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)

yes i have the gull to try to survive off the money i make with uavs . im not sure why this is somehow morally repugnant to some people . I barely survive and work pretty much 24/7 .yes finner resolution is always better . but sensor saturation is a death nail . i say this in the hopes that the project can be successful not to denigrate it in any way . if you would like to see the hordes of data i have collected in the past year with my AP i will make it accessible to the community . as a have said in my previous post either change or die . please do some reading on this subject of sensor saturation and come to your own conclusion . sorry if you take me as gloomy but i believe open source APs are facing some huge obstacles mostly from within the community . one large problem is the fear of commercialization . google is a prime example of open source for profit . I enjoy logical systems and see the world is full of them . applying this to the development of APs i find the equation of
$ in while no$ out as unsustainable . everyone needs to eat at the end of the day. after all wouldn't you like to do this for a living?

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Comments

James Pistorino August 31, 2010 at 4:57pm

@TonyH
I was wondering because as I read ARC Sec. 3.3(6), if it weighs less than 2lbs, they propose that you can fly within 3NM of an airport without approval. If you look at a map of a built up area, a large part of it will be within 3NM of an airport and, thus, off limits without approval.
Excluding the battery and motors, what is your next most heavy component and what does it weigh?
Tony H August 31, 2010 at 4:48pm

@James
I'll be posting a comprehensive blog post in the next few days, but my ArduCopter Beta Frame with Turnigy 2217 motors and a 4900 mAH LiPo battery weighs 2.85 lb = 1.293 kg
James Pistorino August 31, 2010 at 4:38pm

Can someone give me a weight estimate for the ArduCopter?

Thanks,
James
Developer

Max Levine August 31, 2010 at 4:18pm

Ok we'll fly and see :)
and btw I'am a snowboard and extreme sports photographer in Israel,... a snow sports in Israel :)))))) stick with what you like to do !!!!!
And sorry for the off-topic drift ...
100KM

crystal garris August 31, 2010 at 3:53pm

yes i have the gull to try to survive off the money i make with uavs . im not sure why this is somehow morally repugnant to some people . I barely survive and work pretty much 24/7 .yes finner resolution is always better . but sensor saturation is a death nail . i say this in the hopes that the project can be successful not to denigrate it in any way . if you would like to see the hordes of data i have collected in the past year with my AP i will make it accessible to the community . as a have said in my previous post either change or die . please do some reading on this subject of sensor saturation and come to your own conclusion . sorry if you take me as gloomy but i believe open source APs are facing some huge obstacles mostly from within the community . one large problem is the fear of commercialization . google is a prime example of open source for profit . I enjoy logical systems and see the world is full of them . applying this to the development of APs i find the equation of
$ in while no$ out as unsustainable . everyone needs to eat at the end of the day. after all wouldn't you like to do this for a living?
Developer

Max Levine August 31, 2010 at 3:23pm

Arent more sensitive accs is better ( just lower update rate ), and i don't know who u r, but your last post and this one sound depressing :( and a bit commercial :))
100KM

crystal garris August 31, 2010 at 2:42pm

very impressive stuff , however i see one problem that will lead to epic fail . +- 3g acc . a quick look at any commercial AP and you will see > +- 10g . I originally used th ADX330 just like the mega but found it to be extremely limiting to the performance capabilities of the aircraft . worked fine in flight < 30knots but lead to sensor saturation in high speed flight and on gusty days . with the effect of blowing up kalman filter .
Developer

Max Levine August 31, 2010 at 2:39pm

@Sebastian
i know :) about the time, i mean: all this motors say 2S or 4S lipos is 3S is ok for 4 motors ?
I was thinking about two 3S 2200 lipos in parallel, but i'll buy 5000 one day :))
So, what motor ?? of the first 3 should i get, if it is about 1.8kg total...
Sebastian Gralla August 31, 2010 at 2:23pm

sure it does stabalize

but i meant by this, it is not good for your batteries and ESCs (same RPM with less Voltage means more Amps)
Patrick L August 31, 2010 at 2:12pm

In parallel using pairs of identical batteries.

But even with non-parallel batteries it should't crash if one battery drops a bit before the other, unless you really run one battery completely down. The controller should automatically reduce power to the 2 motors on the other battery to keep the quad stable. That's the whole point of the control algorithm. If it doesn't, it's no good :(

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