Enhancements to UAS

- Module to store and load waypoint info and instructions
Use a mini arduino to store data and instructions.  It can send out a serial stream and repeat it so that the receiving arduino can accept the commands.  Permanently mount ardupilot and battery in the plane.  Plug in the "memory block" after uploading data from computer.  Use an extension for the battery.

- add landing routine to existing code.  Detect ground with optical sensor.  Use triangle formula for height error control.  Calculate distance to touchdown from coordinates where ground level is detected from optical sensor.

Progress on software

Going through a cold snap so working on the software

old VAIO > Processing > IMU_test2     works with modified IMU
had to change the beginning string to "+++"


old VAIO > Processing > HUD02   also works
It was nice to see the HUD display a more traditional Roll, Pitch, Yaw output

USB16G\Arduino\Arduino-0018 > IMU_stabilize_01       ready to upload into AP
Made a stripped down version which will hopefully be less jittery.
It remembers center stick settings for in-flight trimming

Ready to flight test

Now need to focus on navigation using AP with GPS

New ArdIMU

http://diydrones.ning.com/profiles/blog/show?id=705844%3ABlogPost%3A708308&commentId=705844%3AComment%3A719013 for product details


Harry Lister commented on their blog post "ArduIMUV3 Works with V2 software" on DIY Drones
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Like I said, I'm waiting for the experts to come up with something better and they did.
Go here and download the latest version 1.9. http://code.google.com/p/ardu-imu/downloads/list
Use the compass example in the library folder to get the offsets and then put those in where #defined.  Also, read the code and go to the link for finding your declination.  This is much better than what I did.
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Try using 2 arduinos

So here we are in 2012.

Ever since the cold weather set in my flights have fallen off the radar.  However, this January seems to be dishing out the Chinooks with associated good temperatures in the double digits above zero C!

Dusting off my old planes, arduinos and programs.

In my last post I was up to IMUlander_05 and have since progressed to IMUlander_09.  The groundstation software written in processing does a nice job of visualizing flights and recording data
Location > Old Vaio > USB16G\Arduino\Arduino-0018

  This is a stable version as far as keeping my Radian platform level.  I decided to save some hassle by using Ardupilot 2.3.1 code and grabbing the Rudder control in walkaround mode

Met some keen folks in Athabasca who are FPV and aerial photography enthusiasts.  Researched the "Ruby" platform on their lead.

DIYDrones has a new TTT due in March which is also motivating me to get my stuff working.


Da Plaaaan:

- use the Radian Pro (version with ailerons and flaps)
- control ailerons and elevator with my stuff (ArduIMU control)  6 Feb
- control rudder with ArduPilot 2.3.1 in walkaround mode
- experiment with Throttle and Flaps for H control (modify AP code)
- try for TTT entry

Yahoo!


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Weekend update  2/5/2012

Built my Radian Pro platform

Trying to use 2 Ardupilots as described above but... one is burnt, at least the MUX chip.  I've got this working by using D6, D7, and D8 as outputs with D11 as an input - this maxed out the available pins apart from ADIO

Had some fun reviving the Ardupilot 2.3.1 software.  2 lessons
1. The EM406_tester program should be used to reset the GPS
2. This version of Legacy Ardupilot 2 uses the "Remove before fly" plug !! (D6 and D7 jumper)

Anyhow, it's a good start to using the Walkaround mode as a navigation option.  I don't want to use AP2.7 because of the lack of walkaround mode and steep learning curve to re-writing code.  Perhaps as a last ditch option if I want to try just one AP instead of 2.

The basic problem is that the Legacy AP has 2 timers so to have more than 2 outputs I need to go to APM.

TODO
 - try Arduino0018 with several servos and inputs
 - build a model for walkaround mode
 - rewrite my IMULander code and remove the restriction that waits for GPS - pure stabilization
 - work out communication between the 2 AP's
 - modify AP231 software to accept sentances from IMU or AP1

Not sure if I should have separate goals

A) Build planes for beginner, FPV and other markets
B) get and entry for TTT in Mar 4

If I'm lucky I can do both??

IMU progress

Did 2 test flights over the Xmas break.

Here's an update

TODO:

• Change IMU output to resemble the regular ardupilot i.e. separate the Euler from GPS
• Use Ardustation code to decode output from ArduIMU for stabilization
• Test IMU stabilization with glider
• Add fly-by-wire
• Add navigation
• Finally, add landing

I'm ready to test the navigation and landing
Ardupilot code - imulander05 written in Arduino 0018 imulander06 written in Arduino 0022
Ground Station - IMU01 written in Processing

Back at it

Building some momentum on this project after the cold snap.

Got hold of the first Radian Pro (ailerons plus flaps)

TODO:

• Change IMU output to resemble the regular ardupilot i.e. separate the Euler from GPS
• Use Ardustation code to decode output from ArduIMU for stabilization
• Test IMU stabilization with glider
• Add fly-by-wire
• Add navigation
• Finally, add landing

Separately test Ardupilot 2.7 on the Apprentice

• Fly with just the thermopiles on a warm day
• Install the Ardupilot hardware and update the firmware
• Add new alt control
• Add touchdown sensor

IDEA: Autopilot + Camera programs

1. Follow a ground target e.g. Cyclist
2. Route around a landmark

In both cases, the focus of the camera is kept on the target regardless of plane position.  It may require a GPS + Tx on the ground