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 to have best results you should try to keep them as level as possible but like said. Software does not know anything about motors/arms/battery or anything else, it only knows Accelerometers and Gyros from IMU board. Software only tries to keep Accelerometer level. So that's why it's important to measure IMU orientation. And naturally if IMU is leveled with motors/arms we get best result.

My Xbee settings what I use are rather normal. From X-CTU program:
Modem: XBP09-DP, XBEE-PRO 900
Version: 1002
NI - Node Identifier: 900GR (for ground), 900AIR (for AIR xbee)
EE - Encryption: enabled
DB - Baudrate: 115200
RO - Packet timeout: 0
PR - Pullup resistor enable: 3F7F

Everything else are on their defaults. I don't even remember why I activated PR but I think it was due I planned to use Xbee to upload software via wireless. Encryption can be switched off, I just keep it on due security reasons.

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Comments

Antonio September 12, 2010 at 4:51pm

Hi Jani,
Would you be able to give me some advice on testing stabilised mode. I have had 8 flights now in acro and its excellent. fittted a GoPro HD camera and shot video and stills tonight with very nice results.
Quad is in X configuration and if on the ground i switch to stabilise mode, the front right prop starts to spin, as i spool up another 2 props start to spin up but the last never spins it keeps wanting to topple over all the time. I have levelled the machine and adjusted the offsets and roll and pitch now read 0 with Z at 408. The arificial horizon is level in roll and pitch.It flies so well in acro and i cant understand why stabilise is causing so many problems. Any advice on how to go about using stabilise would be really appreciated.
Thanks, T.
Peter Seddon September 12, 2010 at 10:26am

Thanks Jani, those settings don't work for me - I am using 868Mhz versions (they are Europe legal but only allow a 10% RF duty cycle) and whilst it will connect it does not allow the transmitter to be set via the link and the data is looks as though it is dropping out and stutters.

I have also tried some series 1 Xbee but they will not connect reliably. The wire length to my Xbee is about 7cms. Maybe I should try a differnt adapter?

What type of Xbee are you using Sebastian?

Peter
Developer

Jani Hirvinen September 12, 2010 at 9:21am

Scott, i'm afraid that you have a problem.. Series 2 does not work properly.. You should only use Xbee PRO series for telemetry.
Developer

Jani Hirvinen September 12, 2010 at 9:19am

Tony to have best results you should try to keep them as level as possible but like said. Software does not know anything about motors/arms/battery or anything else, it only knows Accelerometers and Gyros from IMU board. Software only tries to keep Accelerometer level. So that's why it's important to measure IMU orientation. And naturally if IMU is leveled with motors/arms we get best result.

My Xbee settings what I use are rather normal. From X-CTU program:
Modem: XBP09-DP, XBEE-PRO 900
Version: 1002
NI - Node Identifier: 900GR (for ground), 900AIR (for AIR xbee)
EE - Encryption: enabled
DB - Baudrate: 115200
RO - Packet timeout: 0
PR - Pullup resistor enable: 3F7F

Everything else are on their defaults. I don't even remember why I activated PR but I think it was due I planned to use Xbee to upload software via wireless. Encryption can be switched off, I just keep it on due security reasons.
Scott Quartochi September 12, 2010 at 9:13am

Hi Peter,
You seem to be a little further than I am getting the xbee’s working. I have Xbee-Pro Series 2 2.4Ghz, can’t get them to even connect to the configurator. I started by using the wiki info and ran the MultiSerialMega.pde successfully, even if I take the coordinator and switch it with the configured as the router/ end device. But it will not connect to the configurator.
Thanks,
Scott
Antonio September 12, 2010 at 8:38am

Hi Jani,
So even tho the IMU and blades might be at a different height you are saying it doesn't matter if they are not level on the same plane to each other. Can you explain further please.
Thankyou.
T
Peter Seddon September 12, 2010 at 8:30am

Jani,

I have been struggling to get my Xbee link working. Can you tell me more about the Xbee settings on your system that works?

Peter
Developer

Jani Hirvinen September 12, 2010 at 8:13am

Well my point was that Arms and IMU might not be on same level so you should not trust arms if self unless you know for sure that they are exactly on same level with IMU. Most of the times they are or at least are close to same level. It really depends on how your frame has been build.
Antonio September 12, 2010 at 8:06am

Hi Jani,
Surly it matters if the arms are not level. If the imu is not level to the arms/motors and the acc are calibrated to the imu then would there not be an angle on the motors and therefore the quad would try to move in that direction even tho it is keeping the IMU level?
T
Developer

Jani Hirvinen September 12, 2010 at 7:50am

Tony there is not so many screens showing those. In on main window where you have all motor bars and other instriments. Everytime when you update values, Configurator updates them automatically. And yes it should be level when you do this.

I always put spirit/bubble gauge/or what ever device on top of IMU due Arms and other does not matter if they are or are not level. Yes most cases leveling arms will take you rather close but then again.. There might be minor differences on your imu. It is IMU that makes measurement no Arms :)

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