Hi,
some days ago a new folder appeared in DIYDrones ArduPilot repository:
https://github.com/diydrones/ardupilot/tree/master/AntennaTracker
After reading the notes, I shouted up! HORRAY! That's what I'm exactly looking for to be used in my mobile Ground station, since this code uses the built-in sensors for proper positioning too!
So I immediatelly wired up a small test platform for initial testing, with the using of:
- APM 2.6
- 2 servos
- 868 Telemetry module
- GPS receiver
- 4s NiMh AA battery
- some masking tape… :):)
Here is the result (first take-off!!!):
Please note that APM has terrible magnetic interference caused by cheap metal-gear servo (servo ofsets over 400 after calibration!!!), and also not fine-tuned. But still, can do the job!!! And also programmable through telemetry module!
So I'm going to design a small 3D printed tracker block at the top of my previously built mobile ground station, covered with a plastic dome, and using of a mini APM and flat patch antenna.
Just keep on good work, DIYDrones ArduPilot dev TEAM!!!
Best regards
Adrian
Comments
Adrian,
That's really excellent news and thanks very much for testing!
I'll add some info on this multipoint version of the software to a few places in the wiki so more people can try it out.
I have another project which involves long distances.. I wonder if the multipoint software could allow communicating with a vehicle that is far from the ground station but still within range of a closer vehicle that does have a good connection.
UPDATE - the rain stopped!!!
So I tested the tracker together with a MissionPlanner.
The only changing related the the previous post is that ID 2 telemetry module is plugged into the AntennaTracker. And … WORKS! So I think multipoint firmware and antennatracker has great potential!!!
Here is the test video:
http://youtu.be/MbqAk9Ufbqo
@Randy
I have just tested the multipoint code on HM-TRP devices and works like a dream!!!
Since it is raining now, I couldn't test outside with the tracker, so I used a MissionPlanner (PC) and a Droidplanner (Android) with a Copter.
Here is how I set up the network:
- Copter has the ID 0
- MP has the ID 1 and DP has the ID 2
- PM and DP are set up to communicate with ID 0 only
- Copter is set up to communicate any
And…it works! I have telemetry on PM and DP at the same time and still I can download parameters on both, so 2Way communication alives!
http://youtu.be/h7QDEO0dfW4
I couldn't, I'm looking for a firmware compiled for HM-TRP.
Brit Davis had succes in the past:
http://diydrones.com/forum/topics/3dr-915-multipoint-with-sik-2-x
But if I'm right, the firmware he posted is for RFD9000… or maybe good for HM-TRP radio module too?
Anyway, once I have it, I'll give a try and see what happens… :)
@Adrian,
Right, yes, that might be a good way to get the message over to the ground station without needing a 4th radio (i.e. 2 on the antenna tracker). I've never tried the multi-point software although I'm quite interested.. does it work?
And what about the 2.x SiK Multipoint firmware?
Using the plane/copter telemetry module as 0 (server) and GCS/tracker telemetry radios as 1,2 clients?
https://github.com/RFDesign/SiK_Multipoint
@Andreas,
Nicely spotted. If a pixhawk is used for the antenna tracker then you can connect the to the mission planner (or other GCS) using either a 2nd pair of 3dr radios or just use a micro USB cable. If an APM2.x is used then you may need to connect the radio to the APM2's 2nd serial port which may involve cutting a hole in the case. This part still needs to be documented on the wiki.
The other option is to connect a "companion computer" (an Odroid or RaspberryPi) and then make the antennatracker<->vehicle connection available to multiple ground stations by putting a wifi access point on the Odroid/RPi.
I hope to document this part some time in the next week.
I was looking for a mean to get an antenna tracker, and was not that delighted to have to plug APM planner to get. That is great news for my hobby use. Many thanks.
Very interesting antenna tracker.
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