Ardupilot cruise speed. It must be a mission planner bug.
Ardupilot cruise speed. Base throttle percentage in auto (APMrover2:CRUISE_THROTTLE) The base throttle percentage to use in auto mode. Oct 4, 2016 · Hi I can’t seem to find the airspeed value in the log file - I can find ground speed, but not air speed. The project is a boat with skid steering, the plan is to use servos 1 and Jul 5, 2016 · I’m trying to get my rover tuned up and one of the steps is to set cruise_throttle to your throttle percentage when the rover is going at a speed equal to your cruise_speed. 7. Battery was “2200” 3S LiPo. it was possible to change it with “trim_airspd_cm” in full parameter list. I want to have my aircraft in Soar mode on my Waypoint mission with a desired and sometimes changing trim speed according to my planned mission. I am using an airspeed sensor and have tuned all the normal params. I used QGroundControl and did a test where I went a distance in both North/South directions at 15, 20, 25, and 30 mph. I’ve noticed Apr 15, 2015 · Hello! Working on tuning, and following the steps to set the ‘initial’ throttle to achieve the target cruise speed. 8 Cheers. Tuning¶. Changing the WP_SPEED, however, appears to correctly set the speed. Nov 13, 2023 · Hai All, I am building a boat using the Pixhawk 6C running the ArduRover firmware (V4. There are some height variations when flying in cruise mode (without pitch stick input) - maybe 15-20 meters. Setup the desired cruising speed and throttle in FBWA. cpp: // estimate maximum vehicle speed (in m/s) // cruise_speed is in m/s, cruise_throttle should be in the range -1 to +1 float Mode::calc_speed_max(float cruise_speed, float cruise_throttle) const If the level step of calibration is done with the plane's fuselage line level, initial flights will be safe, but the aircraft may not hold altitude at the desired flying speed in non-altitude controlled modes (i. In RTL and loiter the speed is correct but in cruise it is approx 10mph higher. 0, AUTO mode will only look at WP_SPEED for setting the desired speed. An example is to set a specific airspeed or ground speed, then flip into that custom mode, and have the throttle controlled by the autopilot, based on airspeed readings, as a Aug 22, 2018 · “What was your level cruise flight” That would be about 69A , I wrote that the wind were 7-8m/s so the “hover” I wrote down was equivalent of a “cruise” with GS about 7-8 m/s if wind gets significantly slower next few days - I’ll do some cruise speed vs power tests of different speeds. bin file here: [will be included later. Airspeed Sensor Type¶ Jul 12, 2021 · Actually You can do second measurement - speed at constant height and speed vs current amps drawn This should also show you optimal working point for your drone, as amps are proportional to power used Power = I^2*R. Drive the vehicle at between 50% and 80% throttle. Installing the Script¶ Set SCR_ENABLE = 1 to enable scripting and then reboot the autopilot. A typical copter can reach top speeds of 10m/s ~ 13m/s (i. I set auto_servo_trim on to compensate the cg. I appreciate that. I have been tuning and tested the wing for some time now, and it is flying fine in manual, stabilise, guided modes and auto, except cruise mode. 2, if WP_SPEED was zero, AUTO mode would use CRUISE_SPEED as the target speed. Maybe the efficiency will go up maybe down, you have to test. Mar 5, 2021 · Hello everyone! Today, I tried the Desired Speed to Throttle PID tuning. 16 and stored as 0. sp perhaps? Oct 26, 2020 · HI all, I would like to tune my quad’s cruise speed in loiter mode to get maximum efficiency for max endurance and long flights but i couldn’t find any entry in a tree? It would be nice to get a efficiency trace along with GPS speed to find the best possible speed for best possible efficiency. Aug 28, 2021 · Hi Allister, Thank you for spending time on my log. 0. You can find the . It would be great to be able to change the speed in automatic mode by just turning this little knob. 1 use only WP_SPEED ), this linearly increases to the Jan 23, 2024 · Said that, I am still confused by the sharp altitude loss during cruise mode while the Vertical Speed showing ascending? Allister (Allister Schreiber) January 24, 2024, 2:27am Mar 1, 2018 · Dear all, Can cruise_speed and cruise_throttle be assigned as negative values? If so, What will the rover act? The code is as the following: // estimate maximum vehicle speed (in m/s) float Mode::calc_speed_max(float… Jan 6, 2022 · Hey guys, need some assistance with understanding how to select a cruise speed for a VTOL (Quadplane) aircraft that will have an MTOW of 32 kg. The vertical speeds up and down can similar be adjusted with the Speed Up (WPNAV_SPEED_UP) and Speed Dn (WPNAV_SPEED_DN) parameters. In 4. ArduPilot Jun 1, 2017 · Controller: MicroPix with FW V3. Feb 12, 2020 · Hi Henry, very usefull hints. Construction will be all composite, similar to available airframes like the Mugins, Foxtech airframes, etc. Motor was 2206-2300 with 5x4. The Quadplane is the most efficient VTOL type (!) The reason is very simple: since most of us do not have variable-pitch propellers, the selection of the motor-propeller unit in tiltmotors/ bellysitters / tailsitters are always a compromise between either optimization for cruising-speed or Apr 13, 2020 · The described problem happens, if CRUISE_SPEED is >0 and RTL_SPEED=0 and WP_SPEED=0. One of the problems in setting up the PID is that the kontiki boat has a drive motor which pulls the boat foward at about 1000 May 5, 2019 · It is like it doesn’t follow the lower max throttle setting on the transmitter. iskess (Iam) April 8, 2017, 1:25am 4. If I set a cruise speed below the top speed of the boat and give the flight controller authority over the throttle, it will throttle the engine to slow the vehicle at times. I tried to set the cruise_speed and the cruise throttle with the same steps as your video, but I received the following messages from the mission planner: 1- CRUISE LEARNING STARTED (rover in motion with manual flight mode and ch7 lever DOWN); Understanding hybrid aircraft can be difficult at first, so below are some scenarios and how the ArduPilot code will handle them. In THERMAL mode, the parameter SOAR_THML_ARSPD sets the target airspeed in metres per second. In Auto (mission) mode, the throttle often hunts (oscillates) at quite high frequency - maybe 2-3Hz. Move the aux function switch to the high position for a few seconds and then back down to the low position. Apr 14, 2021 · Has anyone had a problem achieving cruise speed when in auto mode with a purple cube? I must adjust the throttle to the right spot just to achieve the desired 1m/s boat speed. Aug 20, 2021 · So if you have the throttle control above 50% it will increase the motor speed because it’s assuming you are trying to fly faster. I am getting the message which says ‘CRUISE_SPEED LEARNING NOT STARTED’. In the ArduRover parameters documentation (Complete Parameter List — Rover documentation) CRUISE_SPEED is listed as the “target cruise speed during auto modes” while WP_SPEED is listed as “waypoint speed Dec 21, 2021 · For some reason my cruise speed is higher than expected. Using the latest software and firmware (dev version of firmware). require too much throttle to hold altitude and/or the cruising speed may be faster or slower than desired). 0 on a pixhawk2. This can be adjusted using the PTCH_TRIM_DEG parameter to get level flight at the desired throttle level. Or set THROTTLE_NUDGE = 0. That “cruise” field is supposed to change trim_arsp_cm. 4. 0-beta4 (or higher) using MP or QGC… Airspeed Parameters Setup¶ Speed Scaling¶. 4 and Pixhawk Flight Controller. 0. In AUTO and GUIDED, it will use the AIRSPEED_CRUISE value unless THROTTLE_NUDGE is enabled and throttle stick is used to alter it, or a MAVLink command to change speed is sent to the vehicle. Jul 25, 2020 · In 3. Would it be possible to change the cruise_speed or waypoint speed with the RC transmitter. I had already set the parameters CRUISE_SPEED and CRUISE_THROTTLE some time in October. semo (sami) April 10, 2017, 5:12pm 5. WPNAV_ACCEL_Z determines how fast the speed can change. We have braking configured, but it never seems to brake until it slams on the brakes right at the waypoint. Not black cubes and not pixhawk 1 Dec 15, 2014 · How exactly do you set the “Cruise speed”? Is that a specific parameter? I have been searching for the answer for weeks and the plane “kills the throttle” to reach set altitude then flies around in rtl loiter and then eventually adds throttle and begins to climb… then it kills the motor again and repeats the process… Airspeed Parameters Setup¶ Speed Scaling¶. Airspeed Parameters Setup¶ Speed Scaling¶. Also the second I switch to Acro or Steering modes the vehicle starts moving very fast. The main goal is to maximise range given it will be carrying 10kg of battery (4x 6S 22 Ah) dedicated for the forward propulsion. Currently I only adjust the cruising speed with change Throttle parameter in basic tunning. 2 : the behaviour of speed is : the param should be between 0 and 1 speed param in the message gives speed as a proportion of cruise speed. Check the ground station for a message like, “Cruise Learned: Thr:XX Speed:YY” which confirms CRUISE_SPEED and CRUISE_THROTTLE have been updated. This is an RMRC Recruit with a Matek 765 and an Airspeed sensor. Install the Rover-4. Camera is DJI Air Unit. 5 would set speed to the cruise speed 1 is double the cruise speed. In AUTO, FBWB and CRUISE modes, the parameter SOAR_CRSE_ARSPD controls the target airspeed when the aircraft is gliding. This is the same value that’s available on minimOSD. Could i adjust the aircraft speed with set “Do_Change_Speed” value in Waypoint without air speed sensor ? I’m using Zeta Phantom FX-61 right now 🙂 Thanks Dec 4, 2023 · Hai All, I am building a boat using the Pixhawk 6C running the ArduRover firmware (V4. 1 (22b5c415) GPS: Ublox NEO 6H Radio: Taranis Plus TX with D4R-II receiver. Using CRUISE_SPEED in AUTO missions in 3. PTCH_TRIM_DEG is the pitch trim that would be required in stabilized modes to maintain altitude at nominal cruise airspeed and throttle, and for most planes is 1-3 degrees positive, depending on the aircraft design (see Tuning Cruise Feb 15, 2019 · Hi, Please advise to adjust airplane speed in “Auto” Flight mode ? Currently I’m using Arduplane V3. When I tried to tune my Throttle and Steering controller following the instructions on ArduWiki i am not able to learn the ‘CRU… CRUISE_SPEED: Target cruise speed in auto modes; CRUISE_THROTTLE: Base throttle percentage in auto; PILOT_STEER_TYPE: Pilot input steering type; Feb 13, 2021 · I try to increase cruise speed in auto mode by increase throttle stick above 50%，but it didn’t work。 throttle_nudge=1，TECS_systhetic=1 The cruise speed can be overide by increase throttle stick above 50% in cruise mode Does some one know the reason Airspeed Parameters Setup¶ Speed Scaling¶. 2 was convenient, as it was easy to tune performance in ACRO mode, and one could also easily change the target speed in AUTO by using the Speed¶ While the vehicle is travelling, the user can increase the vehicle’s speed by raising the transmitter’s throttle stick to between 75% and 100%. We’ve tried turning the various speed and This normally results in the artificial horizon indicating 0 pitch when in cruise at desired cruise speed. Basically i want to get the last speed that was given by my Mission (“DO_SPEED_CHANGE”) and copy it to the “SOAR_CRSE_ARSPD” parameter. 9. Jun 11, 2018 · your video is very helpfull but I have some problems with the cruise learning procedure. Rover and manual controller (Graupner mx16) are charged properly, and a simple test at the beginning of the week showed that the motor reacts to input from the Graupner. If an airspeed sensor is used, the throttle stick will set the target airspeed in CRUISE and FBWB, while maintaining altitude target. I’m looking for the speed AP uses to determine it’s cruise speed. I’m using ardurover 4. Since the effect of flying surface control deflection increases and decreases with airspeed, the stabilization gains in the PID loops are automatically scaled with airspeed by ArduPilot to prevent oscillations at higher airspeeds and preserve stabilization effectiveness at low airspeeds, even if no airspeed sensor is used. I tried setting MOT_THRTL_MAX to 50 percent with no change in max speed and I set cruise speed and throttle using switch on channel seven to capture cruise speed and throttle. This can be done at setup by: (Preferred) Add the desired degrees nose up (usually) or down to PTCH_TRIM_DEG. My transmitter has a little “volume knob”. See attached pic. I am hovering in QHOVER/QLOITER and switch to FBWA mode¶ The aircraft will continue to hover, setting forward thrust/throttle at whatever the throttle stick position dictates and gaining speed. This weekend (25th of April 2021), I drove my vehicle around in ACRO mode for tuning purposes. We were using skid steering, started off with LN298N motor drivers, and recently ditching them for ESC controllers due to lack of support. can you take a look of the message on the bin file that autotune rollP was finished at 0. Any ideas? Thanks! Sep 3, 2020 · Hello, Quick question. The cg of sonic model binary It’s right under beneath of the carbon rod. The wind was 7-12 mph Apr 28, 2021 · Hello everyone! I’m currently aiming to tune my ground vehicle using ArduPilot. The ESC drivers work good. Cruise speed will be lower. Try to make a Horizon calibration with the plane pointing up 1-2 degrees. Set the transition failure timer Q_TRANS_FAIL to an appropriate time and set Q_TRANS_FAIL_ACT to QRTL, unless operating at BVLOS distances. Feb 14, 2019 · In my application I want the speed to be as fast as possible at all times, right at the limit of the vehicle capability. Set Q_ASSIST_SPEED to be about 3m/s less than AIRSPEED_MIN, but still above the vehicles stall speed, to avoid undesired assist operation within the normal operating speed envelope. In non-tilt rotor configurations, the forward motor(s) thrust is controlled by the throttle stick in a manner similar to whatever fixed wing mode was entered. When watching the HUD, however, even with the target cruise speed set to 10 m/s, the bot regularly gets up to 30+ m/s. Mar 15, 2024 · Hi, i am having trouble with one of my first LUA scripts. But I’m not really sure about that. I know if one is using live telemetry into mission planner, then mAh/km is available. Sep 25, 2017 · On 3. When I tried to tune my Throttle and Steering controller following the instructions on ArduWiki i am not able to learn the ‘CRUISE_SPEED’ after switching to the Learn CRUISE_SPEED mode using my RC channel. At 45% the Mar 14, 2024 · In which mode can an airspeed sensor be used to maintain cruising speed without GPS igrislavee (Nimrod) March 14, 2024, 5:08pm 2 Tuning¶. I read in the help that the Mission command Speed to fly¶ Airspeed Management (Optional)¶ It is also possible to let soaring control the airspeed in certain situations. This is unacceptable. Flaps can be configured on any channel (in older versions flaps could only be configured on channel 5, 6, 7 or 8 with 8 not available for manual control). But one comment: I do not agree with your efficiency assessment. lua to your PC Jun 6, 2023 · ATC_SPEED_P, I and D ← speed controller gains; CRUISE_SPEED & CRUISE_THROTTLE ← speed controller “base” values, equivalent to feed-foward; PSC_VEL_P, I and D ← position controller’s velocity control gains; Installing the script. 5 3-blade prop. . sandre (Andrey) August 23, 2020, 4:46pm 3. 1 •Units: m/s. If cruising speed is too great, lower throttle and increase PTCH_TRIM_DEG until altitude is constant, or vice-a-versa. Cruise Learning has been done, so cruise speed and throttle have been set. I wanted to check if everything would work smoothly during tuning The target speed can be commanded by changing the value of cruise_speed in the parameter interface, by using the Do_Set_Speed command in a mission, or by the throttle stick position in FBW-B. Sometimes pidachieved followed piddesired quite well, sometimes not at all. Tip. It must be a mission planner bug. I don’t see a throttle percentage in the HUD and the online reference to the HUD doesn’t show it either. I tried running Jan 27, 2023 · Hi, During auto missions setting the CRUISE_SPEED parameter does not set seem to affect the speed of the rover. 0) - I have not tried stable or beta. e. The script will also adjust filter settings: ATC_STR_RAT_FLTD and FLTT will be set to half of the INS_GYRO_FILTER value. And elevator is a little up. Often planes need 2 or 3 degrees of pitch trim to fly at their optimum cruising speed/throttle rather than at the fuselage/autopilot level pitch, especially small light planes or gliders. With the default PID settings, ArduPilot will fly most RC vehicles safely right out of the box. 1000 ~ 1300) before it becomes unable to both maintain altitude and horizontal speed. 5. which one is right to go Apr 8, 2018 · But I double the source code somehow may exist the problem about cruise_speed and cruise_throttle. If RTL_SPEED > 0 and WP_SPEED=0 then no AUTO-movement happens, but RTL is possible. 2. Make sure when you are testing FBWB or CRUISE, that you have the throttle below half to see what the actual controlled speed is going to be. But please CRUISE_SPEED and CRUISE_THROTTLE, then ATC_SPEED_P and I are set to ratios of the FF. I shouldn’t even need to touch the throttle in auto mode. Hi all , Saved searches Use saved searches to filter your results more quickly Airspeed Parameters Setup¶ Speed Scaling¶. I have set up two motors and pixhawk on a board for testing and have managed to get it to manually skid steer. In my understanding if RTL_SPEED=0 or WP_SPEED=0 then the (comfortable to learn) CRUISE_SPEED should be used instead. Thanks! EDIT: TECS. Jul 26, 2024 · I want to add a custom control loop (similar to cruise speed in the Cruise mode), but not necessarily with the same input variables as already used in that mode, or possibly for a different variablethan cruise speed. I had this with the orange and purple cubes. Download rover-quicktune. Experience shows that the fastest lap times are achieved with the throttle wide Oct 19, 2021 · Hi everyone I am simulating VTOL quadplane and I recently found that my airspeed was fixed to 25m/s and even the do_change_speed hasnt been changing the speed to 12m/s. Position vehicle with a few degrees nose up Arm the vehicle and switch to Manual. Below is a link to some log CRUISE_THROTTLE和CRUISE_SPEED参数设置了期望速度到油门输出的基准值，用于 Desired-Speed-to-Throttle 控制器。这两个值的设置非常重要，并且应该是合理且一致的，也就是说 CRUISE_THROTTLE的值（以百分比表示）应该接近实现CRUISE_SPEED（以 m/s 表示）所需的油门输出。 Oct 12, 2019 · I have a kontiki boat which is used to take a long line out to sea. Jan 30, 2016 · Target cruise speed in auto modes (APMrover2:CRUISE_SPEED) The target speed in auto missions. The attached log, etc is from a flight where I ran the mission three times - at 45, 60 and 75% throttle. 46. From aperage you can calculate flight time (time do battery discharge), from flight time and speed you can calculate distance flown. 3). •Range: 0 100 •Increment: 0. Using Arduplane Latest (4. CRUISE Mode. 1. Let us look at the code below: APMrover2/mode. This will cause more lift and more drag in horizontal flight. To fly well, with tight navigation and reliable performance in the wind, you’ll want to tune your autopilot parameters. It is the ideal mode for longer distance FPV flight, as you can point the plane at a distant object and it will accurately track to that object, automatically controlling altitude, airspeed and heading. On the display hud it will still stuck to 25m/s therefore I tried changing the cruise airspeed on basic tuning and it did change the speed to 12m/s on the display but still the quadplane is exceeding speed and when trying to Jun 30, 2020 · My goal is to do long range autonomous missions, so I want to find the best cruise speed. WP_SPEED or CRUISE if WP_SPEED is zero, versions of Rover after 3. Mar 14, 2017 · aamadeuss (hans bert) March 16, 2017, 11:43am 3. Transitioning to FBWB/CRUISE, throttle stick controls forward thrust as in that mode, as a speed or throttle value, depending on whether or not an airspeed sensor is in use. In this case, it might Sep 5, 2021 · Hi. At 75% the vehicle will remain at it’s configured speed (i. Completed autotune no problem. Oct 16, 2022 · Building a boat with a Matek F405-HDTE, and trying to get the motors and servos wired up. Aug 20, 2020 · Changing cruise speed will have no effect without airspeed sensor. Cruise mode is a bit like FLY BY WIRE_B (FBWB), but it has “heading lock”. I have fitted two thrusters for steering which I want to gps control with the pixhawk. Just fitted a OmniBusF4 into a 40 size (electric) trainer to do some testing. jsdkxvu dujce skk lfx xjh wqqz azjz iaidngp zhhp sgmc