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.
E-mail me when people leave their comments –

You need to be a member of diydrones to add comments!

Join diydrones


  • 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:

  • 3D Robotics
    The ATC sensors are just light sensors (unlike the FMA, which are IR). They don't work well on cloudy days, at dusk, etc...
  • 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
    Excellent find! The source code will be useful to many of us here.
This reply was deleted.