Posted by Geetesh Dubey on October 27, 2008 at 3:13pm
Yes..thats right. I have eventually developed all the above said techies in a past few months...A very thanks to DIY for the help i've found in posts and digging stuff sround on the site.So, inow finally have a EM-406 based Autopilot.Gps runs in NMEA but now i've hooked up to Binary(WOW i dint beliv its gonna be that straight....beliv me guys binary is far simpler as much we thot its difficult).It sends data to Autopilot (self made) which uses AVR atmega16I used the draganflyer to try my skills and i was able to autonomously takeoff and navigate(think so, i actually never let it go all by itself but it did make manouvrs to goto reqd heading)
I was usiing a micromag compass(guys its a hell experience with mags..im quitting to use mags unless they r 3-axis and magnetically shielded)Now i thinkGPS shud be used ....now that im gonna run it in binary so i expect a 5hz response...(make sure the vehicle moves abt 3m/s "In INDIA" to detect heading)..FInally im developing a QUAD with hitec outrunners
...i have alrdy workedTHE KALMAN FILTER out
the yellow line --> Actual Gyro angle in degrees(oops they do drift...look below)BLACK line --> Kalman+gyro+acceleroREd--> accelro degrees(oops it jitters)
im usin IMU v2 6DOF by sparkfun...im using the IMU in BINARY(wowee binary is fun)THE GCS i have made in VS C# has 3 displays1) Telemetry2)Real Time Vehicle Tracker(a Google map backgorund scaled to gps pts)3)Live Video Relay (video can be processed for objects as small as human ,mines, its can detect patterns if sign is give...have also developed a damn good image processing using SIFT(oops it gives 0.25 FPS hehe..but other r really fast))...all developed in MATLAB.
this 1 gives 0.25 FPS....but its good (ref. Dr. Lowe)...any suggestions...most welcome...
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I am trying to develop an autopilot code in bascom for AVR Atmega16...if any one has any suggestions about how to start and the parameters that i need to keep in mind while developing the code may plz blog in with some easy snippet codes if possible...any type algorithm required are all invited... there is gonna be a code each for a FIXED WING and a QUADROCOPTER...thats the COAX heli i built for this years MAV-08 competition held in INDIA..
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im here trying to make my own autopilot using an AVR atmega16..shhh its slow cuz many ppl out there r using least 32mhz... but as a beginner i really cant afford anythin else...i hav am collecting the stuff but i was wondering....the IMU i hav spills out all readings including temperatures....what r these temp. for?...do i need them to make the autopilot....and if any1 has any suggestions regarding a KALMAN FILTER...cuz i am going to apply a kalmafilter to each and evry reading 1 by 1...suggestions r requested....
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