Antenna Tracking in HappyKillmore's GCS

FPV antenna tracking is now working in HappyKillmore's GCS v1.1.32 and newer.

Are you looking for something to do with your original ArduPilot now that you've got the new ArduPilot Mega? Why not put it to good use! Diego Colonnello and I have come up with an antenna tracker for my GCS. It uses the original ArduPilot, a couple servos and a FTDI cable. Building the actual mechanism to move your patch antenna is up to you...but the code is in there to make it work. You can also use your ArduStation! Simply select the ArduStation output type and the data will flow out in the right format regardless of GPS or Auto-pilot brand.


Here's a Wiki page trying to explain how it works: http://code.google.com/p/happykillmore-gcs/wiki/Tracking

To download the ArduTracker 1.0 source and 1.1.32 of my GCS: http://code.google.com/p/happykillmore-gcs/downloads/list

Views: 9557

Comment by Darren on January 10, 2011 at 2:00pm

Happens that I have a spare APM, can I use it?

Comment by Paul Mather on January 10, 2011 at 2:04pm
Not sure how different the servo outputs are. Take a look at the ArduTracker code. There's not much to it. You'd just need to figure out how to pulse_servo_1 and 2 on the APM.
Comment by Paul Mather on January 10, 2011 at 2:27pm
It's not far off. Joystick control is almost done. Mission planning coming very soon along with tuning parameters and other variables for APM, AttoPilot and Gluonpilot.
Comment by diego colonnello on January 10, 2011 at 2:46pm
hey people, the ardutracker idea is ment to work with anything using arduino....... only have to check the pin asigment!!!!!!
Comment by Paul Mather on January 10, 2011 at 2:49pm

Yes, just the AP board...and I use an FTDI cable to connect it, but I think you can use something cheaper like a USB to serial cable....

 

I don't have any "plans" for building the tracking base. I'm hoping Diego can chime in and post some of his pictures....he's got one built.

Comment by Paul Mather on January 10, 2011 at 3:42pm
180 is suggested as a minimum for pan. 360 is ideal, but not required. 90 degrees on tilt.
Comment by Paul Mather on January 10, 2011 at 4:39pm
I'm going to add some predictive movement as there is a 1.5-2.0 second lag on GPS data. Since we have speed and heading, I can try to guess where the plane will be in 2 seconds....
Comment by diego colonnello on January 10, 2011 at 7:45pm

This is the thacking base i have been working on these days before i wrote happy an email with the Ardutracker idea.... , it has a servocity pan/tilt kit, and for the paning i use a hitec winch servo (3.5 turns), now that happy came up with the software i am testing the unit with the simulation mode on my AP like the video of the dreaming ardupilot!!!!  the Tracking base was made initially to be driven by Ardustation and to carry two receivers and a Rangevideo diversity (22$ little red one).... after testing happy´s new Ardutracker this weekend, i will make a new base only to track the uav, no diversity, and i plan to make my own hardware version of ardutracker (328pu chip, a little board, crystal, headers and other stuff to make it work as simple as i can make it) just for fun!!! :-)
Comment by Darren on January 10, 2011 at 8:14pm
nice one, do you use a tripod or whats it sitting on?
Comment by Darren on January 10, 2011 at 8:22pm
Huge favor, is this code reversable? in other words, can the same code keep the plane tracking the ground station? I'm thinking of the plane's APM keeping a high gain antenna pointing at the GCS (Home).

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