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Arduplane is an open source Autopilot. APM aims experimented users, who wish to use the Parrot Disco and C.H.U.C.K. for experimentation.   A Ardupilot version is integrated on the firmware 1.1.0 and above. To switch from Parrot Autopilot to APM, press shortly the ON/OFF buttons 3 times in a row. Then, you must use a RC control to pilot the Parrot Disco (compatibility is listed on Parrot Github) It is possible to switch between the use of Parrot Disco with Parrot Autopilot and Skycontroller 2 or Ardupilot combined with a RC controller.   You will find all ressources necessary to build you own version of Ardupilot and install it on the C.H.U.C.K. here : Github Parrot about APM 
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1. Installing a Ground Control Station   To set the Parrot C.H.U.C.K's parameters, you must install a GCS (Ground Control Station). We selected APM Planner 2.0. Download it from: http://firmware.eu.ardupilot.org/Tools/APMPlanner/   APM Planner version 2.0.24 is available for Windows, Mac OS X and Linux. Documentation (in English) is available from the ardupilot website: http://ardupilot.org/planner2/   Note:  There are other GCSs of the same type, such as Mission Planner and QgroundControl, that work in the same way.   2. Installing the APM software on Parrot C.H.U.C.K   Install FileZilla. Go to http://firmware.eu.ardupilot.org/Plane/stable/disco/. Download the latest stable version of APM Plane for Parrot C.H.U.C.K: arduplane. Rename the file apm-plane-disco (with no extension). Switch the Parrot C.H.U.C.K. on. Wait approximately 15 seconds, until the blue LED flashes at a frequency of about 1 Hz. Connect to the Parrot C.H.U.C.K. Disco-XXXXXX access point. Run FileZilla. Go to Edit, then open the Preferences or Settings menu.  The Preferences or Settings window opens. In Transfers select File Types. Uncheck the Treat files without extension as ASCII file checkbox, then click OK. Figure 1 : Changing the type of file to be transferred Enter the address 192.168.42.1 in the Host field, then click Quickconnect. Create a folder in internal_000 and name it APM.  Copy file apm-plane-disco into the APM folder. Figure 2 : Copying the file apm-plane-disco to Parrot  C.H.U.C.K Press the Parrot C.H.U.C.K’s on/off button three times to launch APM.  The LED flashes red and blue then slowly flashes yellow.       3. Configuring the remote control (Futaba T10J)   By default, controls for roll, pitch, motor and yaw are sent over channels 1, 2, 3 and 4 respectively. These channels cannot be changed with the Futaba T8J and T10J remote controls.   For consistency, we decided to add a three-way switch to channel 5. This switch will be our gear to change flight mode.   The radio is therefore configured as follows:   Channel Operation 1 Aileron 2 Elevator 3 Throttle 4 Rudder 5 Gear     4. Configuring Parrot C.H.U.C.K   The Parrot C.H.U.C.K has 7 outputs (6 x 3-pin servo connectors + motor I2C ESC output).   The motor I2C ESC can be used for a brushless motor and for the Parrot Disco.   The Parrot C.H.U.C.K output channels are configured as follows:   Channel output Physical output 1 Pin 1 2 Pin 6 3 Sortie   I2C ESC moteur 4 Pin 2 5 Pin 5 6 Pin 3 7 Pin 4     For example, Parrot Disco has two servomotors as well as a brushless motor. Figure 3: Parrot Disco    The left servomotor is connected to pin 1, the right servomotor to pin 6, and the brushless motor to the I2C ESC output.   Once this is done, you can control the Parrot Disco by plugging in a receiver, since the outputs now map to channels 1, 2 and 3, i.e. the aileron, elevator and throttle, sent over channels 1, 2 and 3 by the remote control. Parrot C.H.U.C.K performs mixing between output channels 1 and 2 to both servomotors.        4.1    3S Configuration using the Parrot C.H.U.C.K output   Our Acrobat plane has four servomotors: one for each aileron one for the elevator one for the rudder   Use a Y-connector to connect the two aileron servomotors to pin 1. Connect the elevator servomotor to pin 6. Connect the rudder servomotor to pin 2, which maps to channel 4.   Our configuration looks like the table below:   Radio channel output C.H.U.C.K channel output C.H.U.C.K physical output Function 1 1 Pin 1 aileron 2 2 Pin 6 elevator 3 3 I2C ESC motor throttle 4 4 Pin 2 rudder 5 NA NA gear    Now, we just need to connect the Futaba receiver to the Parrot C.H.U.C.K to complete the installation shown below (with a single servomotor for the aileron):    Figure 4: Configuration using the Parrot C.H.U.C.K. motor output   However, the Acrobat plane’s manual recommends using a 4S battery, so we decided to use the ESC delivered with the plane to take advantage of the motor's maximum power. We chose pin 5, mapping to output channel 5. We’ll be using a 2800mAh 4S battery to supply both the motor and CHUCK, thanks to its connector.    4.2 4S  Configuration using the ESC delivered with the plane   Figure 5: 4S Configuration using the ESC   Our 4S configuration is :   Radio channel output C.H.U.C.K channel output C.H.U.C.K physical output Function 1 1 Pin 1 aileron 2 2 Pin 6 elevator 3 5 Pin 5 throttle 4 4 Pin 2 rudder 5 NA* NA* gear   Please note: Channel 5 is only used for the gear. Commands from this channel are never sent to a servomotor.   We’ll apply this configuration to our plane by fastening the Parrot C.H.U.C.K under the plane, at its centre of gravity, using hook-and-loop fasteners.   Figure 6: Incorporating Parrot C.H.U.C.K in the plane   The Pitot sensor included with Parrot C.H.U.C.K could have been disrupted because of the plane’s propeller and fuselage. So we recovered a tube with the same inner diameter to move the Pitot to one of the plane’s wings:     Figure 7: Moving the Pitot to the plane’s wing   Figure 8: Mounting Parrot C.H.U.C.K onto the Acrobat plane   Figure 9: Mounting Parrot C.H.U.C.K onto the Acrobat plane   5. Establish the connection between the control sation and Parrot C.H.U.C.K   Connect the SBUS receiver to the Parrot C.H.U.C.K (see figures 4 and 5) Switch the Parrot C.H.U.C.K. on, pair the receiver with the radio, then press the on/off button three times to run APM. Connect to the Parrot C.H.U.C.K access point (Disco-XXXXXX) Run APM Planner (or another control station). In the Communication tab, select UDP with port number 14550, then click Connect.   The connection is made. To the right of the current flight mode, an icon shows the connection status: green when connected, red when disconnected.       6. Plane settings  Caution :  we strongly recommend removing the propeller before beginning.   Parrot C.H.U.C.K. has an on-board list of settings that you can change to match our plane’s configuration.   We recommend setting flight mode to “manual” in the config/tuning tab, so you can how the servomotors work in response to the control commands sent. By default, like the radio, APM sends the aileron over channel 1, the elevator over channel 2, the throttle over channel 3 and the rudder over channel 4.   By moving the aileron and elevator joysticks on our radio, you can see mixing between pitch and the aileron, which must be disabled.   To change the settings, activate advanced mode and open the full list of settings in Config/Tuning.   To disable mixing, set the ELEVON_OUTPUT setting to 0.     Since we connected the ESC to pin 5, we have to change the setting that sends motor commands over channel 3 (i.e. the Parrot C.H.U.C.K motor output) by default, and send the command over channel 5.   Set the RC5_FUNCTION setting to 70. APM interprets this number as meaning that the servomotor on channel 5 is an auxiliary motor: http://ardupilot.org/copter/docs/common-CHUCK-overview.html   We also decided to change the min and max airspeeds for FBW flight modes and set them to 14 m/s and 24m/s respectively.   ASPD_FBW_MAX  = 24 ASPD_FBW_MIN  = 14     7. Calibrating the radio   Caution : remove the propeller before beginning.   Once the servomotors’ mechanical trims with the radio are completed, you need to calibrate the remote control in APM. This calibration is done in Initial Setup > Radio Calibration.   By moving the control joysticks and the gear switch, APM will get the min, neutral (trim) and max PWM values for each input channel, and use them for the corresponding output channels.   APM will use the min, neutral and max PWM values for input channel 5 (the gear) and apply them to output channel 5 (the ESC), so you will have to manually change the settings for channel 5 by applying the values for output channel 3. Replace the values RC5_MIN, RC5_TRIM, RC5_MAX by those from RC3_MIN, RC3_TRIM, RC3_MAX.   For more information, see the detailed procedure on the ardupilot website: http://ardupilot.org/copter/docs/common-radio-control-calibration.html     8. Settings for the flight modes (Futaba T10J)   In the APM Planner Initial Setup tab, open the Flight modes menu. You can parametrize the six flight modes from this menu. You can switch between the available flight modes by actioning the remote control switch for the gear.   Figure 12: Flights modes in APM   To switch to a flight mode, use the various positions of our gear. APM controls the change of flight mode according to the PWM sent by the remote control. Each flight mode maps to a given PWM range (see image 1). You can see the PWM sent on each radio channel in the Radio calibration menu. So, by moving the position of the gear's switch, you can see the various PWMs available and change flight mode. For example, with our Futaba T10J, the three positions of the switch (up, middle, down) respectively send by default PWMs of 964, 1514 and 2064, which map to flight modes 1, 4 and 6.   To gain access to all the flight modes via the remote control, activate a “prog mix” with a 2-way switch that will alter the PWMs sent to the receiver.   First, you need to change the gear’s end points to reduce the total PWM range. Instead of the default 100% for min and max, set the end points to 47%.   Figure 13: End points   In the Radio calibration menu, you can see that the min and max PWMs sent over channel 5 have been changed: 1255 for min and 1773 for max. However, the PWM for the neutral position has not changed. It is still set to 1514.   With the minimum PWM now set to 1232, we no longer have access to APM flight mode 1. From now on, by changing the gear positions, the available flight modes are modes 2, 4 and 6. To access flight modes 1, 3 and 5, we’ll activate a “prog mix” with a 2-way switch as master and our gear as slave. The “prog mix” is only active when the switch is in the high position with a rate of+20%. With this rate, you can change the PWMs sent over channel 5 and get PWMs of 1204, 1462 and 1721 for the three positions of our gear.   Figure 14: Prog mix   We now have our six flight modes: Switches positions PWM values Flight mode Gear UP / Switch UP 1204 1 Gear UP / Switch DOWN 1255 2 Gear MID / Switch UP 1462 3 Gear MID / Switch DOWN 1514 4 Gear DOWN / Switch UP 1721 5 Gear DOWN / Switch DOWN 1773 6   Have a good flight !   ARDUPILOT The ArduPilot software on-board the Parrot C.H.U.C.K. is free software, distributed by Parrot Drones SAS under the GNU GPL v.3 licence. For more information on the terms and conditions of this licence, please see https://www.gnu.org/licenses/gpl-3.0.html. Unofficial translations of this licence are also available at https://www.gnu.org/licenses/translations.en.html. PARROT DRONES SAS DOES NOT WARRANT AND CANNOT BE HELD LIABLE FOR THE PRE-LOADED VERSION OF THE ARDUPILOT SOFTWARE OR FOR ITS USE WITH PARROT C.H.U.C.K.
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