Not many people know but we have an piece of open source software for controlling an Antenna Tracker. It's been built by Tridge (Arduplane lead developer) for use in the outback challenge.
Sadly we have no documentation and, as far as I know, nobody except Tridge has used it. Still given Tridge's track record on building great software I suspect it works well and if it doesn't, I'm sure we can fix it. So to not let this piece of code go to waste, I'd like some help from people who are interested to give it a try and help me figure out how it works.
Here's the little that I know:
- It runs on any of our supported board (APM1, APM2, PX4, Pixhawk, Flymaple and perhaps VRBrain)
- For APM1/APM2 users building the code is as easy as opening our hacked ArduinoIDE and selecting File > SketchBook > Tools > AntennaTracker and then building in the normal way. For PX4/Pixhawk, our autobuilder doesn't automatically build a binary but I can provide one if people are interested.
- It can control a Pan and Tilt gimbal like this or this found on servocity.com.
- It may or may not require a GPS
- It must somehow receive vehicle position updates from the ground station which has the telemetry radio that is connected to the vehicle. Maybe through a USB cable. Tridge probably uses the python ground station, MAVProxy, to passthrough the vehicle position data to the AT but perhaps we can get MichaelO to build out a similar feature in Mission Planner.
- I imagine this antenna tracker could also be used to keep a camera focused on the vehicle which might be good for easing the burden on creating videos of our vehicles.
So if you want to give it a try please do and stick any findings, questions or issues below. Alternatively Issues can go into the issues list.
I'll start sticking things into the wiki as they become clear.
Replies
Thanks Doug,
Today I saw it also one here. I ordered one:-)!
the Lidar is still not here. Takes a looong time from USA to Germany!?
That is very nice to here that the AT is not dead! I love the Idea of this AT!
Take your time!
btw:
The thing with the Altimeter reading and planning is a mess. I´ve always a issue with that, but i´m happy and living in a flat terrain with 13 meter Altitude. Please make it simple as possible like in the Aviation.
Altitude = Height above MSL (Mean Sea Level)
Height = height above Landing/Takeoff Position
I´ve we say "absolute height" it is confusing, because that means that we have a Radio Altimeter reading and the value is variable, in fact we have the Baro and should use this as only reference, if you not have a lidar. The GPS alt is not reliable as you sad as well. See http://en.wikipedia.org/wiki/Altitude
Thanks a lot for all your work!!!
Has anyone had any luck with connecting Telm2 to GCS? Connecting to aircraft via USB from my Laptop to Pixhawk on AT, just not able to connect Telm2 wirelessly.
Is there forward progress from DEVs on this?
I also have the same problem have you been able to come up with a solution?
v 0.2 is unable to use telem2,, I use two pair 3dr radio, one pair for vehicle, another one pair for tracker, So you have two 3dr radio connect to your mission plan, (two com port), first you have to connect to vehicle then press "Cntl F" pop up a window , click "Mavlink" button, another connection window pop up, choice the com port (tracker pair 3dr radio use) and baud rate 57600, click connect, done
another method is using sik v2.x multipoint, you have to upgrade your 3dr radio firmware to v2.x (latest version is v2.4) then you can use 3 3dr radio one for GCS, one for vehicle,one for tracker, when mission connect to vehicle, tracker connect to vehicle too.
firmware for 3dr http://rfdesign.com.au/firmware
you need configuration tool : http://rfdesign.com.au/downloads
use configure tool to set up
vehicle 3dr radio
nodeid=0
nodedestination=65536
mavlink=1
nodecount=3
ground station or tracker 3 dr radio
nodeid=1 or 2
nodedestination=0
mavlink=1
nodecount=3
I have seen that someone edited something with the Proxy in the GitHub. How can I load the Fimerware and what changes are done?
Does the 2nd Telemetryport will work now?
I think this is the right post that highlights the changes to Proxy mode..
https://groups.google.com/forum/#!topic/drones-discuss/9VVInDfu7Po
Ok thanks, I really don´t understand it exactly but this changes are made in ArduCopter and as a commonsense also changes have to be done in Antenna Tracker, this i understand.
That also means, the problem that the 2nd Telemetryport from the AT is not working, is still not solved!?
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