James Goppert's Blog – December 2011 Archive (2)
ArduPilotMega (ArduBoat) Sailboat Autopilot Heading Hold Test
This is a heading hold test for the ArduPilotMega based (ArduBoat) sailboat autopilot. The boat is sailed manually on a reach and then heads downwind holding a heading of 0 degrees and performs a jibe.We have waypoint guidance working in hardware-in-the-loop, so we expect to do waypoint testing soon. We might have to figure out a better solution for our digital wind…
ContinueAdded by James Goppert on December 9, 2011 at 12:00pm — 8 Comments
Sailboat Autopilot Design for ArduPilotMega
We just finished up modeling sailboat dynamics and implemented a controller. The dynamics were interesting due to the swinging airfoil. We modeled the winch system using a basic spring model that can only pull the sail in. It works well and can simulate irons, tacking, and jibing. All of the drag coefficients etc. are very rough at this point but the overall dynamics…
ContinueAdded by James Goppert on December 2, 2011 at 12:30am — 9 Comments
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