Announcing ArduCopter, the merger of the ArduPilot and AeroQuad projects!

I'm pleased to announce that we've joined forces with the other Arduino-based powerhouse in the aerial robotics world, the AeroQuad quadcopter team, to extend the ArduPilot platform to whirlybirds of all kinds. The project, called ArduCopter, will use the ArduPilotMega and IMU shield hardware along with a low-cost custom platform that will be available commercially to provide a full quad UAV with both stabilization and GPS waypoint navigation. It builds on the awesome work of Jose Julio in ArduPilot quad development, with the excellent full-systems integration of the AeroQuad team. We expect that first code and hardware will be available this summer.

Another team is also extending this to traditional helis, starting with the Trex 450 heli (and its equivalents), which should be ready for release this fall. Along with Blimpduino, this should make for 100% coverage of all aerial robotics platforms on the Arduino platform, with shared libraries and ground stations across projects. Go Arduino!

We'll be setting up a proper microsite here, along with dedicated tab, for the project in the next few days.

If you haven't already seen this preview of what the ArduPilot/ArduIMU combo can do with quads, check this out:

And here's the impressive work of the AeroQuad team:

Here's the announcement from the AeroQuad team:

ArduCopter - The Full Featured UAV Multicopter!

Hey guys, as many of you know the AeroQuad has teamed up with DIY Drones on developing a very full featured multicopter! Chris from DIY Drones has proposed the name of this new effort to be called the ArduCopter! It will be based on the ArduPilot Pro Mega (APM) and the APM sensor board currently nicknamed the Oil Pan. Here's an initial feature list and software road map. Please chime in! Your input is valuable! I'll keep updating this front page until we agree on the first version of the ArduCopter's capabilities.

ArduCopter Feature List
6 Degree of Freedom IMU stabilized control

Gyro stabilized flight mode enabling acrobatics (loops and barrel rolls)

GPS for position hold

Magnetometer for heading determination

Barometer for altitude hold

IR sensor integration for obstacle avoidance

Sonar sensor for automated takeoff and landing capability

Automated waypoint navigation

Motor control using low cost standard PWM Electronics Speed Controllers (ESC's)

On board flight telemetery data storage

Mounted camera stabilization capability

Wireless command & telemetry for long distance communication

Capability to fly in "+", "x", hexa and octo configurations

Battery level detection

User configurable LED flight pattern

Capability to use any R/C receiver

ArduCopter Configuration and Ground Control Software
Realtime graphs of flight data

GUI for configuration of PID and other flight parameters

On Screen Display integration

Waypoint programming using Google Maps

Mixertable view to auto configure "+", "x", hexa and octo configurations

Software Roadmap
Initial baseline using Jose Julio's v3 software
Provides absolute angle PID flight control

Obstacle avoidance

Waypoint navigation

Generalize basic ArduCopter functions (ie. Separate PPM receiver input and motor control functions into separate libraries. Allows future coding of PWM vs. I2C ESC's)

Emphasis on developing new capability into easy to use C++ libraries

Integrate user defined EEPROM storage capability

Develop/optimize AeroQuad serial real-time command/telemetry for ArduCopter

Integrate AeroQuad Configurator for external software configuration of ArduCopter

Rename Configurator to Ground Control Station and integrate graphical programming of waypoint navigation

Integrate AeroQuad rate PID control

Integrate mixertable configuration for multicopter configurations

Integrate AeroQuad camera stabilization

Integrate I2C motor control

Develop capability to wirelessly control ArduCopter directly from Ground Control Station (USB joystick controller from laptop or through waypoint programming)

@Tony_H You don't need to touch these so much, you can do your calibration from Configurator. If you plan to get ultimate results then you can edit these too but we try to make it in way that there is no need. Even I have not edited them and I do live other side of the world comparing to our other developers. And it flies rather nicely so don't be worried. Naturally you need to have APM + OilPan.

Tho there are few things that needs to be changed, we will do all instructions for those. But for now, no need to change. Use Configurator. And remember software in our repository is not even Alpha release so be careful with it, check check and double check before flying first time.

For people who asks about propellers, we are currently looking propellers, in future you can get them all from DIY store too. In meanwhile you just need to get them from where ever you find. AeroQuad.com, HobbyKing, Quadroufo.com and many others.

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Comments

cholo July 16, 2010 at 8:34am

hi,
will it be possible to port ArduCopter code to the ArduImu ?

regards,
cholo
Developer

Jani Hirvinen July 16, 2010 at 5:03am

Yes we are building a DIY entry packet that you don't need to "worry" any of those issues. Eg. Out initial full kit will include motors, props, frame, electronics, wires etc all needed stuff except battery and receiver. So only thing what you need to do is to be able to use (maybe) a bit of soldering iron to connect solder few wires and then just build the whole system.

We know that there are many people out there that has millions of questions on "HOW?!?" and we are trying to provide answers on those.

Also there will be upgrade parts to basic frame due some people want to do more than just fly around their backyard. First we just need to get out initial set of quads :)
Cláudio Miklos July 16, 2010 at 4:23am

Hi Morli, thanks for the reply!

I think that it is very important ( for the newbies like me) to have some information about the relationship between: motor spec / size of propeller / maximum weight of the quadcopter that they can support.
Besides all the software and other hardware considerations this is (for me) the most confusing thing.
I´m shure that Jani will provide a kit with the correct motors and propellers for the frame and hardware they are developing to sell in the DIY store...
Developer

Jani Hirvinen July 16, 2010 at 1:37am

@Tony_H You don't need to touch these so much, you can do your calibration from Configurator. If you plan to get ultimate results then you can edit these too but we try to make it in way that there is no need. Even I have not edited them and I do live other side of the world comparing to our other developers. And it flies rather nicely so don't be worried. Naturally you need to have APM + OilPan.

Tho there are few things that needs to be changed, we will do all instructions for those. But for now, no need to change. Use Configurator. And remember software in our repository is not even Alpha release so be careful with it, check check and double check before flying first time.

For people who asks about propellers, we are currently looking propellers, in future you can get them all from DIY store too. In meanwhile you just need to get them from where ever you find. AeroQuad.com, HobbyKing, Quadroufo.com and many others.
dimos apostolidis July 16, 2010 at 1:24am

I can not find Counterclockwise prop.
I have this kit http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=... will work with these prop?
Admin

Morli July 15, 2010 at 2:28pm

Claudio,
It should work though it is two size smaller,
You need t buy two of the counter rotating and two of normal one like this one , note these combo match the size however I am not sure abt the motor you have .
Here is full combo ( 4 motors. 4 esc and 4 sets of prop) but price is unrealistic !!
Tony H July 15, 2010 at 2:11pm

How do I calibrate the sensors? It doesn't look like the configurator is capable of doing it yet. Do I just go into the UserSettings.h file and change the default values of the offsets?
#define acc_offset_x_ADR 80
#define acc_offset_y_ADR 84
#define acc_offset_z_ADR 88
#define gyro_offset_roll_ADR 92
#define gyro_offset_pitch_ADR 96
#define gyro_offset_yaw_ADR 100

Also, is the GEOG_CORRECTION_FACTOR_ADR the cosine of whatever latitude I'm at? For example, if I were at exactly 45°, cos(45°) = .7071? That is quite a bit different than the default of 120...is it multiplied by 100?
Cláudio Miklos July 15, 2010 at 1:18pm

Hi all,

Where can i buy this counter clockwise propellers? i already have this:TowerPro BM2410-9T / 18A BEC/ 1047 Prop Comb.
This one will fit? :
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=...

Any other sugestion?

Thank you
dimos apostolidis July 15, 2010 at 1:12pm

Ok, should I buy 2 counter clockwise propellers…

I use this? http://www.art-tech.cn/english/pdf/6CH%20TX%20EN%20Manual.pdf
Admin

Morli July 15, 2010 at 12:24pm

Yes flipping the prop and reversing the polarity will not do the required trick unles you flip the motor too by installing it upside down for this (IMO) :)

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