Here is the blog created by mine team member Anugrah along with me for our final year project "SURYAAN".Infact we were not able to complete the AUTONOMUS part with in the specified time of approx 10 month but we had completed UAV...a aeromodel along with CAMERA and GPS installed on it giving its location via Xbee to HK GCS.we are very helpfull to HK for providing us the guidence and DIY drones who help me to make up my basics which were so poor earlier.
well we will continuogspe working on the autonomus part but without guidence it is quite tough when you are making your own auto-pilot kit with your full programming.
wish me luck.
Comments
well i am not using a IMU but a bunch of discrete sensors 3 axis accelerometer, single axis yaw rate gyroscope and magnetic compas having I2C interface.Earlier i had worked with them regarding getting the Digital output on LCD but i wasnt able to get exact inclination using kalman filter in embedded c.Infact i was able to get that heading info using magnetic compass.
i had done parsing of NMEA string in C and took out the latitude ,longitude,altitude and date and time.i can improve that to took out the no of satelite locked but that will be in c.
i would be adding heading info to the parsed gps string data
As I suggested in the other thread...your plans were to inject some other value in the NMEA string, right? It was heading? Are you going to have an IMU on board? If so, you'll want to inject pitch and roll too....that's why I suggested reading the NMEA strings and parsing them (which I assume you are already doing for lat, long, alt), right? So pick out the parts you want and I can help you get them into the ArduPilot Legacy format. It will be sooooo much easier to just pass the variables you need than parse and rebuild those 2 NMEA sentences on the auto pilot.....
Tell me the variables you want to send to the ground and I'll show you what the output message needs to look like. Believe me, it will be soooo much easier to do it that way!!!