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Autonomous flight

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The only step you need to take when going to stabilized to autonomous mode is changing the "Heading to roll" PID parameters. A good value to start with is a "P" of 0.8. The other values can stay as they are (0). If you wish to use the altitude from the navigation commands as well, uncheck the checkbox configuring this in the "Control" tab.

The Gluonpilot navigation engine uses a simple scripting language. Currently, the following commands are supported:

  • CLIMB (x) : Fly in the direction of the wind (heading during take-off) until you reached "x" meters
  • GOTO (x) : Next line to execute is line # x
  • CIRCLE_REL (x, y, a, b): Circle at x meters right and y meter above the home position, with a radius or a meter and a height of b meters
  • CIRCLE_ABS (x, y, a, b): Circle at position (in degrees) x longitude and y latitude, with a radius or a meter and a height of b meters.
  • FLY_TO_REL (x, y, a): Fly to the position at x meters right and y meter above the home position, with a height of a meters
  • FROM_TO_ABS: Fly to the position (in degrees) x longitude and y latitude, with a height of a meters
  • FROM_TO_REL (x, y, a): Fly to the position at x meters right and y meter above the home position, with a height of a meters. Follow the line from the previous waypoint to this waypoint.
  • FROM_TO_ABS: Fly to the position (in degrees) x longitude and y latitude, with a height of a meters. Follow the line from the previous waypoint to this waypoint.

Remark:

  • The CIRLCE command automatically goes to the next line at each call. This means you better add an "UNTIL" command after that.
  • The FLY_TO and FROM_TO commands go to the next line when it is within "radius" distance of the point, and is not getting closer any longer.


How to fly a circle around the take-off position:

  1. CIRCLE_REL(0, 0, 100, 100)
  2. GOTO 1


How to fly a square around the take-off position:

  1. FLY_TO_REL(100, 100, 100)
  2. FLY_TO_REL(-100, 100, 100)
  3. FLY_TO_REL(-100, -100, 100)
  4. FLY_TO_REL(100, -100, 100)
  5. GOTO(1)


Result of these commands

More advanced flight:

  1. CLIMB(35m)
  2. CIRCLE_RELATIVE(lon: 0m, lat: 0m, radius: 100m, height: 150m)
  3. UNTIL(Height(m) > 145)
  4. FLY_TO_REL(lon: -150m, lat: 150m, height: 145m)
  5. FROM_TO_REL(lon: -150m, lat: 150m, height: 145m)
  6. FROM_TO_REL(lon: 150m, lat: 150m, height: 145m)
  7. FROM_TO_REL(lon: 150m, lat: -150m, height: 145m)
  8. FROM_TO_REL(lon: -150m, lat: -150m, height: 145m)
  9. GOTO(5)

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