Andy Piper
bb615f0f93
With EK3_RNG_USE_HGT, Copter uses a range finder that reads on the ground for height while taking off, so the baro offset filter runs while the motors spool up and learns the prop-wash baro error as offset. ALT_HOLD's takeoff ends as the vehicle leaves the ground, the source goes back to baro there, and the offset carries the error into the flight: in SITL with SIM_BARO_GEFF_M 3 the EKF height read 2.5 m high from then until landing. While takeoff or touchdown is expected, do not update the offset, and do not reset the height to the baro on switching to it. Either alone is not enough: with only the offset held, the reset drops the height by the whole error at liftoff (3.0 m); with only the reset skipped, the offset still carries it (2.5 m). With both, -0.17 m worst in the takeoff and 0.03 m mean above 5 m. Baro drift is not learned while the flags are set, which on Copter includes the whole time it sits armed on the ground. Learning only the upward part of the error was tried: in SITL it did no better, and baro noise ratchets it upwards (0.07 m after a 10 s armed wait with SIM_BARO_RND 0.2). Fixed wing sets the flags for a launch rather than for rotor wash, so it is left as it was.
ArduPilot Project
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
User Support & Discussion Forums
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Support Forum: https://discuss.ardupilot.org/
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Community Site: https://ardupilot.org
Developer Information
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Github repository: https://github.com/ArduPilot/ardupilot
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Main developer wiki: https://ardupilot.org/dev/
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Developer discussion: https://discuss.ardupilot.org
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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
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The ArduPilot project is open source and we encourage participation and code contributions: guidelines for contributors to the ardupilot codebase
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We have an active group of Beta Testers to help us improve our code: release procedures
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Desired Enhancements and Bugs can be posted to the issues list.
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Help other users with log analysis in the support forums
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Improve the wiki and chat with other wiki editors on Discord #documentation
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Contact the developers on one of the communication channels
License
The ArduPilot project is licensed under the GNU General Public License, version 3.
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