The OpenPilot project

[st599]

Some forumites have set up a group looking at the possibility of creating a free open source autopilot system for a yacht. http://www.ybw.com/forums/group.php?groupid=14

Currently we've got a few people working on it, but we'd like more. if you fancy having a crack at code writing or testing - then have a look at the project website : http://pcinst.imolesworth.info/tiki-index.php

Other people are busy looking at NMEA Interfaces, hardware autopilot controls, logging etc. I'm busy playing with control software for forcing boats to stay on heading etc.

Could I ask a favour, I've just released some algorithm test software (with a nice User Interface) Could people download and test it? Will only take 5 mins. Any bugs or system incompatibilities you find can be reported using our online form at: https://sourceforge.net/tracker/?func=add&group_id=271182&atid=1153190 (please pick Bugs from the Tracker dropdown menu)

We'd also love to hear feature requests using the same form (please pick Feature Request from the Tracker dropdown menu)

 

[st599]

OpenPilot Controller Test Software - version 1 release

This version tests the PID Controller against a basic yacht model:

1. turning parameters provided by users.
2. wind which will blow the ships heading +/- 1 degree.
3. simple UI - use the slider at the bottom to fix required heading.


Download version 1 from: https://sourceforge.net/projects/ybwopenpilot/
You will need the Sun Java Runtime Environment installed, but most PCs do - if not goto http://www.java.com/en/download/manual.jsp

Unzip the zipfile into a direcory and double click on the .jar file.

Please test and report bugs (e.g. crashes, boat turning 355 degrees to port instead of 5 to starboard etc.) at: https://sourceforge.net/tracker/?fun...2&atid=1153190

All code is available in the Subversion repository

Version 2 - will be released late Aug/early Sept and will include all the bug fixes suggested by version 1 users.
Version 3 - late Sept - will include enhancements to the yacht model (and required changes to the Controller)

 

[ShaunG]

done comment on wiki as only a repeat of sorceforge bug track, off on hold tongiht but may get some access whilst away, although i suspect most of time will be spent on java books

Cheers

shaun

 

[st599]

Version 2 release

Version 2

Bugfixes:

* Ensured that controller forces turn in correct direction
* Ensured that the time between samples used in mathematics is actual time, not expected time
* Got program to output GPL statement as per chosen licence


Version 3 will be available next month this will have:

* Full API to allow others to easily use the code
* Better control interface
* More Bugfixes as and when they get reported.

 

[ShaunG]

Hi St599

I am now back from holiday now but playing massive catch up work wise, 2 weeks off is not a good idea. I will have caught up by the weekend i will be fully back on board

ShaunG

 

[tin_tin98N]

Trying to get openpilot work

Hi all. this is my first post, sorry for opening an old thread, but this is the one I need.

I am making an autopilot to drive a RC, boat. And is copy/pasting code from the web, to try make it work.

I have completed decyper NMEA messages, and first try to make autopilot I used Cross Track Error. But I'm not satisfied with the result.
Now I am making an atempt to make it run with Requested / Current handling, and I need a PIDloop to take kare of the input, output. I stumbled over ybwOpenPilot at surceforge, but the main site http://pcinst.imolesworth.info/tiki-index.php is down. Are the anyone out there ta'll able to help me?

I have tried to use the example code supplied, and use it for my advantage, but unsuccessful.

I now My wished bearing in degrees, and vessel bearing in degrees, but I am unable to get it into the program.

Thanks in advance..

Greetings from Norway