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Another quadrotor project

Posted by endrew on November 6, 2010 at 1:30pm

Arduimu and ardupilot hardware, with my own code. all control loops are simple PID. Position feedback using Optitrack system.

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Comments

  • W. Thielicke November 9, 2010 at 12:28am
    At the moment, the copter has to be more or less perpendicular to the cam and inside the FOV of the camera. If the camera is tilted +- 20° the calculations should still work I think, because nothing really changes, except that the markers get a little bit "skewed" in the image.
  • ionut November 9, 2010 at 12:28am
    Hi W.Thielicke
    Very nice.Does it work with the camera angled?Or the copter must be perpendicular to the camera?
    Also did you try to switch position, camera on the copter and leds on the ground?
  • W. Thielicke November 8, 2010 at 9:20pm
    Hi, looks very interesting! As MarcS already pointed out, something similar (but a bit less precise) can be done using a standard webcam + Matlab. 3D Position (x,y,z, yaw) and accelerations + velocities in all directions can be calculated pretty simple. Here's the video:
    http://vimeo.com/6347100
  • MarcS November 8, 2010 at 1:37am
    Hi Inout,
    the clarontech looks as if it is designed for small tracking volume (medical). Interesting, anyway.
    I´m well aware of the geometry and the necessary calculations regarding point tracking in 3D. You would probably use more then 2 cameras if you have a huge volume. On the other hand you can achieve impressive results with only one webcam and matlab: shreddiquette tracking.
    I did some searching the net but it does not seem to be an open source equivalent to systems like optitrack. If I had time, I would start one :-) (too bad I will start my new job soon) Hardware and software skills are available.
    Anybody else interested? Could be an interesting DIY project.
    Matlab source code
    A blog about the Shrediquette multirotor MAV by W. Thielicke and FPV flight.
  • ionut November 8, 2010 at 12:51am
    MarcS I think you can use Wiimote with your pc but you need 2 wiimotes.You need to attach 3-4 leds to your aircraft and track them.You will have to calibrate your system.That means you have to know the position of the leds on your geometrical model and the position in the camera space.This way you match the aircraft space with camera tracking space.Wiimote has limitation because is one camera and you cannot determine 3d position only 2d without depth.You can buy a cheap tracking system like:http://www.clarontech.com/
  • DODY November 7, 2010 at 12:09pm
    cheer Endrew
    Remarkable stability.
    can you to give the material that you took and the code.
    Some photographs of readier of the model
    Thank you
    DODY
  • MarcS November 7, 2010 at 9:21am
    I like the tracking system. But so pricy...
    Is there anything open source regarding indoor tracking?
    I would first think of the sensors (camera) used in the Wiimote. If you could use custom sensors like these, a system should be quite cheap.
    Thanks for any hint!
  • Earl November 7, 2010 at 2:49am
    Impressive stability !
    Post details on hardware and post the code ??
    Earl
  • Michael Vowles November 7, 2010 at 12:48am
    http://www.naturalpoint.com/optitrack/
  • Patrice Mainville November 6, 2010 at 9:25pm
    wow, impressive stability, what is the Optitrack system you talk about, do you have a link?
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