Mike Bakula
  • Male
  • DeLand, FL
  • United States

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Mike Bakula's Discussions

Z Sensor orientation?

Started this discussion. Last reply by Mike Bakula Oct 9, 2009. 3 Replies

Power configuration for 328 ardupilot?

Started this discussion. Last reply by Mike Bakula Oct 8, 2009. 4 Replies

Ardupilot and beyond

Started this discussion. Last reply by Mike Bakula Nov 2, 2009. 4 Replies


Mike Bakula's Page

Profile Information

About Me:
Used to write computer-based- training software.

Changing careers, student at Embry-Riddle Aeronautical University.

Competitor in the 2008 AUVSI Student UAS Competition (ERAU Team SOAR.)

Mac user!

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Mike Bakula's Blog

EAA takes note of the NYC FPV Video

Posted on December 9, 2010 at 6:00pm 24 Comments

This week's "EAA Hotline", an email newsletter for EAA members has a story on the Team Black Sheep video. They don't state a position on the flight, but report AMA's position, and conclude with:

"The FAA includes R/C aircraft flown by modelers in its definition of Unmanned Aircraft Systems and states its “recreational use of the National Airspace System is covered by FAA Advisory Circular (AC) 91-57, which generally limits operations to below 400 feet above ground level and…


2010 AUVSI Student UAS Competition starts tomorrow

Posted on June 15, 2010 at 6:24pm 2 Comments

I haven't been as active on the forums as I would like to be, but that's because I'm helping Embry-Riddle Aeronautical University participate in this year's Student UAS competition. We're fielding an ArduPilot Mega based system this year; wish us luck!

Webbie Test Flight

Posted on January 18, 2010 at 7:00pm 13 Comments

The Project SOAR group at Embry-Riddle got into the air again today. Although we couldn't get any time on the Autopilot (some problem with reading the Ublox5 GPS) we were able to test the Webbie as an on-board camera. The camera was attached to the EasyStar with 2" Velcro, which works well;

We mounted it screen-down, so the video would be upside-down. This is easily fixed in IMovie.

And here's the… Continue

Comment Wall (6 comments)

At 1:09pm on March 14, 2009, David said…
My email address is David@sturgeonemail.com for further discussion about Embry Riddle. Thank you very much.
At 6:38am on January 11, 2010, Dr Stephen Prior said…
Hi Mike,

Do you have any weblinks or papers to the work that you mentioned on rotating Sharp IR sensors at 10 Hz. Thinking of doing the same thing and wanted to get some heads-up!

At 11:11am on January 11, 2010, Mike Bakula said…
I'm not aware of any documentation on these sensors -- we just tested them with a spinning rig. (Due to time constraints, the testing was never written up, sigh) We started with this app note from Sharp;


Dave Cook also has a handy writeup on the electrical issues for using the Sharp sensors;


As I remember, our rig was just a small platform attached to a motor & speed control. The Sharp sensor, a battery and a magnetometer were hooked up to an Arduino pro Mini and a 2.4 Ghz Xbee for telemetry. We used the magnetometer interrupt for our tach, as we were already doing that for the monocopter configuration.

We were testing against flat surfaces (painted sheetrock and stretched Tyvek sheets.) The behavior we saw was that as the rate exceeded 500 RPM, the ranges would noticeably average against the wall (reading short as the angle approached perpendicular, then long as the angle departed perpendicular.) At about 600, the IR spot was apparently moving too fast across the PSD, and the sensor would return max range, with occasional readings if it read right at the perpendicular.

We were using the Arduino's analog to digital conversion, so we were reading well below the sensor's bandwidth (reported in the hobby community to be around 25 KHz), and we made no effort to identify whether a dedicated A to D chip would improve performance.

Hope this helps with your project,

-- Mike
At 6:43pm on March 10, 2010, Joe said…
What is the best way to contact you, as it seems I can't send you private messages?
At 8:16pm on March 10, 2010, Mike Bakula said…
My most reliable email is mike (at) bakula (dot) org.
At 10:48am on March 22, 2011, aeroGG said…
Hi Mike,

I am trying to use ardupilot for my senior telemaster, but having lot of troubles lately with flight gear HILS.I am using SIG Rascal 110 as my model in flight gear as both telemaster and sig have similar sizes.

But, flying any plane in flight gear seems too easy for me (I am not an expert flyer). So does tuning the ardupilot for flight gear means that I am tuning it for real world as well? Please advise and pardon me if my questions are total noobie. I am using any autopilot for the first time and I have little experience with these.

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