Seeing the development of code for the Ardupilot 'legacy*' has slowed right down I've decided to start modifying it myself to be a little more functional.
As I progress I'll post the updated code for everyone to benefit...
My aims so far are;
1) TWI between IMU and Autopilot
2) Bi-directional comms to GCS
3) External board to accomodate 2x pressure sensors, voltage + current, 12v upconverter for video & perhaps relay switches.
4) Overlay of telemetry data over video within the GCS to fly FPV without having to add another power hungry device onboard the UAV.
The list will no doubt increase as I get each step finished and have new requirements.
So far the TWI routines are pretty happy, bi-directional comms via XBee's is limited but working (PID's can be set from the GCS and attitude/GPS data can be received @ 10updates/sec + recorded )
Biggest problem I'm facing is the lack of available IO on the two ARDU boards, I'm guessing the external board may end up being another ATMega on TWI...
My UAV setup at the moment is;
1) Multiplex Easystar with mods;
- Larger rudder
- Rudder servo moved to tail
- Removable + strengthened compartment under the wings for mounting the IMU on the CG (And allowing easy access to the ESC)
- Outrunner hacker 12L and mods to fit it
- New canopy section to accomodate the GPS, Ardupilot and camera (This is a work in progress)
2) ArduPilot + ArduIMU + Mediatek 10hz GPS
Will have to add some pics when I get a chance...
BTW as I'm developing the GCS in VB6.0 I need to try and find some FREE! .ocx aircraft controls - anyone know where I can find such a beast?
Comments
During the current ground testing it's all held together with tape but as I get time I'll be mounting everything securely, if you look at the picture a few frames above showing the side view of the fuselage you can see a small clear circular roll, this allows the ESC (electronic speed controller) to be pushed back to make room for the IMU and removed later on if required.
A TWI interface between the two, leaving the serial port free on the AP should make bidirectional comms easy.
Doing both OSD and downlink telemetry is a challenge, but if you only want OSD (acting as telemetry) it should be fairly simple to accomplish with the Maxim chip. You can get it on a breakout board from Sparkfun.
thanks Ken for answering them.
GCS -- Ground Control Station -- primarily a display, possibly (but not too often) offering a secondary command channel to the vehicle to allow upload of waypoints or other options, that shows status of the aircraft and its systems; airspeed, heading, main battery voltage, location (lat/lon), etc.
FPV -- First Person View(er) -- having a camera on board that sends images back to the operator
BTW -- By The Way
FWIW -- For What It's Worth
IMO / IMHO -- In My (Humble) Opinion
For the benefit of my passionned novice understanding, need meaning of TWI, GCS, FPV, BTW so I can follow your ideas.
-
1
-
2
of 2 Next