Propeller Flying Inertial Testbed

Goal:
To develop and refine software that will read sensor values and perform the necessary calculations to produce a stable and accurate IMU (inertial measurement unit).

Performance:
The quality of the code will be evaluated on how well a simulated horizon aligns with the actual horizon. Using the Propellers video drivers, an artificial horizon will be displayed over a real world view to see how well they align.

Features:
The Parallax Propeller’s architecture allows it to run multiple IMU routines simultaneously (true parallel processing) so software refinements can be compared to a baseline routine. For example a floating point kalman filter can be directly compared to an integer kalman filter to see which performs better. Or the same filter can be run at higher frequencies to see if performance improves.

Hardware:
Airframe – HobbyLobby Wingo Had one too many crashes
Airftame - Easy Star
Microprocessor – Parallax Propeller
IMU – Sparkfun 5DoF
Camera – Inteligent Flight KX171

Here is a partially assembled board used during testing. There were a few layout problems that have been fixed.


The underside of the board with the 5DoF IMU. The camrea is only mounted to the board for testing.






The project home is here
http://code.google.com/p/propfit/



here is a picture of the boardPropFIT1.1.brd and the eagle file.

Views: 376

Comment by David Gregory on May 13, 2009 at 6:13pm
I wrote a spin object for reading servo PWM commands as output from a receiver. http://obex.parallax.com/objects/331/

Might be helpful on this project. Also, are there more details on this project available? I have Prop Demo board, 5DOF board, and a camera. I'm thinking I might try to build this guy.
Comment by JC on May 13, 2009 at 8:21pm
You basically have all the parts, you will need an overlay IC but those are pretty cheap. I can post the eagle files if you want to have a board made. The code can be found here
Comment by David Gregory on May 14, 2009 at 5:30pm
I down loaded the code and looked through it. Looks pretty straight forward, although the pins you're using on the prop were a bit hard to find. The eagle files would be nice just as a schematic for the rest of the circuit.
Comment by JC on May 14, 2009 at 8:27pm
Here is a newer video

Comment by JC on September 8, 2009 at 11:56am
Adam,
Have you had sucess with that method. I thought timing was inportant to sync the video images because a tv expects an input signal at a specific frequency.

Comment

You need to be a member of DIY Drones to add comments!

Join DIY Drones

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service