Full autonomous Cularis UAV mission with Ardupilot/ArduIMU

Full autonomous Cularis UAV mission under flight plan

Here a video of my Cularis UAV during a full autonomous flight mission under a flight plan with 7 waypoints (
Mission #19 done on april 2011)

The Cularis UAV autopilot setup is:

- Autopilot: Ardupilot (Atmega 328)@16MHZ + ArduIMU flat v2

- ardupilot v2.8 (JLN) + arduimu v1.8.3 (JLN)

Sensors: (arduIMU on board):
•3 Axis Accelerometer (ADXL335)
•3 Axis Gyroscope (LPR530AL + LY530ALH)
•3 Axis magnetometer (HMC 5843)
•1 pressure sensor (air speed sensor)
•1 GPS U-Blox5 GS407

Video cameras:
•1 GoPro HD Wide (forward view)
•1 FlyCam One v1 (downward view)

Real time telemetry:
- Low speed with Multiplex M-Link
- High speed datalink with Xbee pro

More infos at: http://diydrones.com/profile/JeanLouisNaudin

Views: 2828

Comment by Ritchie on April 15, 2011 at 3:04am
Comment by Paul Marsh on April 15, 2011 at 4:18am
Great mission summary.  Well done.

Comment by Dany Thivierge on April 15, 2011 at 9:32pm
very smooth! keep sharing! do you also have some video from the other camera?
Comment by Zachariah L Hanson on April 15, 2011 at 10:39pm
Very Nice work! I look forward to more. Great Mission Summary. What kind of transmitter is that?..its very nice looking.
Comment by Alex Arevalo on April 16, 2011 at 6:25am
Bravo, Jean-Louis! Beautiful to watch. Very well executed. I am envious of your success.

Comment by Jean-Louis Naudin on April 16, 2011 at 1:24pm

Hello to All,

Thank you very much for your interest in my autonomous mission flight and for your encouraging comments.

FYI, I am using a 2.4 Ghz transmitter Royal Pro 9 from Multiplex with the bi-directional telemetry system called M-Link. You will find some technical info about this transmitter HERE

I have just uploaded the downward view video taken by the 2nd camera during the same mission #29 flight. This is a medium quality video because this is only a FlyCam One v2 camera and not a GoPro HD Wide as the 1st forward view camera.

Regards, Jean-Louis

Cularis UAV mission #19 - Downward view video

Comment by Darren on April 16, 2011 at 4:25pm
you can cut down on the oscillations on route to waypoints by reducing your
XTRK_GAIN_SC down to about 20. seems to fly nice and straight for me during both steady and gusty winds.
Comment by Todd A. Lloyd on April 16, 2011 at 6:33pm

really enjoyed the videos


Comment by Jean-Louis Naudin on April 16, 2011 at 10:55pm

Hello Darren, below my current setup about the XTrack:

#define XTRACK_GAIN 10     // Amount to compensate for crosstrack (degrees/100 per meter)
#define XTRACK_ENTRY_ANGLE 3000  // Max angle used to correct for track following (degrees*100)

Regards, Jean-Louis

Comment by Phil Sydor on April 18, 2011 at 8:14am
Your breadth of experimentation knows no bounds - do you ever get to sleep?
A true inspiration - now got myself another project, just bought a wii motion plus and ripped it apart.


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