Simon D. Levy's Blog (32)

Visually-Guided Return to Base

This video shows work done this summer by Washington and Lee student Conan Zhao '16. Conan used the PyQuadSim and OpenCV Python packages to create a realistic V-REP…

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Added by Simon D. Levy on July 24, 2015 at 7:49pm — 6 Comments

ODROID + Naze32 autopylot

This video shows an ODROID U-3 single-board computer running a Python program that talks to a an AcroNaze32 flight controller (FC) over USB. The Python program uses MSPPG, our Multiwii Serial Protocol Parser Generator library, to serialize up/down/up/down MSP_SET_RAW_RC messages to the FC. By polling the incoming R/C receiver channels…

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Added by Simon D. Levy on July 19, 2015 at 3:30pm — 7 Comments

Naze32 + Arduino + Buzzer = Krell music!

As shown in this video, I connected the UART of an Acro Naze32 flight controller to an Arduino Mega, and used the pitch values (pitch, get it?) from the IMU to modify the pitch of a buzzer. 

You can download the code for this example from …

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Added by Simon D. Levy on July 15, 2015 at 6:00pm — 7 Comments

MSPPG: Multiwii Serial Protocol Parser Generator



For a final project in a robotics class, I suggested that a few students try implementing their own version of a parser-generator program like pymavlink.  The students built a simple Python-based system in a few days, which parsed JSON message specifications and generated Python code to parse and serialize a simple…

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Added by Simon D. Levy on July 11, 2015 at 10:00pm — 3 Comments

GooMPy: Interactive Google Maps for Python

My students and I like to write MAV applications in Python, and we were disappointed in that Google does not provide an interactive map-visualization API in that language. So we wrote one ourselves, which we call GooMPy.

GooMPy provides a Python…

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Added by Simon D. Levy on June 28, 2015 at 3:00pm — 6 Comments

PyMaxBotix: A cross-platform Python package for reading from MaxBotix ulatrasonic distance sensors

I needed an easy way to access data from the MaxBotix ultrasonic sensors using Python, so I wrote this little package, which you can download…

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Added by Simon D. Levy on December 14, 2014 at 6:30pm — No Comments

The Extended Kalman Filter: An Interactive Tutorial

In working with autopilot systems like OpenPilot and Pixhawk I have frequently come across references to something called an Extended Kalman Filter (EKF). Googling this term led me to several different…

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Added by Simon D. Levy on December 5, 2014 at 3:11pm — 37 Comments

GPS Kalman Filtering in PyQuadSim

This video shows recent work by Washington and Lee undergraduate student Shannon Nollet: a simple Kalman filter being applied to the a simulated noisy GPS signal in PyQuadSim (http://home.wlu.edu/~levys/software/pyquadsim/), a Python quadrotor simulator.  The yellow plot is the original, noisy simulated GPS…

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Added by Simon D. Levy on November 10, 2014 at 8:15pm — 10 Comments

DroidPlanner: Wireless debugging while talking to 3DR Iris

This shaky little video shows me debugging an app with Android Studio over a wireless connection to my Samsung Galaxy S4.  The app, DroidPlanner, connects to a 3DRobotics Iris over a 915 MHz radio plugged into the Galaxy's micro USB port, making the USB unavailable for debugging.  Thanks to these instructions:



 …

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Added by Simon D. Levy on October 6, 2014 at 9:00pm — 2 Comments

PyQuadSim: Hover-In-Place via Optical Flow

This video shows automated Hover-In-Place (HIP) using the PyQuadSim Python Quadrotor Simulator with OpenCV for optical flow.  This setup allows us to prototype HIP and other optical-flow-based algorithms for use with an actual optical-flow sensor like the PX4Flow.



The quadrotor is being flown over a simulated concrete floor using a FrSky R/C transmitter,…

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Added by Simon D. Levy on October 2, 2014 at 10:59am — 2 Comments

PyPX4Flow: A cross-platform Python package for reading from the PX4Flow optical-flow sensor

I needed an easy way to access data from the PX4Flow sensor using Python, so I wrote this little package, which you can download from github. It runs on Windows, Linux, and OS X in Python 2 and 3. As with the…

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Added by Simon D. Levy on September 3, 2014 at 3:17pm — 2 Comments

PyQuadSim: A Multi-platform, open-source quadrotor simulator in Python



PyQuadSim is a Python program that allows you to fly a simulated quadrotor miniature aerial vehicle (MAV) from a variety of controllers (joystick, R/C transmitter, PS3 controller).

You can modify the source code to add new sensors and other features, as well as…

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Added by Simon D. Levy on August 31, 2014 at 3:30pm — 9 Comments

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