Successful flight of the MAJA Drone with the ArduPilotMega

Successful flight of the MAJA Drone with the ArduPilotMega

The MAJA Drone built and tested by Jean-Louis Naudin, a true UAV with full autonomous flight capabilities done on May 2011.
Avionic setup:
 - Ardupilot Mega (Atmega 1280 @16 MHz), 32 Mips
 - Full 9DOF IMU,
 - Built-in 16 MB Data Logger,
 - Airspeed and absolute pressure sensors (Bosh),
 - triple axis magnetometer HMC5843,
 - 10Hz Mediatek GPS.
 - Full high speed telemetry with MavLink protocol,
 - PC Laptop ground station (APM planner with Mavlink protocol from Michael Oborne),
 - Hand-held groundstation (Ardustation with embedded Ardustation protocol).
Firmware: APM v2.2 (modified version by JLN)
Camera: GoPro HD Wide
Payload: Up to 1.5 Kg (Lipo battery included)
Flight time: Up to 1 hour (depends on the Lipo capacity)

More infos at:

Views: 7792

Comment by Mauro Rodriguez on May 16, 2011 at 2:37am
Nice!! super smooth!
Comment by Mauro Rodriguez on May 16, 2011 at 2:38am
did you test it in gust/wind conditions?

Comment by Thomas J Coyle III on May 16, 2011 at 4:32am

Congratulations Jean-Louis on your Maja flight!

I have a Maja that is just waiting for good weather here in North Texas for her maiden flight. I presently have a FMA Copilot II onboard to provide stability for the maiden flight, but have a APM/IMU Mega ready to go once I have her sorted out. I have the landing gear installed so that I can mount my GoPro camera under the fuse. I had to put two 4000mahr 3S LiPos in the front part of the fuse to get her to balance. Can you provide your PID values to give me a basline to work with when I install the APM/IMU Mega?



Comment by Jean-Louis Naudin on May 16, 2011 at 4:43am

Hello Thomas,

The MAJA is a very good test plateform for UAV developments... It is able to flight in various weather conditions (i.e.: windy, gusty...)

Below you will find my parameters PID setup that I have tested in flight:


#define THROTTLE_MIN 0 // percent
#define THROTTLE_MAX 90

#define HEAD_MAX 40
#define PITCH_MAX 15
#define PITCH_MIN -25
#define PITCH_TARGET 0

#define SERVO_ROLL_P 0.8
#define SERVO_ROLL_I 0.0
#define SERVO_ROLL_D 0.0
#define SERVO_PITCH_P 0.8
#define SERVO_PITCH_I 0.0
#define SERVO_PITCH_D 0.0
#define PITCH_COMP 0.2
#define SERVO_YAW_P 0.5
#define SERVO_YAW_I 0.0
#define SERVO_YAW_D 0.0
#define RUDDER_MIX 0.5

Enjoy your flights,

Regards, Jean-Louis

Comment by Thomas J Coyle III on May 16, 2011 at 6:13am

Thank you Jean-Louis for your PID parameters. Much appreciated.

Also, I like the way that you have installed the Pitot tubes. Very ingenious.



Comment by Daniel Gru on May 16, 2011 at 7:21am

Great video, thank you!

Interesting to see what can be done with the Maja.

Keep up the interesting blog-posts!


BTW, still got my Maja up for sale here in the Forum ;-)

Comment by palo sestak on May 16, 2011 at 9:03am

Great work Jean-Louis!

Can you please tell us what mods did you applied to original firmware 2.1?

I'm going to test my airframe but still not sure about what version to use 1.02 or 2.1

Comment by Jean-Louis Naudin on May 16, 2011 at 12:57pm

Hello Palo,

Thanks for your comments, here below some mods that I have done on the original v2.1 firmware and now renamed v2.2 JLN:

// 05-10-11: added GPS emulator protocol for nav simulation with the Rembizi GPSemulator v1.1.45
// 05-06-11: added full autonomous navigation in closed loop under flight plan for long tests runs
// 05-02-11: added embedded Ardustation Protocol for the Ardustation v1.2

and some bug correction and improvement of my return experience from the long tests flights missions done with my Cularis autonomous UAV (Ardupilot + ArduImu). More mods are currently under dev and need to be tested in flight next WE...

Regards, Jean-Louis

3D Robotics
Comment by Chris Anderson on May 16, 2011 at 2:45pm
Very impressive, Jean-Louis. Are there code enhancements or bug fixes that you'd like us to include in the official code? Happy to add you to the dev team list if so.

Comment by Jean-Louis Naudin on May 16, 2011 at 10:17pm
Hello Chris, of course you may include my improvements and bug fixes in the official code. Its open and fully shared for the benefit of all the Diydrones guys...
Regards, Jean-Louis


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