Ardupilot Fixed-wing with PCAC for Echopilot

This codebase builds on prior work of pcac.cpp and pcac.hpp to implement PCAC in ardupilot on a fixed-wing vehicle. This means that the core pcac code is designed to be implementation-independent. A wrapper, AP_PCAC, interfaces pcac.cpp with the implementation-specific details. The functions for the elevator, throttle, and rudder/aileron lateral instances of pcac are scheduled in plane.cpp at a fixed rate on a single thread. This is one of the limitation of Ardupilot- it is not designed to run as a multithreaded program, and once oneStep is called, it will run until completion. This is markedly different from PX4, which is a multithreaded design where oneStep can be interrupted once an interval has been completed.

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Cloning the repository and install

https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux

  git clone git@github.com:DunkTheDoughnut/ardupilot.git
  Tools/environment_install/install-prereqs-ubuntu.sh -y
  . ~/.profile

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parent of 28fe9f2468 (Merge branch 'ArduPilot:master' into master)

Setting up simulation environment

This respository has been tested on Ubuntu Jammy.

Install qGroundControl

https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html

Install gdb

https://ardupilot.org/dev/docs/debugging-with-gdb-on-linux.html

Install python3

https://www.python.org/downloads/

Update python libraries

  pip install --upgrade numpy
  sudo apt install python3-tk
  export MPLBACKEND=Qt5Agg

Rebuild MAVLink messages

Copy ardupilotmega.xml from ros2pcac repository

    cd ./modules/mavlink/pymavlink$
    python3 -m pip install Cython wheel setuptools future --user
    python3 setup.py install --user

Build SITL

  ./waf clean #(not necessary every time)
  ./waf configure --board sitl #(or desired target)
  ./waf plane -j3 --debug

Build and Flash Echopilot FMU

On a host computer

  ./waf clean #(not necessary every time)
  ./waf configure --board EchopilotAI --enable-custom-controller
  ./waf plane

Ensure the board is powered off Connect one end of a USB cable to the FMU USB port

  ./waf plane --upload

Once the "waiting for bootloader..." screen appears, plug the other end of the USB cable into the host computer. Ensure the cable is not unplugged during the flash process.

GDB Commands

r (run)
break file:linenumber (optional)
break class::function (optional)
delete <breakpoint number>
n (next line/step over))
s (step into)
u (step out)
c (continue to next breakpoint)
CTRL + c (break)
q (quit)
print *<Eigen Matrix>.m_storage.data()@(<size>)

info threads (show threads)
set scheduler-locking on (prevent changing threads)

GDB debugging after failure

bt (backtrace)
frame <frame number>
print <variable>

Common Failures

(bind failed - Address already in use) sudo lsof -i : sudo kill -9

Debugging console (without mavproxy or sitl setup)

gdb --args build/sitl/bin/arduplane --model plane --defaults Tools/autotest/models/plane.parm

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ArduPilot is the most advanced, full-featured, and reliable open source autopilot software available. It has been under development since 2010 by a diverse team of professional engineers, computer scientists, and community contributors. Our autopilot software is capable of controlling almost any vehicle system imaginable, from conventional airplanes, quad planes, multi-rotors, and helicopters to rovers, boats, balance bots, and even submarines. It is continually being expanded to provide support for new emerging vehicle types.

The ArduPilot project is made up of:

• ArduCopter: code, wiki

• ArduPlane: code, wiki

• Rover: code, wiki

• ArduSub : code, wiki

• Antenna Tracker : code, wiki

User Support & Discussion Forums

• Support Forum: https://discuss.ardupilot.org/

• Community Site: https://ardupilot.org

Developer Information

• Github repository: https://github.com/ArduPilot/ardupilot

• Main developer wiki: https://ardupilot.org/dev/

• Developer discussion: https://discuss.ardupilot.org

• Developer chat: https://discord.com/channels/ardupilot

Top Contributors

• Flight code contributors
• Wiki contributors
• Most active support forum users
• Partners who contribute financially

How To Get Involved

• The ArduPilot project is open source and we encourage participation and code contributions: guidelines for contributors to the ardupilot codebase

• We have an active group of Beta Testers to help us improve our code: release procedures

• Desired Enhancements and Bugs can be posted to the issues list.

• Help other users with log analysis in the support forums

• Improve the wiki and chat with other wiki editors on Discord #documentation

• Contact the developers on one of the communication channels

parent of 28fe9f2468 (Merge branch 'ArduPilot:master' into master)

License

The ArduPilot project is licensed under the GNU General Public License, version 3.

• Overview of license

• Full Text <<<<<<< HEAD =======

Maintainers

ArduPilot is comprised of several parts, vehicles and boards. The list below contains the people that regularly contribute to the project and are responsible for reviewing patches on their specific area.

• Andrew Tridgell:
  • Vehicle: Plane, AntennaTracker
  • Board: Pixhawk, Pixhawk2, PixRacer
• Francisco Ferreira:
  • Bug Master
• Grant Morphett:
  • Vehicle: Rover
• Willian Galvani:
  • Vehicle: Sub
  • Board: Navigator
• Michael du Breuil:
  • Subsystem: Batteries
  • Subsystem: GPS
  • Subsystem: Scripting
• Peter Barker:
  • Subsystem: DataFlash, Tools
• Randy Mackay:
  • Vehicle: Copter, Rover, AntennaTracker
• Siddharth Purohit:
  • Subsystem: CAN, Compass
  • Board: Cube*
• Tom Pittenger:
  • Vehicle: Plane
• Bill Geyer:
  • Vehicle: TradHeli
• Emile Castelnuovo:
  • Board: VRBrain
• Georgii Staroselskii:
  • Board: NavIO
• Gustavo José de Sousa:
  • Subsystem: Build system
• Julien Beraud:
  • Board: Bebop & Bebop 2
• Leonard Hall:
  • Subsystem: Copter attitude control and navigation
• Matt Lawrence:
  • Vehicle: 3DR Solo & Solo based vehicles
• Matthias Badaire:
  • Subsystem: FRSky
• Mirko Denecke:
  • Board: BBBmini, BeagleBone Blue, PocketPilot
• Paul Riseborough:
  • Subsystem: AP_NavEKF2
  • Subsystem: AP_NavEKF3
• Víctor Mayoral Vilches:
  • Board: PXF, Erle-Brain 2, PXFmini
• Amilcar Lucas:
  • Subsystem: Marvelmind
• Samuel Tabor:
  • Subsystem: Soaring/Gliding
• Henry Wurzburg:
  • Subsystem: OSD
  • Site: Wiki
• Peter Hall:
  • Vehicle: Tailsitters
  • Vehicle: Sailboat
  • Subsystem: Scripting
• Andy Piper:
  • Subsystem: Crossfire
  • Subsystem: ESC
  • Subsystem: OSD
  • Subsystem: SmartAudio
• Alessandro Apostoli :
  • Subsystem: Telemetry
  • Subsystem: OSD
• Rishabh Singh :
  • Subsystem: Avoidance/Proximity
• David Bussenschutt :
  • Subsystem: ESP32,AP_HAL_ESP32
• Charles Villard :
  • Subsystem: ESP32,AP_HAL_ESP32

parent of 28fe9f2468 (Merge branch 'ArduPilot:master' into master)