Here's the latest from some of the Dev Team leaders:
First, the core ArduPilot team is close to a beta release of ArduPilot 2.5, which is a huge clean-up of the code, with top to bottom improvements. As always, you can get a preview by watching the activity on the Google Code development repository. This team is also creating the code architecture foundations for ArduPilot Mega. The IMU code team is working from this repository.
Other projects:
ArduIMU thermopile replacement
(This is the version of ArduIMU that is intended to be a plug replacement for any thermopile sensor, on ArduPilot, AttoPilot, Paparazzi or FMA. It has no GPS, so it will add a 3-axis magnetometer to get a full attitude solution)
Mike Zaffuto: "Magnetometer selected is the HMC5843, it's a good price $20 (qtys of 1), 3-axis, available at digikey and sparkfun, I2C interface and small QFN package like the chips on ArduIMU. The Dual DAC I selected is the LTC2627, I2c interface, 12bits and small 12pin DFN package.
The magnetometer will most likely need to be mounted as far back on the tail, underneath, on the sides, inside, as possible to keep it away from the electric motor and wiring. This will be to avoid as much as possible a motor rpm dependency on H field calibration. ArduIMU is very small and can be made even smaller to make the module less obtrusive in this proposed mounting location.
I have arduino code to communicate with this magnetometer. It is someone else's code, but good to communicate with just the magnetometer, it needs modification to handle multiple i2c devices on the bus. Nonetheless it is a good guiding framework for a rewrite so that it is original code. "
Turn-rate limiter shield
(This is the project to make a turn-rate limiter shield for ArduPilot, which will consist of a single yaw gyro. Combine with the GPS, this can be a very simple and inexpensive full autopilot for stable aircraft, eliminating the need for thermopiles or an IMU for that sort of application. This is meant to create an "entry-level" full autopilot solution)
Jeff Taylor reports that the first custom PCBs had the wrong footprint for the gyro, so he's using a Sparkfun breakout board for testing while we wait for new PCBs.
Lego Mindstorms Universal RC Interface
(This is the project to modify the ArduPilot board to be a universal RC interface for Lego Mindstorms NXT: Read RC and GPS data and drive servos vis the NXT's I2C bus)
Christopher Barnes: "I've got some robust and generic code running on the Arduino to allow the NXT to communicate with the board so that it can read an/or write any variables that we want to share. This includes Remote Control channel inputs (& PWM outputs), analogue inputs, logic inputs (MUX, Failsafe) as well as any GPS parameters extracted from the GPS messages. (I've been testing with uBlox 5 in binary mode). I would intend to release this software with a general purpose configuration but with clear, commented code so that anyone interested can customise the parameters that are exchanged with the NXT."
ArduIMU documentation
This is already in good shape, as Andy Geppert reports: "The majority of the sections are roughed in. I'd like to add much more detail (block diagram of the hardware, and one of the software, high level description of the schematic, start-up details, gain suggestions...)."
ArduStation Mega (ArduPilot Mega ground station) hardware:
Sarel Wagner reports: "I am in the process of doing a version of the schematics. The block diagrams are complete. As you know the case mock up was done. Also working on the data sheets for all components to get the mechanical info for the board layout. Still awaiting some info on the new switches suggested by Scott. Tthe schematic is about 60% done, not in Eagle though, don't have any Eagle skills :/ so need to build a few things first :)
I would say we may have the schematic done by late December "
What does anyone recommend as a client for accessing the subversion repository of the source code, presumably there aren't any which integrate with Arduino IDE? I've got Visual Studio which I use as my main IDE for development.
I would be very interested in joining a dev team focussed on making the existing tools/software work for helicopters. I really think there's enough heli people out there..although few that have gotten very far.
Morli,
As Chris mentioned it will be the same hardware, only one jumper wire from throttle input to the pin D13 will required in case you want to use throttle.
Ryan,
I think the idea is that a mag will indicate turn rate in absolute terms, and that this could help estimate centripetal accel.
I'm also skeptical of the solution though - so we'll see. I like the GPS pass through much better - throw a barometer on there for good measure and deliver superior altitude GPS along with pseudopile outputs.
Adding a magnetometer will not solve the centripetal issue. Physics are physics and you have to have some sort of speed input to help the estimation. And in all honesty the magnetometer will only buy you the ability to estimate wind by knowing your heading istead of your course over ground.
Comments
As Chris mentioned it will be the same hardware, only one jumper wire from throttle input to the pin D13 will required in case you want to use throttle.
Regards.
Yes, no changes to the hardware. It's all just software changes, totally compatible with current equipment.
just for the record , will 2.5 code work in current ardupilot hardware/s ? Apologies in case I missed it some where else
As one of the founders perhaps you shoudl make an exec decision and bring 3.0 to the fore.....
Pretty cool so far of what i have read....whole diff approach!!
Well done to all.
I think the idea is that a mag will indicate turn rate in absolute terms, and that this could help estimate centripetal accel.
I'm also skeptical of the solution though - so we'll see. I like the GPS pass through much better - throw a barometer on there for good measure and deliver superior altitude GPS along with pseudopile outputs.
Once my ardupilot is in the air, I will request dad for some more funds.
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