Developer

Full autonomous Cularis UAV mission under flight plan

Here a video of my Cularis UAV during a full autonomous flight mission under a flight plan with 7 waypoints (
Mission #19 done on april 2011)

The Cularis UAV autopilot setup is:

Hardware:
- Autopilot: Ardupilot (Atmega 328)@16MHZ + ArduIMU flat v2

firmware:
- ardupilot v2.8 (JLN) + arduimu v1.8.3 (JLN)

Sensors: (arduIMU on board):
•3 Axis Accelerometer (ADXL335)
•3 Axis Gyroscope (LPR530AL + LY530ALH)
•3 Axis magnetometer (HMC 5843)
•1 pressure sensor (air speed sensor)
•1 GPS U-Blox5 GS407

Video cameras:
•1 GoPro HD Wide (forward view)
•1 FlyCam One v1 (downward view)

Real time telemetry:
- Low speed with Multiplex M-Link
- High speed datalink with Xbee pro

More infos at: http://diydrones.com/profile/JeanLouisNaudin

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  • Developer

    Successful 7.5 Km autonomous flight of the Cularis UAV with a GoPro HD

    Here a video of the 7.5 Km mission #23 during a successful autonomous flight of my Cularis UAV done on April 2011. The purpose of this mission is to do a 7.5 km autonomous run under a flight plan (FPL). The FPL is composed of 6 waypoints and the Cularis UAV autopilot run the FPL during 3 loops. After this 12 minutes mission, the battery level was about 24% (Lipo 3S 2650 mAh NanoTech)... In the video you will see the forward view taken with a GoPro HD and the downward view from the FlyCam One v2 at the same time.

    The weather conditions was cool: Wind 11 Km/h from ENE

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    Regards, Jean-Louis

  • Developer
    

    A 5 Km autonomous flight of the Cularis UAV with a GoPro HD wide

    Here a video of the mission #22 during an autonomous flight of my Cularis UAV done on April 2011. The purpose of this mission is to do a 5 km autonomous run under a flight plan (FPL). The FPL is composed of 5 waypoints and the Cularis UAV autopilot run the FPL during 2 loops. After this 10 minutes mission, the battery level was about 49% (Lipo 3S 2650 mAh NanoTech)... In the video you will see the forward view taken with a GoPro HD and the downward view from the FlyCam One v2 at the same time.

    The weather conditions was a bit hard: Wind 15 Km/h from ESE, gusting 20 Km/h and strong thermal lifts

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    Regards, Jean-Louis

  • Excellent flight - thanks for posting it - C'est votre Chateau avec le long jardin?
  • Developer

    Cularis UAV mission #21 downward view video

    Here the downward video from the 2nd camera (FlyCam One v2) of Cularis UAV during the mission #21 done in april 2011.

    Regards, Jean-louis

  • Developer

    A 4 Km autonomous flight of the Cularis UAV with a GoPro HD wide

    Hello to All,

    I have just upload a new video of the mission #20 autonomous flight of my Cularis UAV.

    The mission is composed of 4 waypoints and the Cularis UAV have done a full autonomous flight of about 4 Kms during more than 2 runs in closed loop. I have done some fine tuning in the PID setup. After this mission the battery level was about 70% (Lipo 3S 2650 mAh NanoTech)...

    The weather conditions was: Wind 7 Km/h from ESE, gusting 13 Km/h

    Regards, Jean-Louis

  • Your breadth of experimentation knows no bounds - do you ever get to sleep?
    A true inspiration - now got myself another project, just bought a wii motion plus and ripped it apart.
  • Developer

    Hello Darren, below my current setup about the XTrack:

    #define XTRACK_GAIN 10     // Amount to compensate for crosstrack (degrees/100 per meter)
    #define XTRACK_ENTRY_ANGLE 3000  // Max angle used to correct for track following (degrees*100)

    Regards, Jean-Louis

  • really enjoyed the videos

     

  • you can cut down on the oscillations on route to waypoints by reducing your
    XTRK_GAIN_SC down to about 20. seems to fly nice and straight for me during both steady and gusty winds.
  • Developer

    Hello to All,

    Thank you very much for your interest in my autonomous mission flight and for your encouraging comments.

    FYI, I am using a 2.4 Ghz transmitter Royal Pro 9 from Multiplex with the bi-directional telemetry system called M-Link. You will find some technical info about this transmitter HERE

    I have just uploaded the downward view video taken by the 2nd camera during the same mission #29 flight. This is a medium quality video because this is only a FlyCam One v2 camera and not a GoPro HD Wide as the 1st forward view camera.


    Regards, Jean-Louis

    Cularis UAV mission #19 - Downward view video

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