Posted by Jason Short on October 3, 2009 at 11:30pm
I've been working on this the last two weeks and I finally today did a successful walking navigation using the software. It's an extension of the last version I posted which now includes navigation (EM406 only). It's still a work in progress and I'll have it in the air soon, but until then I thought I'd share.The whole reason behind making this was to create something custom fit for my FPV setup. I'm also interested in trying alternate styles of navigation algorithms which I can now do, and test them with my ground station. All the code is custom written except for the GPS parsing algorithm which was only changed slightly to use Longs instead of Floats. (I'm doing a lot more calculations per second than the current Ardupilot, so I wanted to stay away from Floats.)I'm also reading the throttle input instead of using a 'remove before fly' jumper which frees an Arduino pin for other uses such as Lights or my audio based telemetry.The nav algorithm is pretty simple but it will keep the plane on track during high winds and I use simulation to predict when I'll reach a waypoint and how much I'm turning based on the IR readings. I'll be adding an airspeed sensor soon which will greatly add to the accuracy of the sim and give it throttle control.Here is a copy of the progress and a Flash base station. There are a bunch more features and details in the code and more coming soon. Feedback is welcome, and a special thanks to everyone who wrote the Ardupilot code. I've learned an enormous amount from it.JasonSource Files
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