common-beagle-bone-blue.html this] tutorial. The versions of Debian and Ardupilot used in this tutorial are old. The Debian image used on the beaglebone is the [https://rcn-ee.net/rootfs/bb.org/testing/2022-11-01/buster-console-armhf/am57xx-eMMC-flasher-debian-10.13-console-armhf-2022-11-01-1gb.img.xz 10.13 eMMC flasher]. The procedure to flash Debian to the onboard eMMC can be found [https://beagleboard.org/static/librobotcontrol/flashing.html here]. Also make sure to use version 4.3.1 of ardupilot by using the command bellow during the Ardupilot tutorial.