We have been getting word individuals are having a hard time finding where to purchase AttoPilot products. AttoPilot sells through an exclusive distributor who is AttoPilot International, LLC through Chris McNair and his team. If you are looking for aircraft and AP's you may contact us at order@attopilotinternational.com or Sales@attopilotinternational.com

Kind Regards,

Chris McNair

Hello to all and Happy Holidays!

We wanted to express our thank you to all those who made this year AttoPilots most successful yet. Because of this we wanted to offer high percentage discounts on multiple products we offer.  

Reality is we are trying to get a DIY based group interested in purchasing AttoPilot IMU systems and utilizing the extensive command set available to interface with AttoPilot. The abilities are limitless with a little imagination and some micro processor education, code writing and computer programing. We have had 4 Master degrees achieved from individuals using AttoPilot for the core part of their thesis testing. 3 GCS programs have now been produced based off the extensive command set as well.

We have priced the IMU system as low as possible to break just over even. The extensive calibration procedure with 72hrs of torture testing with temperatures ranging from -30C to +90C. The IMU also accepts airspeed inputs along with being "G" force corrected. Combine this with an incredibly low drift and a hermetically sealed sensor packet and you get one of the highest accuracy 6DOF IMU systems available at a achievable price point.

Included in this special are two of our foam sUAS complete system. These aircraft are capable of completing missions for possible SAR or work missions as well as serve for great development packages for high schools, tech schools, Universities and hobbies. All our aircraft come completely flight tuned and ready to fly upon arrival. Included in the package is complete ground control station with small tracking antenna system, live or still video system, laptop, charger and transportation box.

Please feel free to contact us anytime at order@attopilotinternational.com or you may contact me directly at chris@attopilotinternational.com

You can find the website at : www.attopilotinternational.com 

Canadian University team fly human powered aircraft.

http://green.yahoo.com/blog/guest_bloggers/70/student-flies-like-a-bird-powered-only-by-himself.html

I have been asked if I would mind supplying the SET file for my Stryker. See attached. Please keep in mind if you plan on using this with a differnet AP other then Atto then P and D gains may be way far off. Our scaling factors may not meet eye to eye. I also have added rudders for active yaw dampening.

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$1,Mix Enable = 1 ' 0 or 1 allowed. Enable flag for Elevon/V-tail mixing. 0 = FALSE, 1 = TRUE
$2,Mix Servo1 Sign = -1 ' -1 or 1 allowed. If Mixing for Elevon/V-tail is enabled, this is Elevon 1 servo direction
$3,Mix Servo2 Sign = 1 ' -1 or 1 allowed. If Mixing for Elevon/V-tail is enabled, this is Elevon 2 servo direction

$4,Servo 1 Gain = 9 ' 0 to 100 integer allowed, is 10x format. Aileron, or with elevons it is the aileron component of the mix
$5,Servo 2 Gain = 18 ' 0 to 100 integer allowed, is 10x format. Elevator, or with elevons it is the elevator component of the mix
$6,Servo 3 Gain = 12 ' 0 to 100 integer allowed, is 10x format. Throttle
$7,Servo 4 Gain = 0 ' 0 to 100 integer allowed, is 10x format. Rudder
$8,Servo 5 Gain = 10 ' 0 to 100 integer allowed, is 10x format. Pan servo, or Elevon3
$9,Servo 6 Gain = 10 ' 0 to 100 integer allowed, is 10x format. Tilt servo, or Elevon4
$10,Servo 7 Gain = 10 ' 0 to 100 integer allowed, is 10x format. Trigger Servo

$11,Servo 1 direction Sign = -1 ' -1 or 1 allowed. Aileron, or for Elevons it is the aileron component of the mix
$12,Servo 2 dirdction Sign = 1 ' -1 or 1 allowed. Elevator, or for Elevons it is the elevator component of the mix
$13,Servo 3 direction Sign = 1 ' -1 or 1 allowed. Throttle. 1 would be standard for electronic speed controls.
$14,Servo 4 direction Sign = 1 ' -1 or 1 allowed. Rudder
$15,Servo 5 direction Sign = 1 ' -1 or 1 allowed. Aux_1
$16,Servo 6 direction Sign = 1 ' -1 or 1 allowed. Aux_2
$17,Servo 7 direction Sign = 1 ' -1 or 1 allowed. Aux_3

$18,Servo 1 Upper Limit = 1688 ' Pulse width in microseconds, from 900 to 2100 allowed. Aileron, or Elevon1
$19,Servo 2 Upper Limit = 1667 ' Pulse width in microseconds, from 900 to 2100 allowed. Elevator, or Elevon2
$20,Servo 3 Upper Limit = 1900 ' Pulse width in microseconds, from 900 to 2100 allowed. Throttle
$21,Servo 4 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Rudder
$22,Servo 5 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_1
$23,Servo 6 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_2
$24,Servo 7 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_3

$25,Servo 1 Lower Limit = 1350 ' Pulse width in microseconds, from 900 to 2100 allowed. Aileron, or Elevon1
$26,Servo 2 Lower Limit = 1371 ' Pulse width in microseconds, from 900 to 2100 allowed. Elevator, or Elevon2
$27,Servo 3 Lower Limit = 1100 ' Pulse width in microseconds, from 900 to 2100 allowed. Throttle
$28,Servo 4 Lower Limit = 1200 ' Pulse width in microseconds, from 900 to 2100 allowed. Rudder
$29,Servo 5 Lower Limit = 1000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_1
$30,Servo 6 Lower Limit = 1000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_2
$31,Servo 7 Lower Limit = 1000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_3

$32, Path Angle Max = 30 ' 0 to 90 allowed (in degrees). "Cone" is shown in ASCII art below. Use 0 to disable TruTrak, but 30 is a good value
$33, Path Merge Line distance = 60 ' 5 to infinity allowed in meters. This is the half width of "highway" that we merge onto the line over. See ASCII Art below

$34,Roll Angle Limit = 30 ' Max allowed roll in degrees, from 5 to 40 allowed
$35,Pitch Angle Limit = 25 ' Max allowed pitch in degrees, from 5 to 40 allowed

$36,Steer Proportional Band Width = 195 ' Width (in degrees) to spread proportional control of roll response. 5 to 360 degrees allowed.
$37,Alt Proportional Band Width = 210 ' Altitude window (in meters) to spread proportional pitch response. 1 to infinity meters allowed.

$38,Steer_D = 35 ' Gain factor for "D" dampening term of heading control. 0 to 100 integer allowed. 10 is a good start
$39,Alt_D = 2 ' Gain factor for "D" dampening term of altitude control. 0 to 100 integer allowed. 10 is a good start

$40,MaxRate = 50 ' Max allowed pitch and roll rate of change in deg/second. 1 to 120,000 is allowed (0.01 to 1200 deg/sec)

$41,WP Distance Satisfy = 100 ' For departure WP sequencing, minimum distance (meters) to activate WP for departure. 10 to infinity meters is allowed.
$42,Hold radius = 200 ' Radius (in meters) of holding pattern at end of flight. 1 to infinity meters is allowed.
$43,Hold Direction = 0 ' 0 or 1 is allowed. 1 is CCW flight direction, 0 is CW rotation for end of flight hold pattern
$44,Hold Alt = 125 ' User-specified altitude for the default RTL hold pattern. 25 to infinity meters is allowed

$45,XY TPile Orientation = 0 ' Describes orientation of XY thermopile head. 0-7 are valid. See ASCII art in comments section.

$46,ThrottMid = 1400 ' 900 to 2100 allowed. Initial PWM value for Throttle, user-definable to control ESC arming or not upon boot up.

$47,log_freq = 0 ' Number of 1 second delay intervals between writes to LOG.txt. 0 to infinity is allowed. 0 is 5Hz.
$48,Num_Pulses = 20 ' Number of consecutive good pulses on Aux1 Rx channel required to switch flight mode. 1 to infinity allowed

$49,VoltScale = 51810 ' Conversion factor for analog voltage sensor. Units are number of mV per entire 3.3V analog scale. E.g. 51810 for Atto V1.7
$50,CurrentScale = 92623 ' Conversion factor for analog current sensor. Units are number of mA per entire 3.3V analog scale. E.g. 92623 for Atto V1.7

$51,Plane mass in grams = 0 ' Flying mass in grams
$52,Motor Efficiency Percentage = 80 ' Estimated efficiency percentage of electric motor + speed control. 80 is a good value for brushless outrunner, perhaps 40 for brushed motor.
$53,mAh usage upper limit abort = 0 ' 0 = don't use this function, 1 to infinity means YES and tells the used mAh RTL trigger

$54,Pitot Present = 1 ' 0 = lock throttle in non-RC, 1 = use pitot airspeed control, 2 = use GPS for speed with Cosine(Pitch) corrections
$55,Test Mode = 0 ' 0 = NO, 1 is YES. Causes AttoPilot to start Rx/Servo object, start 50Hz IMU object, and then hold. No GPS startup, no WP loading
$56,Ground Launch = 30 ' 0 = NO, 1 to infinity means YES and hold roll angle to zero until specified AGL altitude in meters is reached after launch in AutoMode

$57,Servo 1 D_Term = 16 ' 0 to 100 integer allowed, is 10x format. Aileron, or with elevons it is the aileron component of the mix
$58,Servo 2 D_Term = 12 ' 0 to 100 integer allowed, is 10x format. Elevator, or with elevons it is the elevator component of the mix
$59,Servo 3 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Throttle (not implemented)
$60,Servo 4 D_Term = 50 ' 0 to 100 integer allowed, is 10x format. Rudder
$61,Servo 5 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Aux_1 (not implemented)
$62,Servo 6 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Aux_2 (not implemented)
$63,Servo 7 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Aux_3 (not implemented)

$64,Hold Speed = 60 ' 5 to 255 integer allowed. Hold pattern airspeed target in km/h for when PitotPresent = 1
$65,Min Speed = 50 ' 5 to 255 integer allowed. Min allowed aispeed target for when PitotPresent = 1
$66,Max Speed = 140 ' 5 to 255 integer allowed. Max allowed aispeed target for when PitotPresent = 1

$67,Telem Baud = 38400 ' User can set this to ANY integer from 4800 to 230400. If unspecified, it defaults to 38400 baud

$68,MaxDistance = 10000 ' User-defined max distance (meters) from home to force abort and go to home. Default is 300km, but user can make less

$69,LoiterRadius(1) = 50 ' User-defined loiter radius, in meters. 0 to 32767 is allowed
$70,LoiterRadius(2) = 100 '
$71,LoiterRadius(3) = 150 ' To specify this at a waypoint, make last trigger digit (the 8th one from left)
$72,LoiterRadius(4) = 200 ' set to 1 through 9. To disable, set this trigger to zero (0)
$73,LoiterRadius(5) = 300 ' MUST be used in conjunction with non-zero 7th trigger value, otherwise loiter has LIMITED affect
$74,LoiterRadius(6) = 500 ' and the result would be plane will circle ONLY UNTIL it is line up with next waypoint.
$75,LoiterRadius(7) = 1000 ' T2 field sets the loiter direction. 0 (default) is clockwise, 1 is counter clockwise
$76,LoiterRadius(8) = 2000 '
$77,LoiterRadius(9) = 10000 '

$78,LoiterTime(1) = 10 ' User-defined loiter time, in seconds. 0 to 32767 is allowed
$79,LoiterTime(2) = 20 '
$80,LoiterTime(3) = 40 ' To specify this at a waypoint, make 2nd last trigger digit (the 7th one from left)
$81,LoiterTime(4) = 60 ' set to 1 through 9. To disable, set this trigger to zero (0)
$82,LoiterTime(5) = 120 ' MUST be used in conjunction with a non-zero 8th trigger value, otherwise time has no effect
$83,LoiterTime(6) = 240 '
$84,LoiterTime(7) = 600 '
$85,LoiterTime(8) = 1200 '
$86,LoiterTime(9) = 3600 '

$87,Trigger time interval (2) = 5 ' Specify value between parenthesis for Trigger field 3 (4th from right)
$88,Trigger time interval (3) = 10 ' 0 is no trigger for that waypoint
$89,Trigger time interval (4) = 20 ' 1 is trigger at waypoint only
$90,Trigger time interval (5) = 60 ' 2-5 are time interval triggers, in seconds
$91,Trigger Distance interval (6) = 100 ' 6-9 are ground distance interval triggers, in meters
$92,Trigger Distance interval (7) = 150 ' Time interval allowed from 0 to 32767 seconds
$93,Trigger Distance interval (8) = 200 ' Distance interval allowed from 0 to 32767 meters
$94,Trigger Distance interval (9) = 500 '

$95,Trigger Type = 1 ' 0 is logic controller from servo7 signal line, 1 is PWM servo controller from servo7
$96,Trigger Active = 1400 ' If trigger is logic, enter a 1 or 0 here. If PWM servo driver, enter servo position in microseconds
$97,Trigger Rest = 1600 ' If trigger is logic, enter a 0 or 1 here. If PWM servo driver, enter servo position in microseconds
$98,Trigger Duration = 5 ' Number of 0.2 second time intervals to hold trigger in active state for each episode of the trigger, 0 to 32767 allowed

$99, Roll Expo = 30 ' 0 is no Expo, otherwise 10X units amount to add per 90 degrees attitude.
$100,Pitch Expo = 30 ' 0 is no Expo, otherwise 10X units amount to add per 90 degrees attitude.

$101,AutoLock Distance = 0 ' exceed this and mode is forced into Auto. 0 means disable the feature.
$102,RTL mAh autoLock = 0 ' 0 is DISABLE, 1 is ENABLE. If mAh cutoff happens lock out other modes and go Auto for RTL
$103,PhotoDeadPre = 0 ' 0 to 50 allowed and is number of 0.2 sec intervals (0 to 10 seconds) pre trigger to lock attitude at level and idle throttle
$104,PhotoDeadPost = 0 ' 0 to 50 allowed and is number of 0.2 sec intervals (0 to 10 seconds) post trigger start to lock attitude at level and idle throttle
$105,StopNav = 0 ' 0 or 1 allowed. 0 is continue nav during motor off period of photo, 1 is stop nav and hold flat attitude during photo

$106,Pitot Offset = 21 ' -200 to 200 allowed. Value derived from indoor session of Test Mode (line 55 in this SET). Corrects hardware bias for accurate low airpseed range

$107, GPS Altitude = 0 ' 0 is NO, 1 is YES. Generally DO NOT enable this unless your UAV has hermetic sealed cabin. Pressure altitude is MUCH better

$108, Telem Freq = 1 ' Number of 1 second delays between telemetry updates out from Atto. 0 means maximum which is 5 Hertz

$109, Roll Bias = 0 ' 1X degrees. Put in non-zero value to seed the bias at start
$110, Pitch Bias = 4 ' 1X degrees. Put in non-zero value to seed the bias at start

$111, RC Dampen Roll = 14 ' 0 to 100 allowed though generally don't exceed the D_term in line 57
$112, RC Dampen Pitch = 10 ' 0 to 100 allowed though generally don't exceed the D_term in line 58
$113, RC Dampen Yaw = 35 ' 0 to 100 allowed though generally don't exceed the D_term in line 60

$114, Min_RollRate% = 25 ' 1 to 100 allowed. Is percentage of MaxRate to use when roll error is zero for soft landing on target
$115, Min_PitchRate% = 25 ' 1 to 100 allowed. Is percentage of MaxRate to use when pitch error is zero for soft landing on target

$116, Altitude by Throttle = 0 ' 0 is no 1 is yes. If yes, the next 6 lines need a value
$117, PitchSpeedGain = 60 ' Terminal velocity in km/h with motor off and pitch at -30. 0 to 1000 allowed
$118, ThrottAltGain = 18 ' 0 to 100 allowed. Throttle gain in special case of throttle altitude. Seperate from airspeed throttle gain.

$119, DistNear = 20 ' meters from altitude target. MUST be no larger than DistFar
$120, DistFar = 100 ' meters from altitude target. MUST be no smaller than DistNear
$121, NearB% = 50 ' % mixing Pitch Airspeed when at or closer to target alt than the DistNear value. MUST be no larger than MaxB
$122, FarB% = 80 ' % mixing Pitch Airspeed when at or farther to target alt than the DistFar value. MUST be no smaller than MinB

$######## END OF SETTINGS

I added rudders to the Stryker and added a good amount of D term on yaw. Seemed to make a huge difference. I will keep tuning to see how good we can get it.

Enjoy and comments are welcome.

Second Stryker flight over lake from Chris McNair on Vimeo.

Chris

How do I embed the videos?

Today I flew my ParkZone Stryker with an AttoPilot IMU for the first time. The wind was 20mph and the loiter circle was 100m. I did not have a WP file set for today as I was checking my stabalization tuning. Some very minor changes needed but it really turned out extreemly well. I will fly some WP files tomorrow.

The following plots are:

Roll vs Roll target

Pitch vs Pitch target

Airspeed vs Airspeed target

Wind and Airspeed vs Heading

These birds fly rather well.

Chris