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
unlimited WPs
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

hardware list
1x ettrex 32 cannel 5hz gps modual
1x BX-24
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

Views: 277

Comment by paul hubner on May 5, 2008 at 6:38pm
Excellent report Wayne - Thats a nice way to celebrate Cinco de Mayo :-). Will you be posting code anywhere?

BTW - Your EZG looks happily unfamiliar with the ground like my EZG Frankenplane II !

Comment by wayne garris on May 5, 2008 at 6:54pm
yes i will be posting here i just need a little time to clean it up and add some more error handling ect
Comment by Carl Visagie on May 5, 2008 at 10:15pm
Awesome Wayne, congrats on your successful project.
Comment by James Ross on May 6, 2008 at 4:30pm
What plane is that?

Comment by Sgt Ric on May 6, 2008 at 5:53pm
Like Paul said, it's a Multiplex Easy Glider.

3D Robotics
Comment by Chris Anderson on May 19, 2008 at 10:53pm

What are you using for stabilization? An onboard IMU or a FMA Co-Pilot? I can't tell from your hardware list...

Comment by wayne garris on May 20, 2008 at 8:09am
FMA , will add it to the list
Comment by bernienepper on May 23, 2008 at 3:33pm
GeorgiaTech EE '71 - retired; I want to do what your doing (just for fun) - I fly RC - Been buying sensors and eval boards. Want to build UAV - Autopilot...
Very interested in your SoftWare - I'm close to Zero on S/W but studying the Stamp, Propeller and BasicX software and MicroProcessor chips..

Comment by wayne garris on May 23, 2008 at 5:27pm
ok i will add the code to this post

3D Robotics
Comment by Chris Anderson on August 28, 2008 at 7:23am

Did you build that power pylon for the EZG yourself? (I'm assuming it is indeed an Easy Glider).

And did you ever get around to posting that code?


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