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Recent MAV work with AttoPilot

Check out my thread on RCGroups for a recent 8 ounce flying weight plank MAV: mass: 225 grams (8.0 ounces)Motor: GWS model GWBLM001A for 2s LipoProp: GWS 6050Battery: Common Sense RC 700mA 2sESC: Castle Creations 15 ampServos: 2 HS-55Rx: Berg Stamp 4 with header pins removedControls: Elevon and throttleSpan: 18"Chord: 8"Airfoil: Eppler 186 (very reflexed)Center where motor is: Eppler 186 but 180% thick on top, 140% bottomRx/Autopilot and Battery bays: E186 140% top thick top and bottom.This is a plank flying wing. To get the C.G. forward enough, all gear has to be almost against the wing LE. This means the motor cannot be in the back, however I still wanted this to be a pusher. The solution: motor in the nose with a 3mm carbon rod shaft and ball bearings, 6" long.AttoPilot: This is without case and no header pins. The servos and all sensors are directly soldered to the PCB. The SD card socket is attached to the Atto with right angle headers. The pitot is a 1/8" OD brass tube sticking out only 6mm from the LE. The R/C Rx (Berg Stamp4) is around 2 grams without headers, and this is situated directly on top of AttoPilot. Autopilot + Rx + GPS + thermopile sensors + power sensor is 48 grams (1.69 ounces).The voltage/current sensor is also custom in that it has only 1 shunt resistor. This doubles the resolution (11 mA) and reduces the current range to 45 amps.There is no payload, camera, or modem on this now... however in a 8 ounce MAV package I think it significant to have these standard AttoPilot features:1) practically unlimited onboard data logging of 70 parameters at 5Hz2) Airspeed control (not simply hold)3) Power sensing and mAh abort triggers4) barometric altitude5) FULL SIZE gps (greater sensitivity and lock solidity than the really small GPS)6) all the other stuff (50 Hz attitude, exponential gains, line hold navigation, no pre-flight calibration of anything).I'll be using this to hone the automated landing code that is underway, and perhaps rework the autonomous take off to better suit planes with pusher prop (detection of hand toss then small delay before motor comes on).
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