First Autonomous Flight Results on PX4 / Waypoints

Just some very early results, but here we go with our first autonomous onboard video. This is the PX4 native stack flying a stock Bormatec Camflyer Q (estimation and control used in the video contributed by James Goppert). PX4FMU + PX4io fits fine, but we are already working with Bormatec on a wider heavy-duty version (photos of the first prototype). Always keep in mind that the design goal of PX4 is to provide a modular autopilot platform not only for our own purposes, but also to allow others to build on. While working closely with the APM dev team making sure that APM runs fine on it, this allows us to experiment and push the state of the art (certainly on the platform, just starting on flight control), offering a flight control app on the same hardware for every purpose. For those who noted: Yes, QGroundControl has some cool new features coming, the AHRS display was contributed by Soren Kuula, and much more (not shown in the video) is coming from Michael Carpenter, with some really important design guidance by Michael Oborne and Craig Elders experience going in as well.

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Comment by Gary McCray on June 10, 2013 at 2:44pm

Looks great, looking forward to see how this progresses.

The Bormatec is an interesting plane too.

Comment by Paul Feely on June 10, 2013 at 3:04pm
I'm building a Bormatec Q with an APM in it (need a small airframe to sqeeze in car for family holidays) - the buildlog on the px site has been really useful, thanks! It's a really quirky build but I think I like it.

Wide body Q looks interesting, I'm sure I'll end up with one with a px4 in it.

What sort of camera is that and how did you mount it?

Cheers Paul
Comment by Paul Feely on June 10, 2013 at 3:06pm
PS PX4 is really coming on, well done! I'm sure we will all end up with one soon.
Comment by gustavo on June 10, 2013 at 4:49pm
Where can I get that version of qgroundcontrol ?,
Rgds
Comment by Quadguy on June 10, 2013 at 10:14pm

wow this is awesome. so far i have been using PX4FMU + IO with arduplane s/w. looking forward to use px4 release

Comment by Greg Fletcher on June 11, 2013 at 1:45am

Not to be to critical, but it looked like the last turn to wp was left when it should have been right. A robust system does this some times and keeps going ;)


Developer
Comment by Lorenz Meier on June 11, 2013 at 4:07am

Greg, at the quite small angle between the two adjacent edges a small aerodynamic disturbance (or a course already plain south instead of perfectly along the edge) can make the other direction shorter. The metric here is to take the fastest turn, which it correctly did. As the video says this are just first results and a textbook control implementation.

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