This is a continuation of yesterdays post Introduction to Gigglebots and demonstrates the hardware setup of my soon-to-come software.
This is my full setup for my UAV with full video and telemetry, and steering. I have kept the number of pieces of hardware required to an absolute minimum by utilising all the sensors, cameras and communications from Android phones.
The software talks directly to a MultiWii, and I'm working on a MavLink version, it can also integrate with a microcontroller such as Arduino (by Serial over Bluetooth, or USB on-the-go).
All servos and ESC are configured in the Gigglebots controller software, and has options for servo center, limits and trim buttons. Each servo/ESC can also be assigned a role, such as steering, elevation or throttle. If you so desire you can set exponentials and servo mixing here too. For more complex behavior each channel could also be assigned a mathematical expression to follow.
The RC input screen lets you configure which pins are for PWM input, and what roles they have. Once you have selected these, the program talks to you and asks you to do things like (“push the throttle forward”, “move the rudder to the left” etc) and configures everything for you. No more worrying about reversed channels.
Once all channels are set up, you can view their positions and roles on the main channels screen...
Gains are handled on a separate screen, and all the uncertainties of PID loops have been done away with, in favour of just 2 parameters, Turn Rate, and Straighten. Turn rate tells it how much to turn, Straighten controls when it starts to straighten up again.
More to come soon. Please check back, or follow me on Twitter.
