Another Parallax Propeller Autopilot

Introducing the "OughtToPilot"

It seems the parallel processing ability of the prop makes it a top candidate for autopilot brains. This project was entered in the Parallax Design Contest and won second place!! The designer opted for a fuzzy-logic algorithm over a kalman filter for the IMU.

The OughtToPilot employs a non-linear fuzzy-logic algorithm to blend two different types of inertial sensors (accelerometers and gyros) in a computationally efficient manner. This model free blending and estimation method was chosen over Kalman filtering to reduce the design-side system modeling effort and the real-time computational burden. All computations are conducted upon integer based pseudo float numbers with most values corresponding to a fractional number with three digits after the decimal point, multiplied by a thousand.

The source code and material list is available from the link above.

Views: 697

3D Robotics
Comment by Chris Anderson on December 15, 2008 at 9:08pm
Excellent find! The source code will be useful to many of us here.
Comment by Jhon on December 15, 2008 at 10:08pm
l0l he used a hobbyzone super cub haha funny, that shows you dont need a FF9 to make a UAV :P


coudl be possible to extract the Anti Crash Tecnology sensor to use it onboard in another plane? looks like a cheap version of FMA Copilot, but they dont sell it alone

3D Robotics
Comment by Chris Anderson on December 15, 2008 at 10:10pm
The ATC sensors are just light sensors (unlike the FMA, which are IR). They don't work well on cloudy days, at dusk, etc...
Comment by paul hubner on December 16, 2008 at 2:35pm
Jason did a great job documenting his project in his code. For those not familiar with the parallax SPIN code though is is just text, I suggest you download their editor which displays SPIN code more clearly and has a special electronics component font.

Editor is the top like here:



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