This is a journal for a BasicX AP I've been working on for the last month:
i received my BasicX processor the first week of April and spent the next week pounding out the code .
i then spent the next week simulating and adding a few niceties like way point and setup files.
the next two weeks was spent waiting for the gps module and other parts .
spent the last week making a proto board and a few changes to the gps parser to work with the gps
today 5-5-08 first test flight : things went very well and it performed better then expected (wee haa!!)
ok a few features of my ap:
no distance restrictions
can fly any ware in the world
easy set up file ie trim,ect
uses spherical geometry in the nav routine instead of flat plain approximation
test fly ; changed "P" to 0.5 with very nice results flight path much straighter between wps
1x ettrex 32 cannel 5hz gps modual
1x DE-SWADJ reg from dimension engineering
1x 5v LDO reg
3x 0.1 uf caps
1x 100 uf cap
2x 1k ohm resistors
1x parallax servopal
1x tact button (reset)
staight pin connectors
1x small perfboard
1x fma FS-8 failsafe reciever and copilot (stabilization)
changed gps serial comm , pumped up to 5hz update loop
test flight went good ,some oscillations in yaw
changed cg ,changed prop to 10x7 ,cg got rid of yaw problem , flew in 15-20 mph winds , worked better then expected , noticed 35 deg + dog tracking on cross wind leg, no missed wp no "turn arounds"
will turn up P slightly untill it oscillats and will try Ziegler-nichols method on PID loop
5-18-08 flew for 15min "no hands" burned 750 ma noticed some trubble turning left against wind
5-19-08 changed to figure 8 pattern, changed gain to 0.75, little left trim in auto mode, flew for 10min before rain
5-21-08 demo flight for snohomish co. search and rescue. went well