erfan

which parameter to change to fly to a certain Altitude??

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hello ,
I want to fly to a certain altitude with a certain speed( not too much speed as it  happened during my last fly) during loiter and RTL and auto mode  . but I am not sure which parameter should I change to ensure that my copter is not flying too far away.
I would suppose some of them are as follows. Any one has any experience to fly with changing these parameters? @Spitfire76

RTL_ALT

LAND_ALT_LOW

PILOT_ACCEL_Z

LOIT_SPEED
LOIT_ACC_MAX

PILOT_SPEED_DN

PILOT_SPEED_UP
WPNAV_SPEED
WPNAV_ACCEL
WPNAV_ACCEL_Z
 

 

Edited by erfan

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3 hours ago, erfan said:

I am not sure which parameter should I change to ensure that my copter is not flying too far away.

You can use mission planner to configure a GeoFence.

http://ardupilot.org/copter/docs/ac2_simple_geofence.html

P.S I've noticed that your posts are appearing in the pilot lounge catergory but the DIY would be more appropriate.

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35 minutes ago, Spitfire76 said:

You can use mission planner to configure a GeoFence.

http://ardupilot.org/copter/docs/ac2_simple_geofence.html

P.S I've noticed that your posts are appearing in the pilot lounge catergory but the DIY would be more appropriate.

Okay.

I have a Question regarding to this .

do you know what happns if I set the fence_Radius to 2 meters althought the min is 30 meters?

or setting the fence_Alt_max to 2 meters althought the min is 10 meters? 

would it be still  okay ? 

I am asking because I want to have a little area covered(6-7 meters ) only and fly not more than 3-4 meters above the ground.

@Spitfire76

Edited by erfan

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25 minutes ago, erfan said:

do you know what happns if I set the fence_Radius to 2 meters althought the min is 30 meters?

It looks like the FENCE_RADIUS parameter range is 30 to 10000m so I suspect you will get an error if you try to set it lower. Typically the GPS is only accurate within a few meters, same with the altitude unless you are using a lidar range finder instead of the onboard barometer. I believe that GPS RTK is more accurate (down to a few cm) but I have no experience with its as it out of my budget.

Edited by Spitfire76

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On 5/12/2019 at 12:37 PM, Spitfire76 said:

It looks like the FENCE_RADIUS parameter range is 30 to 10000m so I suspect you will get an error if you try to set it lower

I tried this on the ArduCopter SITL and although it does warn you that the value is out of range it does give you the option to continue and change it. So yes you can set it to 2 m but again the GPS is not so accurate so having such a low radius may cause problems.

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9 hours ago, Spitfire76 said:

I tried this on the ArduCopter SITL and although it does warn you that the value is out of range it does give you the option to continue and change it. So yes you can set it to 2 m but again the GPS is not so accurate so having such a low radius may cause problems.

Yes I also tried and it accepted it,

but from what range is the GPS accurate ?! 

I need to fly at lower as possible ...?

@Spitfire76

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5 hours ago, erfan said:

I need to fly at lower as possible ...?

It is but I would not rely on the barometer that's in the flight controller. You need a more accurate range finder at low altitudes.

http://ardupilot.org/copter/docs/common-rangefinder-landingpage.html

I've used an ultrasonic one as it was the most economical 

http://ardupilot.org/copter/docs/common-rangefinder-maxbotix-analog.html

but if I were to add one these days I would try out one of these

http://ardupilot.org/copter/docs/common-teraranger-one-rangefinder.html

I'm currently building a fixed wing drone and a rangefinder is essential for antonymous landing so will likely use one of those although they are that cheap.

Edited by Spitfire76
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On 5/15/2019 at 4:09 PM, Spitfire76 said:

 

but if I were to add one these days I would try out one of these

http://ardupilot.org/copter/docs/common-teraranger-one-rangefinder.html

I'm currently building a fixed wing drone and a rangefinder is essential for antonymous landing so will likely use one of those although they are that cheap.

Thanks,

I have two questions:

1) is this for controling the height?! 

Or is it like collision avoidance sensors?

2) the Adapter Tera one I2C supports 3-4s battery.

I have a 6s battery , How Can I use this adapter ?!

@Spitfire76

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https://www.terabee.com

10 hours ago, erfan said:

1) is this for controling the height?! 

If the sensor is pointing down it can be used as an accurate way of measuring the distance the aircraft is off the ground.

 

10 hours ago, erfan said:

Or is it like collision avoidance sensors?

Yes, if mounted horizontally and configured appropriately although several sensors would be need for all round collision detection.

https://www.terabee.com/shop/lidar-tof-multi-directional-arrays/teraranger-tower-evo/

10 hours ago, erfan said:

2) the Adapter Tera one I2C supports 3-4s battery.

No a big deal, in that case you just add a BEC that supports a 6S input voltage and provides a 3s output. 

Again, I have not used any of their products so I can't say if they work well or not although as I mentioned before I am considering using one of their products for use in a fixed wing UAV. Also I may look into their EVO sensors rather than their first generation Terra Ranger One.

https://www.terabee.com/sensors-modules/lidar-tof-range-finders/

Edited by Spitfire76
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10 hours ago, Spitfire76 said:

 

 

https://www.terabee.com

If the sensor is pointing down it can be used as an accurate way of measuring the distance the aircraft is off the ground.

 

Yes, if mounted horizontally and configured appropriately although several sensors would be need for all round collision detection.

https://www.terabee.com/shop/lidar-tof-multi-directional-arrays/teraranger-tower-evo/

No a big deal, in that case you just add a BEC that supports a 6S input voltage and provides a 3s output. 

Again, I have not used any of their products so I can't say if they work well or not although as I mentioned before I am considering using one of their products for use in a fixed wing UAV. Also I may look into their EVO sensors rather than their first generation Terra Ranger One.

https://www.terabee.com/sensors-modules/lidar-tof-range-finders/

Thanks,

1)you mean using a power module ?! 

I am already using one but I need another one which has 2 outputs of 12 vand two outputs of 5.3 v.

is sth like this available  ?!

2) I found this one also in ardupilot website :

http://ardupilot.org/copter/docs/precision-landing-with-irlock.html

 

what is difference between this and tera one ?

which one do you suggest?!

@Spitfire76

 

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6 hours ago, erfan said:

1)you mean using a power module ?! 

It looks like if you use one of their Evo series sensors then power is obtained from the Pixhawk.

https://www.terabee.com/connection-to-pixhawk-autopilots-teraranger-evo/

What you may need though is an I2C hub as your compass maybe already be using the I2C port but I would need to check into that further.

Edited by Spitfire76

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