On my 3rd major rebuild of my custom-framed AC2 after losing her to strong wind (stupidity really) and I'm again relishing the opportunity to change further aspects of the design. I'm REALLY hanging to see the OSD integration the boys are working on (come one Jani, hook me up!!!!!). The thought occured that if I wanted to fly really close to the ground in Alt-hold mode, might the sonar be more accurate if it were mounted on a servo plugged into the Tilt output on the APM? That way if she's really moving, and at an extreme pitch, it'll still be pointing directly at the ground. Or have you clever clogs somehow written an algorithim to compensate the Sonar reading based on the angle of attack?

Damn I love this project, best fun I've had in ages!

Views: 917

Comment by Gord Likar on October 9, 2011 at 1:20pm

hi Owen, where did you get that cool looking dome? 

Comment by Owen Booth on October 9, 2011 at 1:31pm

Hi Gord, Droidworx sell them, polycarbonate, bl**dy tough and lightweight. A lil pricy, but worth it frankly, when you've a fortune of gadgets onboard. Couple this with your GoPro and you've almost an indestructable Quad!

They also do a version with ventilation holes in them. Comes with mounting hardware etc. I painted my last one black, looked fantastic!

 

Comment by Gord Likar on October 9, 2011 at 1:44pm

Nice, I'll look it up.

Comment by Sebastian Gralla on October 10, 2011 at 5:16am

yep, i think tilt is compensated in code

don't mount the sonar tilt compensated ;)

Comment by Owen Booth on October 10, 2011 at 11:54am

Thanks Sebastian!

Comment by Amilcar Lucas on October 10, 2011 at 1:49pm

I'm pretty sure you can do this with the AP_Mount code in the APM_Camera branch.

 

Most probably without changing a single line of code.

 

Comment by Marc Puig on October 11, 2011 at 12:17am

It's implemented but I don't know if it's enabled by default.


Developer
Comment by Jason Short on October 11, 2011 at 9:29am

This was my idea to win the spark fun minumum altitude requirement. Ends up that the EZ0 that I bought doesn't need to be aimed. It works almost omnidirectionaly. 

Comment by Owen Booth on October 11, 2011 at 11:15am

That's awesome, thanks Jason!

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