Completing the ArduPilot Mega hardware
What you'll need:
Assembly: First, solder on the 3x16 right angle header for the RC connectors.
Next, we'll cut the headers to attach the IMU shield. Here are the headers that come with the shield
Push a strip of male headers into each row of female headers, then snip off the remaining parts:
When you're done, you should have one male header for each female header:
Now remove the male headers and place them in the holes of the ArduPilot Mega board as shown here:
Place a paper notebook on top of the pins and then, holding the board to the notebook, turn it upside down so you can solder the pins on the back of the board.
Once you've soldered on all the pins, turn the board back over and place the matching female headers on each row of male headers:
Now carefully place the shield on top, ensuring that all the female header pins line up with the right holes, as shown here:
Solder a few pins on each row to hold everything in place, then gently remove the shield. Once it's off, finish soldering all the remaining pins. When you're finished and turn the shield over, it should look like this:
Now you can gently put the shield back on the ArduPilot Mega board. The paired boards should look like this:
Finally, attach your GPS module as shown below (MediaTek module shown). It goes in the connector on the APM board, not the similar one on the IMU shield (that one, which says "No GPS!", is an I2C connector for the optional magnetometer or other I2C sensor).
(Optional) Covering the barometric pressure sensorIf you are going to mount your APM board in the open and exposed to the airstream, the wind can distort the altitude sensor readings. So in such cases, it's best to cover the barometric sensor input with a breathable wind shield. Part of a cotton pad (like a makeup removal pad) is perfect (a bit of breathable foam would work, too). Just tape it over the sensor as shown:
(Optional) Adding the magnetometerWhen in motion, ArduPlane gets its heading data from the GPS module. But to get accurate heading data on the ground you need a magnetometer. A magnetometer will also improve navigation in the air. Instructions on mounting it are here. (Optional) Voltage-measuring resistors
You'll note that your APM kit came with four resistors, which are optional and are only used if you want APM to measure and report the voltage of your on-board battery. This can be useful if you have telemetry hooked up and you want to see this data in your ground station, as an indicator of how much battery power you have left. Instructions on how to do this are here. Don't plug it into your computer's USB port yet. We're going to do that in the next step after we install the Mission Planner. | |
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I suggest adding this to the "what you will need" list: 4 to 8 short RC extension cables (buy the number of channels utilised on your airframe(s))
Can be shortened of course. Should be linked to http://store.diydrones.com/product_p/pr-0003-03-5cm.htm Brett G
brett: they's listed on the next page, on connecting your RC equipment. That seemed to be a more appropriate place. http://code.google.com/p/ardupilot-mega/wiki/RC
How and where would one install the magneto board? Would it be soldered or breakaway?
I've attached the hmc5843 magnometer (http://store.diydrones.com/product_p/br-hmc5843-01.htm) to the arduPilotMega today.
The way I did it was to modify a GPS connector (http://store.diydrones.com/product_p/ca-0001-04.htm) and connect the "I2C Port" ("No GPS" is also written there) on the front of the oilPan to the magnometer. It's the rightmost 4 pins of this "I2C Port"/"No GPS" port that should be conncted to the magnometer. The pins are even in the correct order but if there's any doubt, you can look at the bottom of the OilPan? where you should see "SCL", "SDA", "+5V", "GND" written and these should be matched up to the pins on the magnometer.
Would it make any difference to flight which the board is pointing in plane? Radion 3x8 pins pointing aft or pointing foreward?
3x8 pins to back, gps port to front of plane see http://code.google.com/p/ardupilot-mega/wiki/RC Myself
I noticed that you dropped EM406 GPS. Is there a particular reason for that?
rasit: The EM406 is just a 1hz GPS, and IMU autopilots works better with faster update speeds since you need the directional vector to complete the attitude equation. We might support the EM406 later, just for backwards compatibility, but it's not top priority now.
OK. It seems that you're happy with the MediaTek? GPS (though it does not look as fancy as ubox, yet it is much cheaper).So, I'll go with it.
Well, I got a uBox, instead, after reading some reviews. I'm having a trouble with it, though. I'm getting values for Lat, Lon, Alt, COG, and Tim, but SAT and Fix appears to be zero all the time. I assume the GPS is programmed for ArduPilot?, but... Any comments?
moraes: I don't understand the question. Please clarify.
I guess, you meant rasit, instead of moraes? I'm referring to the GPS_UBOX_test program. My question was/is why the SAT value is always zero, although the other values are no-zero. Thx...
ublox configured for APM do not report number of sats. You would need to re program it to output SAT, if you need it . But APM does not need it.
I have ardupilote mega with ardupilot IMU shield. I ordered the Ardupilot shield V2 which has the pitot sensors on it. The IMU shield has three pins for interface to a airspeed sensor, but I can't seem to find the spot on my ardupilot shield V2 to hook up the airspeed sensor. I have read everything I can find with no clue! Can anybody help me please?
Hello,
How is it possible to link the following magnetometer: HMC5843 http://www.sparkfun.com/commerce/product_info.php?products_id=9371 To the IMU? It is an I2C Magneto with a 3V3 input. Thank you for your help
Madf78: as mentioned above, the magnetometer is plugged into the I2C port
hi, just a quick question, the usb connection on the sield works also for ardupilot or theres a need for second ftdi for it?
what does the voltage divider do for the IMU board? Should I solder the resistors in?
Andrew, that's the optional voltage monitor. Keep reading in the manual and you'll get to it. http://code.google.com/p/ardupilot-mega/wiki/Voltage
Small error above I think here:
"Plugging it into your computer
APM uses a microB USB cable"
Actually it's a Mini USB connector.
Thanks. Fixed!
I've been working with programing arduino wirelessly via xbee. The fio and the stalker are good eaxmples of boards that support this. When it comes to ardupilot the ftdi mates with the oil pan in such a way that the dtr,tx and rx of serial0 are inacceissible. It would make life much easier to program APM via xbee instead of using usb or ftdi cables. If the tx and rx were more acessible when the oil pan is fitted this would allow very easy xbee>arduino programming. Yes, without dtr, the reset button would need to be pressed on the apm to program but that is easier than attaching cables. Obviously if the dtr was more available then a seemless wireless programming solution would be possible negating the need to click the reset. This would allow xbee to use serial0 so an additional benefit would be to free up the teleport (serial3) for other uses. So in summary, some minor changes to either apm or oil pan or both would allow remote apm programming.
I am considering purchasing a second Ardupilot-Mega Kit but have heard that there may be a newer PCB coming out that does not have the "piano" dip switches. Is this true and if so, when will the newer version be available?
Allen
Allen: That's mistaken. APM (airplane version) uses the DIP switches, so we'll be keeping them for a long time.
Everything was working perfectly when I was testing the APM system on the bench, then the battery lead came off. When I reattached it, the IMU suddenly refused to accept power from the battery, only from the USB. I tried resetting, reloading the firmware, etc. (grasping at straws) but it seems something power-related on the IMU stopped working (the APM mainboard seems to still work fine). Is this a common failure mode symptom? Is there any remedy besides tossing the IMU and getting a new one?
bagd: yes, Ardupilot and Arducopter are just different code bases that run on the same APM hardware. You can switch from one to the other any time you want.
Can any one please provide the schematics of the GPS board. I would like to use it outside APM to get GPS data. The connector has 6 wires and I have no idea wich wire is connected to which sigal. The schematics will help me sort this out.
Thanks Sunit
Getting GPS lock was a pain until I noticed the connectors are not reliable. I tried hot-gluing the molex connectors in place but its not the plastic body coming loose its the actual connectors. Yikes. Wondering if anyone else has junked connectors for interconnecting GPS to IMU board with soldered on wires.
Also SW2 is easily "peeled" up if you are not careful. I suggest gluing it down before it gets bumped and avoid tearing the foil off the circuit board.
hi guys is there any way to feed the ardupilot with a separate battery? because when i feed the ardupilot whit ESC battery it doesn't work properly!
raha: yes, you can use the built-in power regulator. Instructions are in the manual here: http://code.google.com/p/ardupilot-mega/wiki/Hardware
The Sparkfun link provided to purchase a cable is not correct. It brings up a cable with a mini USB end and a printer USB cable end.
Steve: Thanks for the catch. Fixed...
i have this controller + xbee radio + gps. Im trying to use this for an autonomous go cart also controlled with RC remote(Futaba-7channel reciever). i know channel 3 is for throttle. can i use channel 4(rudder) for turning left n right and 5(landing gear) for brakes? also i have a linear actuator on the cart, i think its a bit of an overkill, can the brake channel be used to stop the cart entirely, even with ultra sonic sensors?
See Ardurover.com
thanks a ton, great help on ardurover.com
damn... I just lost about 5 hours just because I plugged the GPS module to the wrong connector... I triple-checked everything, flashed the firmware three times, did the radio and modules setup a dozen times, tested different usb cables, receivers, transmitters, everything!!
Why are there two identical connectors? Why are both labeled with "GPS"! (the "N0" infront of "GPS" does not help at all...) Why is the GPS blinking blue and also the "C" LED when the wrong connector is used? Why does the APM in manual mode, CLI etc. work correctly but only fails sometimes to use any of the automatic-modes? Why does the IMU-test in the CLI work correctly, but the flight-data-view in the FlightPlanner? only shows sometimes real IMU-data?
That is all very very confusing and misleading...
But I guess that problem will be gone with the APM 2.0 :-) I already preordered it.
I just want to say that the obvious thing missing here is any mention of static protection. The shot of the scotch tape holding the pad over the pressure sensor shows an absolute no-no. You can generate in excess of 10000 volts pulling tape off of the spool. Not good if it gets unleashed on the electronics package.
Why can a get a GPS lock when I am connected using the USB, but 30 minutes goes by and no GPS lock using the XBEE telemetry? Thank you!
Can somebody get tell me the dimensions of the assembled kit?
I have assembled the apc and IMU and they seem to work fine. On installing an Xbee I discovered that there is no 5v on the port. Further testing shows there is no 5v on the airspeed pitot port either. Any suggestions?
I installed a jumper to supply 5 v to the xbee. It will loop back if tx/rx are shorted but no mavlink data comming across. Do you think the IMU is defective?
Is the shield necessary if I just want to control the RC vehicle with the ArduPilot? and not have all the IMU data?