After gaining confidence in 3.0 (RC5) during the AVC in Boulder, I decided to try some longer flights. Golden gate park is one of my favorite places to fly and one of the few areas of San Francisco where the city isn't overrun by housing. So I decide to run a 3 mile cross-country flight from one end of the park to the other to perhaps be the first to do so completely…Continue
I flew AC 3.0 (rc5) at Sparkfun which required me to rethink my vibration dampening strategy. In other words I had to go from no strategy to something very robust. If you want to fly 3.0 in any AP mode you'll need to consider at least some of these methods. Once upgraded, my copter was able to hold a 1 foot loiter box with the crappiest RCTimer props/motors they…Continue
Image: 1st Run
AVC was great fun and even though I went for broke on the last run and lost my copter, it was well worth it. I learned a lot about copter navigation. The latest code includes all of the updates, which is being tested now by Jack Dunkle.
Run 1 went really well. In turn 1 you can see the copter overshot the waypoint.…Continue
I've been wanting to build a balance bot for ages and I finally have to time to make one. ArduBalance leverages the existing code base of ArduCopter to produce a simple autonomous balancing robot. Features include:
• GPS, opt_flow, and dead-reckoning
• Ardupilot mission scripting
• Full RC control
• Heading hold
• Position hold
A while back Jose Julio built a simple state machine for doing copter flips. I integrated it into AC 2.x a long time ago but never flew it. Then, once I built the Flash simulator I could finally test it without doing too much damage or loosing my quad to a fly away.
The original code was quick and dirty which lead to a few issues, one of which was a…Continue
There is quite a bit of development going on right now, but I thought I'd share what I'm working on. I'm using Flash to implement a simulator and test Arducopter code. What's on my site at jasonshort.com is on the current…Continue
I just wanted to let everyone know I've pushed an update to the SIM. What's new:
Upped iteration limit so it will run indefinitely.
Stand alone executables for Mac and Windows.
A new "lead" filter to remove GPS latency leading to improved accuracy in AUTO modes and loiter.(coming to main code soon.)
Inertia nav - you must up…Continue
I built the AC SIm to do gain tuning and now AB testing of various control algorithms. I've made some significant strides in the control loops, so I though I would detail out how it was done.
There is very little code left over from AC 1 in the current code base. When I started AC 2, I used the v1 control loops and assumed they were good. (Everyone was…Continue
I recently quit my job and have taken a few weeks to decompress. The first thing I did with my down-time was port Arducopter to Flash so I could do development and tuning in an environment that was more developer friendly, faster and fun. This app has real-time plotting of most system variables, almost all AC functions (except mavlink) and repeatable situations…Continue
DIY Drones Take on Silicon Valley
2.0.50 is a work in progress, but this video highlights the Altitude hold progress in the latest code.
Changes include a faster Baro filter to reduce latency and temperature induced noise. Alt hold control using the throttle has been upgraded to have a faster and proportional response.
Acro mode has…Continue
This is a great talk showing off the technology around Google's self driving car. Heavy use of Slam and the fusion multiple databases including Google maps.
Sebastian Thrun is also teaching AI at Stanford online here: https://www.ai-class.com/
Lots of small tweaks and performance improvements. Here's how testing AP went in the Park:
I'm constantly loading and testing code and the power setup of the 2560 can be a bit of a pain. Mainly, the radio does not receive power because the Servo rails are only powered via a Lipo, which can be very dangerous. I never do anything but fly with a Lipo connected…
Improved alt hold: Look for about twice the accuracy for altitude hold than the previous 2.0.40 preview. It's really good and the motors don't pulse as hard as they did before.
Loiter looks great and has the wind compensation turned on now by default. It wasn't…Continue
I've been away on vacation for the last week and a half, but I was able to port Arducopter to Flash and do some simulations. This has helped me rewrite the navigation control laws, simple mode, and Loiter to all use a streamlined set of control loops. This not only has saved code space, but the end result is a quad that flies like it's on rails.
Loiter and WP…Continue
Please note that the initialization of Gyros was requested to move to the Arming function. This had the unintended consequence of making the Ground Station report erroneous attitude until the unit is armed at least once. This is changed already in the next version 2.0.39 which is still in development.…Continue
Just letting you all know that a new version is up. You must use the new version of Michael's Tool to do the setup. The older tool won't work with this version. CLI usage through the Arduino serial window will always work.
Many bugs are squashed. PID reports correctly now for D terms.
The new rate based nav is on by default, but please be careful with it. Keep that hand on the Mode switch!
Frames are a compile time option in the AP_Config.h file. (or use the…Continue