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Comment by Harry on July 10, 2012 at 10:48am

I can now say that I adapted the IMU V3 to JL's TrIMUpter code.  It would be nice to connect it to Ardupilot and get it to navigate.  For now I'll settle for a stabilized Tricopter, but I need a PPM out Rx.  Anyway, here's the link to the working code.  I got magnetometer Heading lock to work, but the attached code doesnt have that correction.

 

http://diydrones.com/forum/topics/trying-to-adapt-jean-louis-tricop...

Moderator Comment by Brian on July 8, 2012 at 7:10pm

Mike,  That's a cool looking Delta.  Size sounds good and I like the fins.  I kind of think that the middle fins could be used as air-breaks instead of doing a flap configuration like others do to complete a final slow-down prior to landing.

I don't know about specific payloads but I know I'd want to be able to have a real nice SLR and/or video recorder (not small ones like the go pro and like) but something bigger perhaps thermal or IR.

Another structure that would be good is a super strong battery securing system. Actually same goes for the heavier cameras but I've had batteries shift and through off CG.

PM sent.

Comment by Harry on July 8, 2012 at 6:50am

I'm having some problems with the JL tricopter code.  It compiled once after I replaced the APM_Compass library file with JL's library.  It's named the same, but something is different.  Now It wont compile and all errors point to APM_Compass.  This library is for the older IMU, so not a big deal if I get it working with the new IMU.  The biggest difference between what he wrote and what I want is the version of the IMU.  That's a big difference though. 

 

For kicks, I took my tricopter with the HK board out yesterday and that was a scary experience.  I got it to hover about 4 feet off the ground and then I gave it more power and next thing I know it's about 60 feet up and not going where I wanted.  I brought it down, but it was carrying a lot of speed and momentum.  I thought I had it under control about 10 feet up and then bam, it crashed and broke two props and bent the yaw mechanism.  The kids in the neighborhood thought it was cool and couldnt understand why I had to pack it in.  

 

Crashing is why I want to adapt JL's code.  His videos show it flying completely stable and autonomously. 

Comment by Dr Mike Black on July 8, 2012 at 6:34am

Hi guys,

Ok, our wing is ready....

You're gonna love this...we have dubbed this the Viper X-10..(but please jump in with another name as this is somewhat pretentious! :)  )

Also your thoughts on fin configurations would be good, (I personally like all 4 fins on it..but...what do you think?)

I will also need what you guys think it should be carrying, and where to make the appropriate recesses and structures (obviously this is the first renderings, so need tweeking a fair amount, and no structures shown for internals yet)

@ Anwar i will reply fully in the next post, so as not to x-post on subjects.

Kind regards,

Mike.

Comment by Anwar Ali Khan on July 8, 2012 at 5:18am

Hi all, I am not yet on air, still testing on ground (in car). Was about to giveup but then decided to test over a large area having each GPS point about a mile away. Doing so I got some related response on the aleron servo but either much before or after the GPS points. Its probably because you know the quality of EM406 and we don't have the WAAS/DGPS etc, here. (I have put black tape around the X-Y sensor for ground/in car testing).

If you remember my hardware consists of ArduPilot 328, EM406A and X-Y IR sensor (nothing elase). Here I want to ask about the behaviour of my system. Please let me know if each ot the following is rigt or wrong:

1. I don't get the Lock/blue LED blinking in Manual mode (1). I get it blinking in Stabalize or FBW or AUTO mode (when it starts blinking I switch the toggle back to Manual).

2. I get the blue LED blinking and lock only in NMEA with 9600 baud but not in Sirf. I got it blinking and lock once or twice in Sirf also but then there was no response of any servo to the radio except in Manual mode.

3. I get the nudge response (little movement) of ali. and ele. servos to the radio only in FBW mode where as they fully response to the radio in AUTO mode (according to the manual the nudge should be associated to the AUTO).

4. In Manual mode all 4 servos response to the radio, in Stabilize rudder do not and in AUTO throttle also do not.

5. Any idea about getting the Sirf to work?

It gives me pleasure to read all your posts but my connection being slow cannot watch the videos (sorry Mike about this).

@Luca, try 406 if you have WAAS there (otherwise I am in trouble with this 406).

Comment by Dr Mike Black on July 7, 2012 at 4:05pm

Hi guys,

Ok...lol...

@ Harry, very cool tricopter, JL is a very clever chap....always interested in his projects.

@ Luca, were here if we can help, however, honestly, you really need a better GPS than the 406....good for testign with but navigation is quite vague due to update rate, unless your aircraft is hossing some! But go for it..get it flying!

@ Graham, i fully agree (hence much fannying around with it again, having fun)

Happy to post it, i have to be honest though, my code turned left around V2.6, some wierdness in the later versions (V2.71) i couldnt get to the bottom of, so stuck with my version (Variation on 2.64), as it worked and refined that. So not sure how to call that..lol...

@Brian...

Wing...almost ready... just need to shell and rib top section and i will post renderings.

2.2m, capable of carrying 1.5-2kg internally (if my math is right)

Made from machined and cnc'd XPS, with laser cut parts for structural, strengthening. Vacs to prettify!

Pretty much all of what you have listed below..

PM your address and will fwd a 328 to you, but yes you are right, learning the grass roots is def the way forward, so happy to help with that.

first video, long test flight...from our strip to the lakes then to my works, couple of circuits of the than then home....

All went well.

Here is my last flight, 4 miles, 20WP's last leg 900m (to test for wing rock and cross tracking) seemed good to me....

Have a look yourself, and give me your thoughts, if thats ok.

Thanks for looking,

Kind regards,

Mike.

Moderator Comment by Brian on July 6, 2012 at 11:03pm

Hey Mike, that's one nice flight.  It looked very smooth and each track seemed to be spot on.  I remember, before I tanked my board that I'd have to circle back sometimes to get the wp lock for the next leg.  Nice to see it work so smooth!  

I'm with Graham, any thoughts of publishing the version?  

I am still interested in cutting the fat with the old board just for the sake of learning but wouldn't mind one w/room.  Please let me know what I can do for you!

Regarding thoughts for the wing... (just my personal views here)

1. Needs to be big enough to fly in heavy winds, so more wing/more weight.

2. Impact resistant.  

3. Skid plate for erosion control. 

4. Cover-able or Paint-able

5. Raceways for wiring (lights, servos, sensors)

6. Bungee launch options (hook, skids...)

7. Did I say BIG.

Anyway I have more but being vision oriented, wouldn't mind seeing the beast you've got on the burner. Looking forward to the renderings.

Comment by luca on July 6, 2012 at 11:02am

Yuhhuuu!!!!!!!!!!! Finally someone come back to talk about this old piece of electronic!!! Some months ago i bought one of this with an em-406, but i have never really used couse anyone can/want help me... now i'll bring it again and i'll try to ask to you!!!

Moderator Comment by Graham Dyer on July 6, 2012 at 6:31am

Glad ArduPilot Legacy has got some life in it again, always said it could still do SO much!

Dr Mike, how about releasing a v2.8α?

Comment by Harry on July 6, 2012 at 3:37am

Doc, I think hacking existing code is more art than anything - no set way to proceed. I havent successfully modified the TrIMUpter yet, still digesting.  It uses the IMU as a stabilizer for a tricopter.  Jean-Louis' last comment was that he wanted to add Ardupilot navigation.

Doc, are you using the shield in yours?  It looks rock solid in videos.

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