New ArduPilot methodic configurator GUI

Yuri_Rage · June 11, 2024, 2:43am

I muddled through this for the first time today on a Copter I hadn’t flown in a while. I used v0.6.6 (v0.7.0 was released amidst my tuning sessions). A few thoughts:

It was frustrating to connect/reconnect multiple times, and often I found myself stepping backwards in order to re-trigger the dialog to download from the FC (like the autotune results). That was very clunky.

Likewise clunky was a repeated message that access was denied to the serial port in use for telemetry. Happened with SiK radios as well as over USB. Mission Planner had no trouble connecting, but the configurator refused multiple times. I confirmed the port was open and available more than once (i.e., not in use by another app like MP), but it stubbornly refused to connect pretty often (Windows 11).

The only template I found was the original Taycan, which is tiny by comparison to the Copter I was using, so I needed quite a bit of previous knowledge to arrive at the correct starting point(s). I was also using a Cube with heated IMUs, which significantly changes the first few steps.

Minor bug report: selecting a CAN GPS auto populates the associated parameters with “CAN1_” and “CAN2_” prefixes, which are in error. They should be “CAN_P1_” or similar.

The new harmonic notch web tool is pretty slick, but it could use some more detailed explanation of what you’re looking at and how to optimize. I think I did a pretty good job, and I arrived at a minimally configured notch that seems effective.

The online MagFit tool is awesome, but one of my attempts resulted in a prearm error stating the compass wasn’t calibrated (after updating with the results from MagFit). I couldn’t for the life of me figure out why that happened (all the calibration params seemed complete and valid). I flew another attempt, and it fixed itself up.

I already have some wind estimation data for this Copter, and it was easy to just fill in the known values and move on.

It got dark by the time I got to the sys id section, which is probably for the best. I have no idea what’s going on there. That’s a tuning regime I’ve never attempted. I’ll read up.

For what it’s worth, I attached my param files and associated config below (nothing past 42_system_id_roll.param was accomplished).

All in all, the Copter’s back in the air and flying well. There are a few details I’ve likely previously overlooked that were covered by this method, so that’s a plus. However, I think it’s got a long way to go before it’s user friendly enough to take a brand new user from zero to hero.

ReadyToSkyZD550.zip (500.0 KB)

amilcarlucas · June 11, 2024, 8:13am

That is the first time I get such a report. Never had that issue in my tests either.

I will try to reproduce that with SiK telemetry. So far never had issues with direct USB.

Yes, that is normal, but it will improve as the number of templates increases. May I use your parameters as a template and release them under GPLv3?

That is actually a known bug, thanks for reporting.

The credits on that go to @iampete

Thanks

With detailed and proper feedback like this I will keep on improving it. Thanks for the feedback.

amilcarlucas · June 11, 2024, 8:31am

This feature is now implemented, just select “Use parameter values from connected FC, not from parameter template files” while creating a new vehicle configuration directory

KiwiDrones · June 11, 2024, 9:02am

Thanks for advising me. A huge improvement!!

amilcarlucas · June 11, 2024, 3:38pm

v0.8.0

Latest

github-actions released this 11 Jun 15:37

v0.8.0

beca928

Commits

Add a vehicle template form an Andy Piper vehicle (Dr.-Ing. Amilcar do Carmo Lucas)
the open directory dialog got a regression in version 0.7.0, fix that. (Dr.-Ing. Amilcar do Carmo Lucas)
remove unused code (Dr.-Ing. Amilcar do Carmo Lucas)
fix renaming CAN connections on teh component editor (Dr.-Ing. Amilcar do Carmo Lucas)
provide missing fc_parameters variable to eval expressions (Dr.-Ing. Amilcar do Carmo Lucas)
Do not log configuration_steps_filename the first time it gets used. That time is just for testing the waters (Dr.-Ing. Amilcar do Carmo Lucas)
CubePilot USB VID and PID (Dr.-Ing. Amilcar do Carmo Lucas)
frontend_tkinter_component_editor.py Move duplicated code into a common function. (Dr.-Ing. Amilcar do Carmo Lucas)
setup.py add more console scripts entry points (Dr.-Ing. Amilcar do Carmo Lucas)
Small NFC improvements in diatone taycan MXC template (Dr.-Ing. Amilcar do Carmo Lucas)
Add Andy Piper’s Marmotte5v2 template to the windows distribuition (Dr.-Ing. Amilcar do Carmo Lucas)
Ask the users if they want to jump over the analytical PID optimization (Dr.-Ing. Amilcar do Carmo Lucas)
Update the links to the documentation Blog post (Dr.-Ing. Amilcar do Carmo Lucas)
Do not download parameters for the windows installer, we do not use them (Dr.-Ing. Amilcar do Carmo Lucas)
Add Chimera7 template from Andy Piper (Dr.-Ing. Amilcar do Carmo Lucas)
Add ReadyToSky ZD550 template by Yuri Rage (Dr.-Ing. Amilcar do Carmo Lucas)
Add mission planner firmware install screenschot (Dr.-Ing. Amilcar do Carmo Lucas)
Add new templates to template overview screenshot (Dr.-Ing. Amilcar do Carmo Lucas)
Bump version info (Dr.-Ing. Amilcar do Carmo Lucas)

amilcarlucas · June 11, 2024, 3:41pm

3 More templates are available, including yours
Fixed the CAN renaming bug

Yuri_Rage · June 11, 2024, 3:44pm

No problem on sharing the template under GPL.

Maybe the app is supposed to auto reconnect between steps where flight is required and USB is in use. I had to close and reopen the app every time and then goof around with the drop downs to re-trigger the dialog options. Experienced similar with SiK, though sometimes I could maintain the connection throughout the step and keep things moving along.

Computer in use has a lot of third party drivers from projects like these. I owe it a fresh start. Even so, I bet I’m not the last to experience that type of behavior.

For those following, the ZD550 frame uses 10-15 inch props, has folding prop arms and long, spindly fixed skids. It’s not a great frame, but it’s inexpensive for what it is, and it’s better than some of the floppy plastic BS that’s out there. I’ve never had an issue with the folding arm mechanism, and vibes are quite low overall.

amilcarlucas · June 11, 2024, 4:12pm

Now I found the issue. It was a regression I introduced in the last couple of days. I fixed it now. Thanks for reporting. New 0.8.1 release is in CI

amilcarlucas · June 11, 2024, 4:18pm

v0.8.1 Latest

Commits

do not try to access and empty string in the __auto_detect_serial() function (Dr.-Ing. Amilcar do Carmo Lucas)
fix a regression found by Yuri Rage, the windows asking to copy the parameters where no longer getting triggered on program open (Dr.-Ing. Amilcar do Carmo Lucas)
Bump version info (Dr.-Ing. Amilcar do Carmo Lucas)

Yuri_Rage · June 11, 2024, 5:05pm

Related to the differences between your template and mine (if this is a big tangent, I’ll start a new topic):

You used PILOT_TKOFF_ALT of 0. I prefer to set that to 300cm (10 ft). When I used 0 and had the remainder of the TKOFF parameters set correctly for this frame, I noticed that it would take off (in alt hold), gain a few feet, and then nearly land again before climbing up and away (usually commensurate with a big throttle input from me). If I set 300cm, the takeoff was smooth with no altitude oscillation. Could that be indicative of a thrust expo issue? Or is PILOT_TKOFF_ALT=0 the likely culprit all by itself? Hover thrust was set correctly and verified by log review. I don’t have the log on hand to share, and I don’t think you want this topic to turn into a log review topic, anyway.

Which leads me to my next related question - how is the average user supposed to arrive at a good thrust expo value? Tridge’s script seems dead in the water, and most have no access to thrust test stands.

Janno · June 11, 2024, 11:29pm

Very interesting find, your description matches almost perfectly a problem we observed with the Taycan that I brought up here: Discrepancy between EKF altitude and barometric altitude in AltHold
I don’t know if the PILOT_TKOFF_ALT value should be visible in the desired altitude though…

Yuri_Rage · June 12, 2024, 1:13am

Altitude control was rock solid after the initial takeoff bobble. Leads me to believe your exploration of EKF fixes was probably not the place to look. Also leads me to believe it’s not a thrust expo issue, though I still want an “every man’s” solution to properly setting that.

amilcarlucas · June 12, 2024, 7:38am

I did edit your template and moved PILOT_TKOFF_ALT=300 from 07_esc.param to 13_general_configuration.param.

Those are good questions, we will need to do some flight tests to test that. Then I can add that to our template as well.

The current method is still to use the “spreadsheet” calculation that I re-implemented in the configurator. (step 11_initial_atc.param)

Yes, that is a pity.

amilcarlucas · June 12, 2024, 10:05pm

v0.8.3

Latest

github-actions released this 12 Jun 22:02

v0.8.3

9b42c92

Commits

add a new coverage tool, one that works in the master branch (Dr.-Ing. Amilcar do Carmo Lucas)
pylint on setup.py (Dr.-Ing. Amilcar do Carmo Lucas)
correct master branch name (Dr.-Ing. Amilcar do Carmo Lucas)
make codecov run faster (Dr.-Ing. Amilcar do Carmo Lucas)
if not installed the tests are not found (Dr.-Ing. Amilcar do Carmo Lucas)
Use python 3.12 everywhere (Dr.-Ing. Amilcar do Carmo Lucas)
use coverage instead of pytest to generate the codecov (Dr.-Ing. Amilcar do Carmo Lucas)
these tests fail with python 3.12 (Dr.-Ing. Amilcar do Carmo Lucas)
Automaticaly use vehicle and version dependent apm.pdef.xml URLs (Dr.-Ing. Amilcar do Carmo Lucas)
Refractor program settings methods out of backend_filesystem.py (Dr.-Ing. Amilcar do Carmo Lucas)
Use a OS agnostic method for packaging the vehicle_template files (Dr.-Ing. Amilcar do Carmo Lucas)
use FC FW version string from vehicle_components.json if it is available (Dr.-Ing. Amilcar do Carmo Lucas)
Refractor for increased readability (Dr.-Ing. Amilcar do Carmo Lucas)
setup.py pylint fixes (Dr.-Ing. Amilcar do Carmo Lucas)
pylint else fix (Dr.-Ing. Amilcar do Carmo Lucas)
setup.py pylint (Dr.-Ing. Amilcar do Carmo Lucas)
pylint setup.py for a long line (Dr.-Ing. Amilcar do Carmo Lucas)
Refractor more code out of backend_filesystem.py (Dr.-Ing. Amilcar do Carmo Lucas)
Bump version info (Dr.-Ing. Amilcar do Carmo Lucas)

amilcarlucas · June 17, 2024, 6:13am

v0.8.4

Commits

Tutorial: How to become REUSE-compliant | REUSE #25 (Dr.-Ing. Amilcar do Carmo Lucas)
rename python-cleanliness to ruff to better explain what it does #25 (Dr.-Ing. Amilcar do Carmo Lucas)
replace pull-request coverage (that always fails on master) with codecov that works fine on master (Dr.-Ing. Amilcar do Carmo Lucas)
SPDX works a bit differently than expected (Dr.-Ing. Amilcar do Carmo Lucas)
SPDX tags and codacy lint fixes (Dr.-Ing. Amilcar do Carmo Lucas)
Implement TOW validation (Dr.-Ing. Amilcar do Carmo Lucas)
Move prop next to TOW max, add GNSS connection (Dr.-Ing. Amilcar do Carmo Lucas)
add generic component editor entry limits validation function (Dr.-Ing. Amilcar do Carmo Lucas)
Add “from the top” explicitly to the instructions loop (Dr.-Ing. Amilcar do Carmo Lucas)
Use battery capacity defined in component editor (Dr.-Ing. Amilcar do Carmo Lucas)
SPDX headers (Dr.-Ing. Amilcar do Carmo Lucas)
simplify and shorten GUI FrameLabel texts (Dr.-Ing. Amilcar do Carmo Lucas)
Lint fix suggested by codacy (Dr.-Ing. Amilcar do Carmo Lucas)
allow sorting by columns in template overview (Dr.-Ing. Amilcar do Carmo Lucas)
Move some functionality to the component editor base class (Dr.-Ing. Amilcar do Carmo Lucas)
Add validation of battery capacity and remove code duplication (Dr.-Ing. Amilcar do Carmo Lucas)
more codacy linting fixes (Dr.-Ing. Amilcar do Carmo Lucas)
Bump version info (Dr.-Ing. Amilcar do Carmo Lucas)

amilcarlucas · June 17, 2024, 6:13am

v0.8.5 Latest

Commits

annotate_params.py Fix magfit xml documentation filename #26 (Dr.-Ing. Amilcar do Carmo Lucas)
annotate_params.py allow selecting firmware version #26 (Dr.-Ing. Amilcar do Carmo Lucas)
do not run workflows on pull_requests, they alrundy run on pushes #26 (Dr.-Ing. Amilcar do Carmo Lucas)
automatically push pipy on taged pushes #26 (Dr.-Ing. Amilcar do Carmo Lucas)
do not copy the vehicle.jpg file from the template directory. This will force users to replace it. #26 (Dr.-Ing. Amilcar do Carmo Lucas)
Extend parameter documentation metadata if <parameter_file>.pdef.xml exists #26 (Dr.-Ing. Amilcar do Carmo Lucas)
use defusedxml because it is safer #27 (Dr.-Ing. Amilcar do Carmo Lucas)
Bump version information (Dr.-Ing. Amilcar do Carmo Lucas)

amilcarlucas · June 17, 2024, 6:10pm

v0.8.6

Commits

more defusexml fixes (Dr.-Ing. Amilcar do Carmo Lucas)
small usermanual fixes and improvements (Dr.-Ing. Amilcar do Carmo Lucas)
build PyPI with python 3.12 #30 (Dr.-Ing. Amilcar do Carmo Lucas)
Use new actions/setup-python@v5 #30 (Dr.-Ing. Amilcar do Carmo Lucas)
Add an explicit legend explaining the text background colors (Dr.-Ing. Amilcar do Carmo Lucas)
annotate_params.py unittests (Dr.-Ing. Amilcar do Carmo Lucas)
use comboboxes where possible #12 (Dr.-Ing. Amilcar do Carmo Lucas)
Bump version info #12 (Dr.-Ing. Amilcar do Carmo Lucas)

amilcarlucas · June 20, 2024, 8:02pm

v0.8.7 Latest

Commits

Make windows look the same as linux (Dr.-Ing. Amilcar do Carmo Lucas)
Add issue templates #31 (Amilcar Lucas)
Create SECURITY.md #32 (Amilcar Lucas)
increased test coverage (do Carmo Lucas)
Add a workflow to check the code against virus (Dr.-Ing. Amilcar do Carmo Lucas)
Add more unit tests (do Carmo Lucas)
add a name to the gitavscan action (do Carmo Lucas)
pypi should be automatically run on releases #33 (Dr.-Ing. Amilcar do Carmo Lucas)
Motor/Propeller order and direction test are better in file 15 #33 (Dr.-Ing. Amilcar do Carmo Lucas)
add automated semantic versioning changelog generation #33 (Dr.-Ing. Amilcar do Carmo Lucas)
Codacy linting (Dr.-Ing. Amilcar do Carmo Lucas)
Bump version information (Dr.-Ing. Amilcar do Carmo Lucas)

Luciano_Andreani · June 23, 2024, 3:05pm

How do I insert the drone photo?? I tried to upload it in the indicated directory but nothing appears.

amilcarlucas · June 23, 2024, 3:34pm

It has to be called vehicle.jpg and be in the same directory as the param files.