Successful flight of the MAJA Drone with the ArduPilotMega
The MAJA Drone built and tested by Jean-Louis Naudin, a true UAV with full autonomous flight capabilities done on May 2011.
Avionic setup:
- Ardupilot Mega (Atmega 1280 @16 MHz), 32 Mips
- Full 9DOF IMU,
- Built-in 16 MB Data Logger,
- Airspeed and absolute pressure sensors (Bosh),
- triple axis magnetometer HMC5843,
- 10Hz Mediatek GPS.
- Full high speed telemetry with MavLink protocol,
- PC Laptop ground station (APM planner with Mavlink protocol from Michael Oborne),
- Hand-held groundstation (Ardustation with embedded Ardustation protocol).
Firmware: APM v2.2 (modified version by JLN)
Camera: GoPro HD Wide
Payload: Up to 1.5 Kg (Lipo battery included)
Flight time: Up to 1 hour (depends on the Lipo capacity)
More infos at: http://diydrones.com/profile/JeanLouisNaudin
Comments
Hello Jochen,
On the MAJA Drone, the two ailerons are connected with a simple Y-cable and it works well without problem. In my ASW24-Thermopilot glider, each ailerons are connected separately on the APM2560 because I need to use flaperon for a short landing. The mixing of the flaperons are done by the firmware.
Regards, Jean-Louis
My MAJA drone has done successful tests flights last WE (on sept 25, 2011), with the ASW-24 Thermal Hunter Drone (ThermoPilot project).
You will find the full the working firmware of my MAJA: HERE
Regards Jean-Louis
Yes, my PID settings are very different for MAJA too. My PID are much higher. My Maja could not fly with this settings described here. I tested it in air. I don't know why it works for Jean.
Hello Jean! I have a Maja uav too.. but still dont get it fly stright lines.... from waypoint to waypoint it draw like snakes.. I tried diferent PIDs combinations..but doesn´t work.
I will try with your PID settings.
Are those the last released PID settings you do?
And what about the servo tuning values you have? are those the originals of the maja airframe?
thanks!
Franco.
Here the full details of the PIDs and the setup of my flying MAJA Drone:
Below the servos tuning:
Ailerons: +/- 15 mm
Pitch: +/- 12 mm
Rudder: +/- 22 mm
COG set at 75 mm from the leading edge of the wing.
Regards, Jean-Louis
One another very important point about the COG (Center Of Gravity) of the MAJA. In the original document of Bormatec, the COG is set to 85 mm from the leading edge... I recommend strongly to don't use this position, I have done all the successful flight with the COG set to 75 mm from the leading edge.
Regards, Jean-Louis
Below some detailled photos of the avionics installation in the MAJA Drone,
Regards, Jean-Louis
Below you will find the current setup of my MAJA Drone with the ArduPilotMega:
- Brushless motor: Spitz 30 (BMI) 360 Watts (Max 480W)
- propeller thin APC-E 12x6
- ESC: BMI #85505 C-45 (45-55A)
- 4 servos Corona CS-929 MG (1.8 kg.cm, 12.5g)
- Propulsion battery: Lipo 3S Turnigy Nanotech 3300mAh 11.1V
- Avionic battery: Lipo 3S Turnigy Nanotech 2200 mAh 11.1V
- UBec 5A, 5V for the Avionics (ArduPilotMega + Receiver)
- Receiver: Graupner IFS or Multiplex RX9 DR with M-Link telemetry
- ArduPilotMega v1.4 + HMC5843 triple axis magnetometer
- GPS: Mediatek MTK v1.6
- firmware: APM v2.2 (JLN updated)
- XBeePro 900 for High Speed Telemetry (Mavlink)
- Handheld ground station: Ardustation
Below a photo of the rear of the MAJA. There is no problem for the hand launch, the initial climb has enough power to get a 40° climbing slope.
Regards, Jean-Louis
Hello,
The full APM v2.2 code that I am currently test in flight on the MAJA UAV is uploaded HERE
Happy dev on the APM and enjoy your flights,
Jean-Louis
Regards, Jean-Louis
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