hiroshi takey's Posts (17)

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Well, that's happening.

I don't know what's happening inside the Ardupilot community, it's really a community project or what else?.

But as i know and you know, the community doesn't make it private any related project, Ardupilot is a Free Software and open sourced project for related projects and for well like many others.

Today, they removed and banned to me from official Ardupilot social networks and my related project called URUS (Universal Robotics Unmanned System) propossed to the community as a solution for a universal and accesible tech for drones, robotics and unmanned vehicles system that was posted and published on their community discussion about 2 years old, and it not just, because my project is a fork from Ardupilot master and master-AVR.

I'm being paranoic, but i think the purpose from some people inside the project is to opaque the good faith that have Ardupilot growing up very fast on the unmanned robotics technology world.

I will continue with development and supporting to Ardupilot project and my project the URUS System project for well.

Thank you very much to all, sincerely.

Hiroshi Takey F.


The URUS work progress and info for the community was removed from Ardupilot discuss platform.

For people that want to continue following the URUS project work in progress info there is a mirror and you can see it at:


I hope to update the info here on diydrones mirror too at:


the documentation is work in progress too there is too much for do, but i hope to update the main tutorial to build the first example, this is updated at:


and the documentation frontend is at:


Thanks for all people that want the good of the URUS project purpose.



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Testing Virtual Reality Joystick example based on IMU 10-DOF high speed sytem with APM 2.x board.
NO HOST DRIVERS needed, this work directly on any platform!

This example will be available on the URUS github repo, right now we have pushed 70% code. We hope to push it on the next week.

We have opened a gitter channel for developers https://gitter.im/UrusTeam/URUS and a FB Group for updates and news at https://www.facebook.com/groups/1804355869803790/

For sure, it's free, it's URUS!!!
#URUSDev #URUSTechnology #APMDev #Ardupilot

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[URUS TEST] - First test Urus Protocol

Hello Dev! great news!

finally after 9 month testing and developing the all Urus ecosystem, we have the first test video using the Urus Protocol - Urus System and running with Ardupilot master scheduler for this time on Arduino board and on Android app.

I'm sorry for the late support the community at the proposed time about 18 month ago, but i'm very happy with you Ardupilot, you show me and redirect me to see a new way tech that is not present on my country. As you know it's not easy for me to speed up in middle about the politician problems here.

So i'm doing it all possible to help and supporting the comunnity with the great ardupilot team, i'm very glad to meet you APM Team.

Now i'm growing up a comunity here teaching and learning a new way to giving to us university a new horizon on the opensource way and technologies.

Now i will have more time to complete my TO-DO list, i know that your in doubt about me, but i'm supporting to ardupilot team with Urus system to do a some great work here and around the comunnity world.

As maybe you know, Urus system is a new interface-vehicle system handling all io hardware with a new HAL called SHAL between the top hal and the urus system target hardware, and basically it's the same that present on the other side hal.

The purpose about the Urus System is giving to us a comunication way to ardupilot api with an easy and realiable system, for example, if you are an owner apm 2.x board then you want to use the last master ardupilot version, then you can use the urus cape io and you can connect it with a Raspberry pi or NuttX board, like PX4 (work in progress for this board).

Ok, you doesn't have an legacy board, but have an trainer board like Nucleo board (stm32f446) then you will can use the urus cape io and the urus system to run on it with the master and with NuttX directly.

Urus team has developed a complete ecosystem for you and ardupilot developer with a new graphical ide called Urus Studio and have a customized "EXOKERNEL" using the linux base kernel for fast and realtime an ARM architecture, it is publishing the source code on the urus team repo. The documentation is work in progress so don't worry, it's will pulished very soon. 

Thank you very much!


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Urus Studio IDE is done! First picture!

Urus Studio is an OpenSource multiplatform IDE designed to build C/C++ Standard ANSI C software and advanced autopilot and industrial real time systems with the Ardupilot power and Urus System for Urus embedded nanokernel, you will can build for Linux, Windows and MacOS Desktop too.

The first beta will be available on few days more!

Thank you APM Team and Code::Blocks Team!

Beta release will be available from the URUS repository on Github coming soon:


Stay connected!

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Hi folks, sorry about delay publishing URUS system source code, for people interested and to know how it's will work with ardupilot, there is a recently documentation with descriptive images explaining the URUS structure system and URUS Protocol.

This document was used in a conference at EMI University and UAGRM Bolivia's statal university.

Thank you very much for your patience.

Link to document:

The URUS integration into ardupilot is right now merged through thi PR https://github.com/ArduPilot/ardupilot/pull/3718, and you can follow all PR pushing update to ardupilot following me at github if you want.


or following URUS discussion at this link:


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NEW ARDUPILOT APM 2.x features: URUS System


APM:URUS system will be the first autoconfigurable and scalable BRAIN MODULE and a CAPE IO for ROBOTICS and AUTOMATED Systems, thinking on industrial aplications.

We highlighted that an owner with APM 2.x board will can work with lastest Ardupilot releases version.

This system have two parts that their will work together:

  1. URUS system will make APM 2.x boards in a BRAIN MODULE for ROBOTICS and AUTOMATIZATION Systems, maybe industrial (Like a PLC), you will can attach an APM: AUTO_CAPE to enhance the capabilities.

  2. APM:AUTO_CAPE based on URUS system. That make and convert APM 2.x boards as an UNIVERSAL CAPE for ANY platform Boards system and make compatibilty for lastest APM FIRMWARE VEHICLES RELEASES from master branch to work together.

Right now this project are being introduced in Ardupilot by developer Hiroshi Takey.
This development are being voted to be maintained in the Ardupilot master-AVR branch, VOTE FOR THIS if you are interested on the listed links:



You will can follow the development at the Ardupilot master-AVR branch at:


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Ardupilot API port to atmega328p.



This is a most focused development for beginner APM developers to understand how multitasking work with interrupts and APIs.

The main purpose about this port is the scheduler developed by Andrew Tridgell and introduced to Ardupilot for atmega2560.
Right now it's the main structure multitask process for all APM platform.

There are 2 ports:

ARDUPILOTMICRO: A complete API library ported to atmega328p. https://github.com/hiro2233/ArdupilotMicro

ARDUPILOTTINY: A Scheduler HAL port only to atmeg328p with arduino headers enviroments integration. https://github.com/hiro2233/ArdupilotTiny

There are 2 example:

- Compass TEST. 
- Scheduler TEST.

Important Changes

STORAGE: Fited to 328p Eeprom size. It's secure work with AP_Param. 
GPIO: Remaped for 328p, all work good.
SPI: Working.
I2C: Working.
Scheduler: Working very good, now we have fully multitasking on atmega328p.

Changes without testing


Not Working

Analog input. 


- Download and install Arduino 1.6.6 (Tested with this version). 
- Open Arduino, click File, Preference and select ArdupilotMicro or ArdupilotTiny path root respectively.
- Open included example and compile.


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Mavlink port in Pascal

Mavlink Pascal Unit

For developers interested, i pushed a Mavlink port to Pascal language at this PR:



Especial thanks to Andrew Tridgell, Randy, Lucas de Marchi, Gustavo José de Sousa and Ardupilot Team for
let me learn and show me the power of the API APM.

Thanks to Lorenz Meier to create and share Mavlink to the world.

MAVLink or Micro Air Vehicle Link is a protocol for communicating with small unmanned vehicle.
It is designed as a header-only message marshaling library. MAVLink was first released early
2009 by Lorenz Meier under LGPL license.

You can follow Mavlink project at https://github.com/mavlink/mavlink


I stopped development to here, because i discovered a new way to transport telemetry data side by side, and it's will be release when URUS System development finish.
You will be updated about this if you want following the development at https://github.com/hiro2233

All URUS System and new URUS Protocol will be a member project and a part of Ardupilot Development.


There is an example in example path to test te unit, it's tested with Embarcadero RAD Studio Berlin in multidevice mode with windows and android.
I think the unit will work with LAZARUS with little modifications.

It's was funny work with Mavlink protocol :smile:

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Like as @rmackay9 Randy Mackay, @tridge Andrew Tridgell, @magicrubTom Pittenger, @lucasdemarchi Lucas De Marchi, @priseborough Paul Riseborough, @jberaud Julien Beraud and others APM developers, we have started on last year a workshop in the universities called "TD3" and it will work together with "Ardupilot Team & Communication" purposes.

In workshop "TD3" we are introducing the UAV flight system, APM API Structure and use; and APM Flight System how it's work.

We are very greatful to meet APM Team and helping us to introducing APM Flight System and APIs in our workshops here in many universities, UTEPSA (City: Santa Cruz de la Sierra), UEB (City: Santa Cruz de la Sierra), UPDS (City: Tarija) and UAP (City: Pando).

Greentings from Santa Cruz, Bolivia.

Drone.bo Team.

Follow us too at http://www.ardupilot.org and http://www.dronecode.org







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With URUS you could make like automated control Home, Robotics Games (Like Lego Mindstorm) and more, working with APM Apis and Raspberry Pi under Linux OS.

At first time i will try get this work for Domotic System (Automated System Home), you could do on:

URUS:Home basic system.

ON/OFF Lights directly.
ON/OFF Lights at specified times.
OPEN Doors with keypad.

URUS:Home Advanced system.

Control via Internet all system.
Control Airconditioner temperature and modes with IR.
Control Lights intensity with RC Outputs.
Sensor proximity.
Face detection with camera and OpenCV.
Structure name project

The structure base name for application will be: URUS. For Home systems will be like: URUS: Home.
Examples structured project names likes for robotics, URUS: Arm; URUS: FishGame; URUS: SkateBoard; and so...

PR to APM master repo branch:

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It's a solution that you can build and upload the last APM 3.2.1 code for MEGAPIRATE BOARDS and AVR atmega2560 GENERICS BOARD with I2C bus communication.

As you know, megapirate team stop building APM and the last code was 3.1.5 version, we are desired work and port the last AVR APM 3.2.1 to this board, megapirate and AVR boards with atmega 2560 and I2C bus communication.


   - ArduCopter 3.2.1
   - AntennaTracker 0.7.2





These tools you need to download first.

1.1 Arduino 1.0.3 with gcc-4.8.2 version download from this link:


1.2 Git tool, download from this link:



2.1 Download and Decompress Arduino from section 1.1 to c:\arduino. You will see this order path c:\arduino\hardware\tools\avr\bin

2.2 Download and install GIT tool from section 1.2 to default path. NOTE.- in the steps windows install choose the option:

"Run Git from the Windows command Prompt"

2.3 Open Explorer and navigate to 'c:\' drive, right click and select "Git bash here", it's open a windows command prompt.

2.4 In prompt command line type the next command to clone ArduCopter-3.2.1_I2C branch as follow:

$ git clone https://github.com/hiro2233/URUS8.git ardupilot
$ cd ardupilot
$ git checkout ArduCopter-3.2.1_I2C

2.5 Open Arduino, go to File, Preferences, in "sketchbook location" click on Browse and choose the path where are the ardupilot folder you checkout with GIT,
in this case c:\ardupilot, ok and close.

2.6 Now load Arducopter sketch, compile and upload to the MEGAPIRATE board.





These tools you need to download first.

1.1 Arduino 1.6.6 version, download from this link:


1.2 Git tool, download from this link:


1.3 fix_includes_arduino166 program, With this tool you can change all include headers files to work with arduino 1.6.6 in windows.
You need compile the code, it's included on repo branch master-AVR Tools/ArdupilotMega_ON_Generic_Board/

1.4 Notepad++, download from this link:



2.1 Download and Install Arduino from section 1.1 to default path.

2.2 Download and install GIT tool from section 1.2 to default path. NOTE.- in the steps windows install choose the option:

"Run Git from the Windows command Prompt"

2.3 Download and install Notepad++ from section 1.4 to default path.

2.4 Open Explorer and navigate to 'c:\' drive, right click and select "Git bash here", it's open a windows command prompt.

2.5 In prompt command line type the next command to clone Ardupilot master-AVR branch as follow:

$ git clone https://github.com/diydrones/ardupilot.git
$ git checkout master-AVR
$ echo "ARDUINO=/c/arduino" > /c/ardupilot/config.mk

2.6 Compile Tools\ArdupilotMega_ON_Generic_Board\fix_includes_arduino166 with VS2013 or SharpDevelop (with this one was compiled).
Then you use as follow:

fix_includes_arduino166 -P <PATH_TO_FOLDER>

Example: Supose that you cloned Ardupilot in c:\ardupilot then you will have c:\ardupilot\libraries and you want make AntennaTracker c:\ardupilot\AntennaTracker then,

fix_includes_arduino166 -P c:\ardupilot\libraries
fix_includes_arduino166 -P c:\ardupilot\AntennaTracker

This tool make changes to the files in all librarie path and this tool doesn't make a backup of your files. You must be sure.

2.7 Open Arduino, go to File, Preferences, in "sketchbook location" click on Browse and choose the path where are the ardupilot folder you checkout with GIT,
in this case c:\ardupilot

2.8 Open the next file with notepad++, c:\ardupilot\libraries\AP_HAL\AP_HAL_Boards.h and replace this line #define AVR_ARDUINO_ENVIRONMENTS with //#define AVR_ARDUINO_ENVIRONMENTS. Save and close.
NOTE: If you uncomment this line, you are telling to Arduino make code for AVR Generic Board, but if you comment with this line with '//' you are telling to Arduino make code for APM2 Board.

2.9 Open AntennTracker in Arduino and compile.


If you are looking for detailed and description file libraries modification follow the oficial PR on the oficial Ardupilot repo at:


    https://github.com/diydrones/ardupilot/pull/3578  ;

Chat discussions at https://gitter.im/dronebo/URUS8

Forum Discussions and supports at http://drone.bo/foro/development-english/apm

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Thus Drone.bo was born. BOLIVIA.

Drone.bo is a Bolivian company with OpenSource and OpenHardware ideology that develop, design and manufacture drones or UAVs technology, Rovers and Robotics.

This enterprise was born with the desire and dream show to the world that in Bolivia, we realize our dreams, we believe in our people and their ability to make advanced technology, respecting and recognizing the rights of national and international author, and from this how to share and work together in harmony with the Bolivians and the world people.

Thank you very much to all team and authors of MultiWii, ArduPilot, 3DRobotics and community DIYDrones.com for making this all possible and allow to study every detail of their technology.

Thanks for believing in BOLIVIA!

Music Credit:
Audio Title: Submotion Orchestra - Swan Song (Kidnap Kid Remix)
Author: MrSuicideSheep

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Drone.bo conference at Engeneering Society of Bolivia with Electronic Engeneering (SIB) and Electricity College Society of Santa Cruz (CIEE).

Drone.bo tells and shows the OpenHardware techonology at enterprises and comercial use to the businessman about important industrial use at agronomy, petroleum scouting, georeferencing, surveying and professional movie production.

The security and vision about drones technology was more debated in this conference, we are working on this, becuase is very important the drone pilot certification and get more secure and reliable to reduce errors on the industries.


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Introducing DRONE.BO Technologies



We are introducing PRO-X1 Drone. It's a drone made for work, with a full ABS 3D printed, CNC aluminium and Carbon Fiber frame parts and structure.

Development, Design and  high quality manufacture from Bolivia to the world. The flight controller is an ATMEGA 2560 with a Multiwii code modification. Comes with a Ublox customized GPS, Tarot 2D Gimbal and 5.8 Ghz FPV TX/RX 200mw.

PRO-X1 is an OpenHardware Drone and OpenSource under Creative Commons licences. It's will available for preorder in http://drone.bo if you want a fully PRO-X1's Kit and Production.

Follow US on Facebook: Drone.bo

Channel on Youtube: DRONEBO_TV





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