Here's a look at the latest iteration of my Parallax Propeller based quadrotor. The current implementation uses an ITG-3200 3-axis gyro as the only stabilization sensor.
...and an outdoor flight:
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Here's a look at the latest iteration of my Parallax Propeller based quadrotor. The current implementation uses an ITG-3200 3-axis gyro as the only stabilization sensor.
...and an outdoor flight:
You need to be a member of diydrones to add comments!
Comments
No method whatsoever - I think I originally used them intending the board to be mounted lengthwise and then ended up mounting it width-wise, so I just altered the code accordingly. Call my method "random chance". :)
Hi Jason,
I have built several quad controllers (Aeroquad & DIY Drones Arducopter) and the gyro and accel board's X and Y axes seemed to be aligned with the quad pitch (Y axis) and roll (X axis) axes. From your quad pictures on the Parallax thread, there seems to be a random orientation of the sensors on the Prop board. Am I correct or is there an unseen method to their orientation?
Regards,
TCIII
Cool - I'd love to see someone else doing this that I could bounce ideas off of. There are a number of others on the Parallax forums who are working toward this, but I think I'm the furthest along. Keep me posted on your progress.
Hi Jason,
Thanks for the info on the addressing of the ITG it clears up how you are addressing it in relation to the data sheet. The progress that you are making with the Propeller coding is very similar to way that the Arduino code was developed for the Ardupilot/copter. I have at least four Propeller Proto boards laying around that I can use to duplicate your hardware setup.
Regards,
TCIII
The PASM code does read the accelerometer, but the data isn't actually used for anything yet, so you don't need one connected. (I use the same PASM driver for a DCM version that I'm working on).
The ITG read/write values are correct. My SparkFun breakout was set to use the alternate I2C address (0x69). You send the 7 address bits followed by a single bit to indicate read or write. I just baked them all together to save instructions: (0x69 x 2) | 0 = read (0xD2), (0x69 x 2) | 1 = write (0xD3). The data sheet has it written as b110100X, where X is the I2C selection register - on the Sparkfun board that's 1, so b1101001 (0x69). If you miss the fact that there's a user-configurable bit there, it looks like it should be 0x34. Hopefully I've explained that well enough. This site apparently doesn't like to display greater/less than symbols - I had to change them to "x 2".
Hi Jason,
Thanks for the response. No problem I can figure it out based on your spin code. However, your latest PSAM code is reading the ADXL345 accelerometer (W: A6 and R: A7) which is also attached to the SDA and SCL pins. Also the ITG-3200 read and write (D2) values do not seem to agree with the ITG-3200 data sheet or I must be interpreting them incorrectly?
Regards,
TCIII
Thomas - There isn't one, sorry. The components are a single ITG-3200 breakout board from SparkFun, a pair of 4.7k resistors for the pullups, 4 x 10K resistors to connect the receiver, and a Propeller Protoboard.
I have the receiver connected to pins P0 to P3 through the 10K resistors. The motor controllers are connected to pins P8 - P11, and the SDA and SCL lines of the gyro breakout are on pins P16 and P17. The gyro breakout has empty spots for surface-mount pullup resistors, so I added them there. That's the whole thing, aside from power & ground connections to the receiver, ESCs, and gyro breakout. The ESCs & receiver connect to 5V on the board, and the gyro breakout connects to 3.3v.
Jason,
Can you provide a link to the schematic and components? I have had a look at the Parallax thread, but it is very long and nothing jumped right out at me.
Regards,
TCIII
Hi Jason
Good work! I have followed your project on the Parallax Forum. Your efforts demonstate what the Propeller can do. I use it in most of my robotic projects. In many ways it is superior to the Arduino for multitasking requirements.
Regards,
TCIII
Nice work Jason and compliments to the camera-lady, it was a pleasure to see a quad always in frame
and not bouncing up and down like a yo-yo.
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