My Flying Wing UAV platform

[lukasz]

Tom,
Are configuration files from version 0.3 compatible with the latest version?

If so can I upgrade the firmware to version 0.4 and use existing configuration files that I have?
Also If I don't configure Navigation tab than what happens after I switch to AP mode?

If I want to use track mode (Dataloging->Save->KML->track) functionality than do I need to install any 3rd party software? I'm asking because I opened one of my existing xml files (version 0.3) and gluonconfig tool v0.4 crashed.

[Tom]

See the blog post!
Basic navigation, new Gluonconfig, more settings...

Don't forget to save your settings in a .gcf file before upgrading the firmware (settings might be lost)

[lukasz]

Just yesterday I have found some time to test latest Firmware in action.

I started off once again with testing Stabilized flight. After double checking that all works as expected I started off with AP mode with CIRCLE_REL command:

Latitude: 0
Longitude: 0
Radius: 150
Height: 100

I flew to safe altitude, stabilized the flight and switch to AP.
Plane rolled to left and started a turn (circle figure). One thing I noticed that it was loosing altitude during this turn.
Every time I switched to AP it was doing a turn with loosing high.

I decided to land and double check everything.
And then came out following questions
- is given above high relative to take off position or GPS position?
- is the calibration and position of the gluonpilot board correct? I started to double check gluonpilot calibration - originally this calibration was done on flat table and then put into the plane. I have added additional pad bolts in the rear mount of the board to change the angle.

Except changing gluonpilot position angle in the plane I have changed flying height to 150m.

The flight was much better. I did 4 full circles in AP mode, but still altitude wasn't stable, but much better.
I guess that I have to work on better calibration.

Now here is the flight path:

04.09_Circle_rel.JPG (162.8 KiB) Viewed 73792 times

And here is another photo of my plane in the field:

04.09.2010_2.JPG (274.87 KiB) Viewed 73792 times

[Tom]

Since v0.4 there is a new feature to calibrate the gyro's in the field:
- Roll to the right using your RC-transmitter
- At the same time yaw (=rudder channel, don't forget to configure this channel if you don't use it on your plane) to the left with your RC-transmitter
- Keep it like this for about 2 seconds (and make sure the plane isn't moving)

Did you calibrate on the bench using your ESC's power supply?

The height is relative to the ground using the pressure sensor;

[lukasz]

I did the calibration on the bench without ESC but calibrated in the field using ruder and yaw just before take off.

Also regarding Height, having this set to 150m the Plane was flying at this height +/- 10-20m - I guess this is acceptable.

[Koaxpilot]

hi lukasz

your plane looks very good
do you have an instruction for this ?

i have the Gluonpilot to in a flying Wing

[lukasz]

Do you mean a plan or what kind of instruction?

[Koaxpilot]

yes i mean a plan

sorry for my bad english but i doesn´t juse a translater because i will learn english ^^

[lukasz]

whole idea was taken from following project page:
http://tzagi.altervista.org/ (select "step by step" from page menu)

Instead of using tape to cover the wing I used 1mm balsa.
Also I did some additional modifications.

But dimensions and and wing profile are same as in above project.

[Koaxpilot]

thank you wery mutch