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3689580042?profile=originalBack in early January I was tasked with the duty of delivering my recently quadrupley bypassed father to my aunty's house down on the south coast of New South Wales for some much needed rest and relaxation.  As it happens, the quiet sleepy town of Moruya, in which my aunty resides, is also home to Hobby King's Australia based warehouse.  Not being one to pass on an opportunity to double task efficiency, I decided after depositing my father into my aunt's capable hands that I might as well make use of the ample cargo space offered by my humble little hatchback. So I dropped in to grace to the good people at HK Aus with some good old first person custom.

To cut a long tangent short, this is what I brought home with me:

3689579989?profile=originalThe 1500x300x400mm shipping box of the UAV-3000 was a tight fit, but no problem for the jack of all trades GTi.

Anyway, while I was there in the showroom, I noticed a few warranty return/clearance items on the bench at heavily discounted rates.  Among these items was a folding multirotor platform.  The IdealFly IFLY-4, with which a former customer had apparently had little success, appeared to be a nice and entirely complete airframe which simply needed a new FC.  Keen for a new build, I swapping it for a single John Flynn, bid the HK team a good day and headed north.

Once at home I did a bit of research on the IFLY-4 and was surprised to find out that, due to the fact the IFLY-4 ESCs communicate via I2C, I would need to replace these as well as the FC.  So, I set about ordering the following items:

* APM

* GPS/MAG

* Afro Slim ESCs

* I also ordered a motor to replace one with a bit of play in it.

When these items finally arrived last week I set about assembling my new craft along with a few extra items from the parts bin including camera, RCRX, power meter, BEC, cables, fasteners, and batteries.

Introducing the IdeaFly IFLY-4 Reloaded - APM Edition.

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You know how with some builds nothing seems to go right? When holes don't line up, you can't seem to find the right sized fasteners, you are forced to think and rethink, mount and remount, route and reroute and repeatedly forced to retrieve tools that are out of immediate reach?  Well this build was nothing like that.  It just seemed to come together beautifully.

I had originally modified the factory distribution board with the intention to recycle it for it's former purpose however, after damaging some of the PCB traces I realised it really didn't have the current carrying capacity I would like, so I just used it as a mounting platform for the APM, which was attached using soft double sided adhesive foam, choosing instead to deal with power distribution at the Power Module.

3689580177?profile=originalI was really pleased with my work on the Power Module.  It is very very strong (much stronger than I expected, and it has been tested with great force), super compact, neat and convenient for maintenance. A Turnigy 3A BEC powers all 5VDC needs with the exception of the camera, which is left to rely on it's own on board battery (no chance of nasty noise entering camera).

Amazingly, after removing the factory I2C ESCs, I found that the Afros slotted very neatly in to the arms.  Having read about others having issues with Simon K ESCs and AutoTune, I was a little worried about having problems with the Afro Slims, but I simply had to persevere due to their convenient size, affordable price and strong performance credentials. I am not exactly using them in a low kv pancake applcation either, so the "she's be right, mate" attitude prevailed.  Just a dab of hot glue was required to firmly hold them in place.  I was worried about using hot glue on such a heat generating component, but they don't seem to warm up much at all, as the chipset is 30A rated and they are running at less than 50% duty at max.

3689580099?profile=originalThe GPS/Mag was purchased on ebay for about $18.  It is mounted on a re-purposed FPV camera bracket which I flattened and fastened to the front of the frame using hard double sided adhesive foam and two zip ties giving a solid but nicely dampened mount for the GPS/Mag.  Mounting holes were a perfect match, and I had all the right nylon M2.5 fasteners and spacers in the tool box to suit.  TIP - Invest in an assortment of M2.5 and M4 nylon and SS fasteners, as it will save you so much build time.

A 433Mhz Telemetry Radio from RCTimer is mounted on a short 2-inch boom at the back of the centreplate in the same way outlined above, but with two M2.5 bolts added to ensure it remains firm and alignment stays true.

For battery duties I decided to use the 3S 2200mAh Turnigy, of which I have several.  It is about 25mm too short to span the top centreplate and corresponding anchor points, so I fabricated a hold down plate to solve the problem.  Keeping weight to an absolute minimum, the hold down bracket is made from Balsa wood, painted black with a texta and enclosed in clear heatshrink.  The bracket is plenty strong and weight is less than 10 grams.

3689580108?profile=originalAt this point, I had the basic hardware sorted and moved onto setting up the firmware and configuring all relevant settings in Mission Planner.  This is not my first APM setup, so navigation was pretty straight forward. I did use Mission Planner instead of APMPlanner2 due to familiarity though, and I did go through some fiddling getting the right hex and character set for MinimOSD Extra (hence why I didn't tune better position for the telemetry info in the 4:3 frame - I just wanted to move on once it was working effectively).  I was also surprised to learn that the only firmware setting on the Afro Slims able to be set by the user without the USB programming tool is the max and min throttle points.  With the USB programming tool riced at just $6.65 this would seem an easy up sell if only mentioned in the ad.

Ready to fly, I grabbed my Nexus 7 ground station and a battery and headed out to the backyard to burn through a charge on the standard settings.  As usual, the APM's default PIDs worked fine out of the box. Super pleased with myself, I headed back inside and proceeded to invest several hours sanding the props into perfect equilibrium.

Next I wanted to try AutoTune for the first time, having witnessed Ian Lions perform this operation with his TBS disco earlier this year. So I grabbed another battery and headed for the park. Ardupilot performed it's dance with effortless finesse, delivering an exciting but otherwise unremarkable result on the first attempt (only ~800mAh consumed).  The improvement in flight performance was immediately recognisable and I was just overwhelmed by how precisely it could be maneuvered and positioned.  What a fantastic afternoon!

That evening I headed home and began adding the requisite parts to enable FPV and aerial video capture.

For imaging duties, I chose the little Mobius Action Cam.  It is a great little camera, offering 4/5ths of a gopros performance and convenience at just 1/5th of the price.  Plus, it is a significant upgrade on the #26 808 I was using previously. The file format it generates is much easier to work with too, as it imports into iMovie for iPad/iPhone for fast easy editing and convenient upload to youtube.

For mechanical isolation I created two small plates from balsa wood roughly the size of two moon gel rectangles placed side by side. The top plate was cut to tightly tessellate with the exposed bolts on the underside of the GPS mount and the bottom plate was left flat.  The two balsa plates were sanded and coloured with texta, moongel was placed between these two layers and the sandwich loosely wrapped in cling wrap.  This gave a really nice surface to mount against and the whole thing is held in place by a relatively loose fitting velcro strap with an extra piece of moongel added below the camera for good measure. The results offered by this isolation method have proved very pleasing. First Person View of telemetry overlayed video is transmitted back to my DIY Ground Station via a DIY 5.8Ghz VTX.

3689580131?profile=originalThe next day I jumped in the car and headed up to my sister's place in the mountains in order to give the newly updated rig a run.  The whether was overcast, but relatively mild.  I ran down two batteries and got some nice test shots.  Unfortunately, I also lost the canopy during a particularly fast decent.  The great news is that I was traveling backwards at a rate of knots when it fell so I was able to capture the descent of the canopy via the onboard camera.  Using the below images the canopy was found the next day.

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3689580304?profile=originalSmitten with my new craft, the next morning I set out at sparrow's fart for more flights. Overly eager, I was up and ready too early and cursing Siri for making me wait.

3689580367?profile=original30 minutes before sun up I was parked down at Old Government House in UNESCO world heritage listed Parramatta Park.  The second I saw the first few photons shoot in my direction I was away.  I was starting to gain real confidence in the reliability of the craft at this point.  All features and functions, like loiter precision, just spot on.

Reviewing the video from these early morning flights exposed the low light and exposure balancing limitations of the little Mobius. But there are only so many photons a tiny lens and sensor can collect in 33.3-millisecond.

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I continued with more flights, moving from place to place.  I drove between locations and carted my little integrated ground station so to record both telemetry (via DroidPlanner) and live video stream (via SD DVR installed into DIY ground station).

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By mid morning I had been to several locations and had put about half a dozen charges through the craft.

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3689580416?profile=originalI went home to download and review the media from the Mobius.  Most flights were conducted twice, once recording 1080HD@30fps and then again recording stills at 250-millisecond intervals.  It seems logical I should have realised this earlier, but the Mobius is not able to deliver live video out while simultaneously capturing and recording 3MP images 4 times a second.  Mobius prioritises live output over still image capture, so I didn't pick up on this issue until getting home. Sadly, all the airtime spent capturing stills gave just gave me hundreds of images like this (the panoramas above were recovered from these corrupt files):

3689580287?profile=originalThen I set out again, revisiting many of the locations I had shot at earlier in the day.  After getting another half a dozen or so more flights under my belt, I returned home at about noon.  I put the Mobius and the installed 2200mAh Lipo on charge and grabbed a quick bite to eat for lunch.  Before downloading the media from my second morning outing, and (for the first time in 2 days) without bothering to link DroidPlanner and operate the flight recorder in my ground station, I set out into the backyard to get a nice panorama of nearby Lake Parramatta and the surrounding woodland.

While performing the same pirouette maneuver (at about ~40-metres AGL), just as I had done so many time before, I noticed the craft drift noticeably beyond previously experienced limits.  I immediately aborted the maneuver, and attempted to recover but failed.

What happened next is not entirely clear.  I think I switched to stabilise mode, but this did not help.  I then went for loiter mode, but the craft continued moving away from me at an accelerated rate. So I think I went for loiter again, but that didn't arrest the craft either.  Next I remembered that RTL was associated with channel 8 so I flicked that, but this didn't help.  I then remembered the the RTL failsafe I had set in the event of loss of RCTX link so I switched the transmitter off in the hope this would return it to me.  Unfortunately the craft was ~300-metres away from me by this time, and it was not coming back.

In a state of fright, I jumped in the car and scanned the streets for about an hour.  Nothing.  It was gone.  What the hell did I just do I wondered?  How could the craft be so predictable and so obedient, just to go and do it's own thing all of a sudden?

Upon reflection I realised that my perception of what happened and what I was doing was probably not as accurate as I would have liked it to be.

First of all, how sure was I that I was pirouetting in loiter?  Could I have been in alt hold instead?  That would have explained why the craft went off alignment.  I am really not sure about this, but my assumption is to blame myself and not the hardware. Also, were the mode commands I sent the craft following loss of control correct?  Probably not, no, not at all actually.  My channel 8 switch which has always previously been used for RTL failsafe was, at the time of the incident, still associated with AutoTune.  So, when I flicked the channel 8 switch (the moment it went out of sight) I had shot myself in the foot.  Next, turning off the controller would have been a good idea, but only if I had returned FTL to channel 8.  In actual fact, by turning off the RCTX I had totally doomed the craft.  Air Craft Investigation seems to reveal that I am completely to blame.

Ashamed, embarrassed and disappointed, not knowing what else to do and having no idea where my craft had ended up, I headed down to my local area command to file an incident report.

What a weekend!

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Graphics for Wiki Documentation

3689580859?profile=originalHere are the individual graphics I have drawn that depict 3DR Gear as well as standard radio control components. They are in PNG format and I hope that you guys can find it a useful resource for your own documentation purposes.

I use Paint.net which is a free program and I have never looked back! Here is an example of what you can do with the graphics below: Pixhawk Infographic

I plan on taking a close look at all of the graphics in the APM wiki to see what can be improved, and hopefully this will help others to make additions to the wiki!

I can provide all of these illustrations by Email upon request as well as the original "Paint.net" files where you can pick apart the image layers.

Starting of course with the wonderful Pixhawk autopilot and LEA-6H GPS and Compass

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This illustration shows the Pixhawk Servo Connections: Please note I can provide the original without wires upon request!

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Where would we be without Telemetry?

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The 3DR power module:

3689580967?profile=original3DR switch (you have to draw your own wires in)

3689580830?profile=originalThe the rest of the illustrations can be found below in the comments!

All the best.

Jethro.

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Moderator

Dear Friends,

i'm happy to present the first Fly of VRI Black Ops Drones ...

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See the first official video ... 

 

 

After one year of development and a lot of pre serie prototype i'm happy to present the final revision of Black Ops Drone. 

It's fly very well in this configuration it use  :

VRBRain 4.5 Advanced Edition .

Special custom Distribution Board developed for this design.

- 4 Esc 30 AMP 

- T-Motors 3508 .

- 12 Inch T-Motor propeller .

- 433 Telemetry data module

- Ublox GPS + Magnetometer 

 

We fly it in stabilize and gps based functionality as loiter  , alt hold , rtl and all work very well :) 

 

What do you think about the new Drones from Virtualrobotix  ... It's Sexy :)

 

more info available here  : http://www.virtualrobotix.it/index.php/it-IT/prodotti/bod

original blog post : http://www.virtualrobotix.com/profiles/blogs/breaking-news-the-black-ops-drone-is-on-air-and-it-s-sexy

Best

Roberto

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Quadcopter Build by Jethro: Part One..

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The other night I went to bed safe in the knowledge that packing teams in Germany, China and America had sprung into life, hurriedly shipping what will soon be my first real world experience with UAV technology.

Just few days later a small package with Chinese airmail written on the side arrived at my door...

The project overview

After reading, lurking and learning here on DIY Drones for the past year and a half, this is my first foray into the real world of autonomy so I am trying to take all the precautions.

My main goal for starting this blog series is to get feedback from the community about my designs and methods of construction, so please fire away!

The design itself is a carbon fiber folding quadcopter that is able to lift a camera (perhaps more than a GoPro) and get good flight times while being armed with the functionality of the Pixhwak.

Parts list:

  • Of course - the Pixhawk Autopilot and GPS!
  • X650 Carbon fiber frame from RCTimer
  • Four 2814 710kr/V High Performance motors with 12" Carbon Fiber Props
  • Hobbywing 25A 4 in 1 ESC
  • Turnigy 9XR transmitter with the FrSky DJT module in the back
  • D4R-II Receiver
  • Turnigy Nanotech 4000mah 4S Battery
  • Chargers and other accessories...

Tools:

  • Hand drill
  • Weller TCP soldering iron and accessories
  • Glue gun
  • Threadlock
  • Superglue
  • Heatshrink
  • Drivers and Pliers

Of the parts listed above, those in bold I have received.

Issues

The first problem that I encountered was that the motors I had ordered did not fit my motor mounts. (motors had holes of 25 and 19mm, the mount had 16 and 19mm).

My solution was to drill an extra two 25mm holes into the carbon plates and mount the motors on locking washers:

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After assembling all of the motor arms I assembled the frame, being careful to make sure everything is in place and thread-locked

Results:

The final result felt sturdy...

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Main Concerns:

My main concern so far is regarding my choice of Motor and ESC.

As you can see in the chart below the 2814 HP motors weight in at 100g each and consume 23A to lift 1660g each.

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My 4 in 1 ESC can only handle 30A for 10 second bursts and runs at 25 amps for continuous power.

Doing some rough calculations:

1660g x 4 equals 6640. Dividing that in half gives 3320g maximum weight for my quad.

Do you guys think this is cutting it a bit fine (risky)?

The hobby-wing ESC does have some interesting protection features, most notably...

...2.8 Full protection: Low voltage cutoff protection / Over-heat protection / Throttle signal loss protection.

Another minor concern is that I could only find 'purple' threadlock' in my local hardware shop... specified for threads that are 1-5mm. So it should be ok...

Other than that there have been a few anomalies with regard to the frame itself (namely one of the screw holes being a 3mm as opposed to 2.5mm), but they were minor issues and I am very impressed with the quality of the equipment so far!

Well, I'm off to replace the battery connector with some XT60's!

Part two will be posted when "goodluckbuy" parts arrive!

Jethro.

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Hello All,

Once again I have the wonderful privilege to have another guest on the DIY Drones vodcast and for episode 6 of the DIY Drones Vodcast I will be chatting with Raphael Pirker or better known to us as Trappy.

We will be airing live on our Google Plus Page on Wednesday 12 March 16:00 GMT 

Please join us and listen to Raphael's (Trappy) story regarding the court case and what obstacles he had to overcome.

The interview will be on our YouTube channel for you to watch over and over.

Hop to see you all there.

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HAL takes flight!


3689580443?profile=originalAfter several weeks of building, waiting for parts, and building some more, it all came together.  HAL took flight for the first and second time.  I have a lot of trim work to do over the next few days when I can get back into the indoor arena or without any wind outside.  It was very difficult to control, even in stabilize mode, so I used loiter mode for most of my flying. In loiter mode, even in a 12mph wind, it held rock solid in place.

https://www.youtube.com/embed/5kN3SXp5T1M

Flight controller and receiver mounted on the mid-deck  

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Kyosho Zeal vibration dampening gel, with double stick tape on both sides to mount the flight controller. Vibrations were 1 to -1 on the IMU logs!

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GPS and Compass mounted to the top deck

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Fully assembled, just need to attach the motors.

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After my first two flights, already broke the landing skids. They're flimsy, not surprising. Newer better ones on order.

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MR60

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How-to guide: Pixhawk auto camera trigger (without CHDK)

1. Introduction:

 

If, like me, you are not using a canon camera, you then do not have access to the CHDK canon firmware which provides advanced automation scripts to automate your camera trigger on your UAV.

There exist on the market other great alternatives for all camera brands (some of them are functionally richer and simpler to use than CHDK). As an example in this guide, I will use the "Stratosnapper V2". This is a little smart thing that allows you to trigger any camera brand (Sony, Canon, Nikon, etc) by many ways : infrared, cable, LANC, etc.

If you'd like more details on this little marvel read here.

I personally prefer the "IR trigger mode" the best because it does not require an extra cable connected to your camera, which is a must when you are using a brushless gimbal. It supposes of course your camera supports an IR trigger function; I thus assume the use of a Sony NEX5 in this guide, widely used for aerial photography among UAV'iers.

Then there is another obstacle for many of us : how does Pixhawk work to trigger such a triggering device in auto mission ? There is a lot of posts on diydrones.com about how to do this with APM, but not much yet on the recent Pixhawk. Therefore this guide will try to document it.

I will end the guide with a practical auto photo taking mission example (making sure it really works!).

 

2. Parts and hardware connections:

 

Let's start by a general hardware scheme showing all the required parts and general cabling:

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The parts are:

 

2.1 Pixhawk board

 

One or more of the 6 AUX ports can be used on Pixhawk (AUX1=RC9, AUX2=RC10, AUX3=RC11, etc.):

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In this guide I chose port 2 which corresponds to AUX2 as is illustrated in this detailed view :

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By default, only the three first AUX ports can be used (1 to 3, or RC9 to RC11).

To trigger the IR device, we need a servo output (PWM signal), not a relay signal. We will see later what parameters configuration is required in mission planner screens (we can for example also configure 6 AUX ports as PWM outputs ; more details later - let's finish the hw description first).

 

2.2 IR trigger device

 

Here an illustration of "stratosnapper" with its inputs/outputs:

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You may notice two servo leads are connected on the input side of stratosnapper.

This is one of the most important point in this guide : a servo lead must be used to power the IR device from a BEC (5V in this case); the power provided by the second servo lead coming from Pixhawk AUX2 port DOES NOT provide enough power to make it work !!!

Either you have powered the Pixhawk ouputs rail with a BEC and you are fine, either you must provide a separate BEC power to the IR device. This is also true for any other type of device you will connect on Pixhawk : DOT NOT expect pixhawk to power these devices (and certainly not servos as we already knew in the context of the previous generation flight controller, APM2.x).

Stratosnapper works with a servo lead on one of its 4 servo inputs (yes, you may control stratosnapper from 4 different inputs, isn't that great ?). The servo inputs may be various things : push-button, stick, two way switch, three way switch, etc (all configured by a GUI configuration utility from your PC via usb).

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And it ouputs on a IR cable to trigger a IR led that must be placed in front of your camera IR sensor:

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2.3 IR Led positionning and camera gimbal

 

The IR led works perfectly, even under a bright sun (verified on the field); it works even quite faraway from the sensor (no problem 5 inches away of the Sony NEX5 sensor) and works fine in any orientation versus the sensor.

3689579799?profile=originalShown here is a picture of X8 Mr Grey (formerly known as Mr Red when was used with APM; my wife had only grey flower pots I could snatch to cover the new Pixhawk & electronics). The Sony NEX5 is held in a 2-axis stabilized brushless gimbal (NEX5 not shown...used to take this picture).

 

Here below a zoomed view of the IR LED positionning and gimbal:

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Gardeners & farmers are notoriously UAV friendly; after getting a flower pot to protect your electronics, snatch also some green gardening wire which is very handy to shape your IR LED cable, so it is correctly positionned in front of the camera's IR sensor.

 

3. Software and parameters configuration:

 

3.1 Mission planner:

 

We need to configure Pixhawk to output a servo command on AUX2 (RC10) to trigger stratosnapper which will in turn trigger the IR LED which will in turn trigger the camera. And this needs to happen automatically during an auto mission.

 

How do we do this ? By using the CAM_TRIGG_DIST function or by using a programmed DO_DIGICAM_CONTROL command. In this guide we will only document the CAM_TRIGG_DIST function.

 

The CAM_TRIGG_DIST function will command your UAV to take picture everytime it has moved a certain distance (in meters). This is very useful to take pictures at precise distance intervals during geomapping missions or photogrammetry missions.

To configure CAM_TRIGG_DIST, go in mission planner, click on config/tuning to open the full parameters list. In this list you will find three parameters to configure:

 

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-CAM_TRIGG_DIST : defines in meters the distance between two camera triggers. For an auto mission, leave value at zero. It will be changed automatically during the mission by a DO_SET command, to avoid taking pictures before and after the useful parts of your auto mission.

 

-CAM_TRIG_TYPE : defines if you want the Pixhawk AUX output used to control a relay or to ouput a PWM signal. In the case of an IR device we need a PWM servo signal, so we set it to a value of zero.

 

-CH7_OPT: internal firmware parameter. In this case, it does NOT correspond to the CH7 of your receiver. You must set it to a value of 9 to indicate the firmware that it must do a camera trigger to the AUX ouput (which will be defined in the camera gimbal setup screen).

 

Next, we need to define to which AUX ouput we want this servo/PWM signal produced. To do this, open "Initial setup", then "Optional Hardware", then "Camera Gimbal":

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In the shutter drop down list, select which AUX port you'd like to use (RC10 = AUX2 in my example).

 

Then do not forget to adapt the "pushed" and "not pushed" PWM values that will trigger your IR device (stratosnapper in my example). Tune also the duration to the required button pressure duration to trigger your camera (for a Sony NEX5, I set it to 10 = equivalent of 1 second button pressure).

 

3.2 IR device configuration (stratosnapper V2):

 

Every IR device comes with its own configuration method. Stratosnapper comes with an ultra easy GUI interface to define which PWM values will trigger what port. It is explained in this video:

(http://player.vimeo.com/video/67660032)

 

4. Concrete application : test auto mission, applying all of the above

 

Finally lets' apply all of the above in a true auto mission on the field,

I configured this test auto mission as an example:

 

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To create this auto mission, we can use a very convenient "SURVEY" function of mission planner. You start by drawing a polygon of the zone you'd like to photograph.

Then you right click on the map to select "Survey(Grid)":

 

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It will then show you a configuration screen that will allow you to define which camera make/model you are using and other rather self explanatory parameters (like how much overlap you want between pictures, lens size, etc). The tool will then automatically define for you which is the best CAM_TRIGG_DIST parameter! :

 

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After clicking on "Accept", you will get automatically a list of waypoints starting with a "DO_SET_CAM_TRIGG_DIST" command that will set the distance in meters between two camera triggers during your mission. It ends with another "DO_SET_CAM_TRIGG_DIST" to set the parameter back to zero (stops the shooting).

 

DO NOT forget to add at least a waypoint (take -off) before and another waypoint (land or RTL) after the last waypoint.

 

After this is done, after you have passed through your checklist, after you have got all of the authorizations, etc, -> you are then ready to arm, flick the auto switch and off you go!

 

The above test auto mission lead to this result below. It is a stiched panorama of about 15 pictures; shown here as a reduced thumbnail image (because the full size image is too large at about 107 Mbytes). Click on image for better resolution:

 

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I hope this will help you in your own auto-photo-shoot missions!

Cheers,

Hugues

 

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3D Robotics

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From Makezine, great instructions on how to build a waterproof copter with PVC pipe elements:

WAVEcopter is a fully waterproof multicopter frame that I have constructed mostly from readily available and cheap electrical parts. My reasons for building it were to gain a new perspective on surfing photography, do aerial surveying of event sites, and to satisfy my general fascination with robotics and aviation.

I rebuilt the copter after it suffered a serious collision into a cliff on the south coast of Cornwall, England. (I believe it was a pilot error after relying too much on a GPS fix and moving the copter from its initial takeoff point.) Although this was a serious collision — full throttle into a granite cliff face at about 60 feet — all of the electronics and camera equipment was unscathed. This was testament to the ruggedness of the airframe; damage was limited to broken props, a cracked hub, and severed motor wires, all easily replaced for minimal cost.

The copter is now on build 2 as I’m planning on replacing the Naza M flight controller with an Arducopter control board to enable mission planning with waypoints.

There are lots of different setups for copter electronics, so I’ve skimmed over some of that detail as I think there are better setups than mine (like the Arducopter). The most important part of this project is being able to waterproof the frame while housing an optimum balance of battery power and weight.

The drone has made successful flights of over 10 minutes with no apparent overheating of speed controllers or motors, which was a big initial concern in a airtight/waterproof frame. I’m new to multirotors and I’ve read a lot about this, so it’s either a myth or I’ve been lucky so far. You can add heatsinks for the electronics on the underneath of the main housing if you’re overly concerned.

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3D Robotics

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Update 3/7: The FAA has appealed. 

From Motherboard:

For the moment, commercial drones are, unequivocally, legal in American skies after a federal judge has ruled that the Federal Aviation Administration has not made any legally binding rules against it.

The judge dismissed the FAA’s case against Raphael Pirker, the first (and only) person the agency has tried to fine for flying a drone commercially. The agency has repeatedly claimed that flying a drone for commercial purposes is illegal and has said that there’s “no gray area” in the law. The latter now appears to be true, but it hasn’t gone the way the FAA would have hoped. Patrick Geraghty, a judge with the National Transportation Safety Board, ruled that there are no laws against flying a drone commercially.

The FAA attempted to fine the 29-year-old Pirker $10,000 after he used a drone to film a commercial at the University of Virginia. Pirker and his lawyer, Brendan Schulman, fought the case, saying that the FAA has never regulated model aircraft and that it’s entire basis for making them “illegal,” a 2007 policy notice, was not legally binding. The FAA has never undertaken the required public notice necessary to make an official regulation.

Geraghty agreed: The FAA “has not issued an enforceable Federal Acquisition Regulation regulatory rule governing model aircraft operation; has historically exempted model aircraft from the statutory FAR definitions of ‘aircraft’ by relegating model aircraft operations to voluntary compliance with the guidance expressed in [the 2007 policy notice], Respondent’s model aircraft operation was not subject to FAR regulation and enforcement.”

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3689579248?profile=original

Short URL: http://wh.gov/lyN6L
Save and Share this URL: https://petitions.whitehouse.gov/petition/force-faa-begin-process-creating-regulations-around-commercial-use-drones-american-airspace/ZYPyVwPQ

Hello Drone Community,

This is your chance to change things with commercial drones and the FAA.  Feel free to sign my petition and lets change the "Drone Market" in America for good!  The current ruling of the "Team Black Sheep" case has all us in a sticky situation.  Please feel free to let me know how you feel about my petition and any concerns you have with my petition.

Make you voice heard,

Joshua Johnson - CEO - CAD Drones LLC - CADDrones.com

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Moderator

RCAPALogo.jpg

Patrick Egan

The original and world’s best recognized small business end-user association is back for another round of, please keep your onerous regulation off of my business plan. Seriously, things have started to heat up with congressional mandates and media coverage of an industry that can longer be ignored. All gray areas in the law aside, there is no denying that this industry and technology are here to stay. If you go to the movies, watched cable TV or sports, have bought a house, ate some food, used a cell phone you may have been downstream of drone work.

The FAA has long since lost the battle of stuffing the genie back in the bottle. So now, the FAA’s only recourse is to constrain the genie. Delays and onerous regulation are the only cards they have left to play. That is why is imperative that would be business end-users of this technology have a say in their business future. There is only group looking out for the small businessperson, RCAPA. Yes, we have been on a hiatus from the effort and energy we had put into the airspace integration effort. The main reasons were the pace of rulemaking, and that we did not have the money to compete with the DoD vendors and pro DoD vendor lobby. We are coming down to the home stretch. The standards have been written there is a new UAS ARC, and big business is scrambling for the advantage.

Many said in 2004 that RCAPA was ahead of its time others said it was just right. Over the years, the RCAPA has participated in the ASTM, RTCA, Eurocae, International Coordination Council, with international CAA’s and the FAA. These efforts have brought to fruition best practices, proposed operational guidelines, a testing program and liability insurance. No other group can make the same claims or has the as many years in the Global airspace integration effort.

 

The RCAPA board has put out a public statement asking past and future members if they are able and willing to take up their own cause. Are you ready to support your industry?

http://rcapa.net/

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Moderator

I'm excited to announce that two of EastBay RC's APM-powered videos will be featured at the upcoming Great Wall of Oakland screening.  If you're in the Bay Area, stop by and check it out... it's a great and fun venue!

Friday, March 7, 7pm - 11pm.

3689579154?profile=originalWhat's the Great Wall of Oakland?

"Every first Friday during OAKLAND ART MURMUR, the Great Wall of Oakland, a 100'x100' projection installation, illuminates the Uptown District with cutting-edge motion art from around the world. Thousands of Bay Area art fans descend upon the area to check out this one-of-a-kind site."

And what's this event?

"For the 3rd year in a row, The Great Wall will present a curated screening of the personal works of Pixar Animation Studio employees on the 100’x100’ urban canvas. This very unique glimpse into the creative minds of our talented Emeryville neighbors is the only public screening of it’s kind, giving Bay Area residents a rare opportunity to view the short films that Pixar employees create in their spare time when they are not working on major blockbusters.

http://greatwallofoakland.org/2014/up-next-3rd-annual-behind-the-pixar-screen-friday-mar-7-2014/

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The end of gimbals?

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I know that gimbals are really cool and make great things possible, but I just can't wait for them to die. They are heavy, draggy and add complexity. It would be great to just record everything and then scroll to the portion on video you want to see. If you are capturing video for a production, you can fix it in post. If you are doing surveillance, you could completely stabilize your view with software. Maybe this will get us one step closer:
http://bit.ly/1gV7n2c

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**UPDATE 3-6-2014** Trappy Case Dismissed

http://www.kramerlevin.com/files/upload/PirkerDecision.pdf

Current Drone Law by Peter Sachs, Esq.

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This website relates to the remote-controlled model aircraft variety of drones, not military drones.

To most people, the word drone connotes a weapon of war. In part because every article you read and every television story you inevitably display this photo of a militarydrone. While the word drone finds its roots in the military, (where they were originally used for target practice), in reality a drone is any of a number of types of unmanned flying craft— some used in warfare, others used for pleasure or profit. For the purposes of this website, the word drone refers to the remote-controlled model aircraft variety, (“RCMA”), and nothing else.

The federal government has no authority whatsoever to regulate the operation of remote-controlled model aircraft.

Despite what you might have seen, heard or read to the contrary; despite the FAA’s claim that it has authority over RCMA; despite the FAA having sent several cease and desist letters, (obtained recently via FOIA request by Patrick Mckay), to persons who were operating RCMA for commercial purposes, there exists not a single federal statute, not a single federal regulation and no case law that in any way regulates the operation of RCMA.

None.

Federal statutes, regulations and case law concerning RCMA do not exist.

In the absence of any federal statute, regulation or case law that prohibits a particular activity, that activity is completely legal. That’s how the law works. Nothing is illegal solely because a government agency claims that it’s illegal. There must be something engrossed in our bodies of law that actually states that it is illegal. Since there is nothing at all in our bodies at law that make it illegal, at this time, RCMA are completely unregulated federally, and anyone is free to operate them in any manner they wish, whether for pleasure or profit, regardless of what the FAA might claim.

Please note that I am not asserting any opinion as to whether RCMA should ever be regulated. Rather, I am asserting that at this time, they are not federally regulated. Nor will they be anytime soon. Under Section 336 of the FMRA of 2012, Congress has dictated that the FAA will not be permitted to “promulgate any rule or regulation regarding a model aircraft.”

But the same Act will exclude RCMA’s that are used commercially from the definition of RCMA, and the FAA will be able to promulgate rules and regulations for RCMA usedcommercially. Thus the exact same make and model of RCMA will ultimately be regulated if used commercially, and unregulated if used non-commercially. Since the FAA’s primary reason for existence is safety, it begs the question how the exchange of money is even remotely related to safety.

Remote-controlled model aircraft are not “aircraft,” as defined in federal statutory and regulation language.

The federal statutes that govern aviation are found in Title 49 Section 44101, et seq. of the US Code. Under 49 USC 40102, “aircraft” means, “any contrivance invented, used, or designed to navigate, or fly in, the air.“ The federal regulations that pertain to aviation are found in 14 CFR 1.1, et seq. Under 14 CFR 1.1, “aircraft” means, “a device that is used or intended to be used for flight in the air.” Both the statutes and regulations define aircraft similarly, and in extremely broad terms. Taken literally, these definitions would include many things.

Take for example, paper airplanes. Paper airplanes are ”contrivances” or ”devices,” and they are ”designed to…fly” or ”intended…for flight” in ”the air.” Indeed, that’s their sole purpose. They clearly meet the literal definitions of aircraft. Therefore, paper airplanes should only be operated, if they are registered, (49 USC § 44101, 49 USC § 44103 and 14 CFR Part 91.203); if the person operating them holds a proper pilot certificate and medical certificate (14 CFR 61.3); and if the paper airplane has itself been issued an airworthiness certificate (14 CFR Part 91.203).

Moreover, in the event of a paper airplane crash, the FAA and NTSB would be required by law to investigate (49 USC § 1132). 49 CFR Sec. 831.2, states, in relevant part, that the NTSB “is responsible for . . . all accident and incident investigations . . . where the accident or incident involves any civil aircraft….” (Emphasis added.) A civil aircraft means aircraft other than a public (government operated) aircraft. (14 CFR Sec. 1.1) If a paper airplane is an aircraft, the NTSB must investigate if one crashes.

Yet the FAA does not require paper airplanes or their operators to adhere to aircraft regulations. And the NTSB does not investigate their accidents. Thus, the FAA has never treated paper airplanes as aircraft. Since each and every paper airplane has been operated with open disregard to applicable aircraft regulations, and since the FAA has done nothing to prevent it since its inception, it follows that the FAA simply does not consider paper airplanes to be included in the definition of aircraft. Of course, it would be interesting to hear them argue that they are.*

Now replace the words paper airplane with remote-controlled model aircraft. RCMA are also unquestionably “contrivances” or “devices,” that are “designed to…fly” or “intended…for flight” in “the air.” Yet like paper airplanes, the FAA has never historically treated RCMA as aircraft. RCMA have never been required to be registered; they have never been required to have airworthiness certificates; their operation has never been limited to those with the proper pilot and medical certifications; and the NTSB, in defiance of law, has never swooped in to investigate when a RCMA has hit a tree and crashed. How can the FAA now insist a RCMA rises to the level of being an aircraft for safety reasons, but that same RCMA does not merit an investigation if it collides with the ground?

As is the case with paper airplanes, each and every RCMA has also been operated with open disregard to applicable aircraft regulations, and since the FAA has done nothing to prevent it since its inception, it also follows that the FAA also does not consider RCMA to be included in the definition of aircraft.

Bear in mind that it’s not as if the FAA was suddenly surprised to learn about RCMA, and that not asserting control over them was a mere oversight. RCMA are not a new phenomenon. They far pre-date the FAA’s creation. The FAA was well aware of RCMAs, their characteristics and their capabilities when the definitions of aircraft were adopted. The FAA’s historic and complete noninvolvement with RCM indicates it purposefully eschewed the role of regulator. RCMA are not aircraft because the FAA never treated them as an aircraft.

In fact the FAA recently admitted publicly, that RCMA are indeed treated differently than aircraft. A recent “tweet” from @FAASafetyBrief suggests that FAA certification is in the works.

@FAASafetyBrief – We also plan to weave unmanned aircraft info into future articles, e.g., how to keep it airworthy and certified.
- 10:39 AM – 29 Jan 2014

If the FAA is now stating that it is planning to certify RCMA, by definition certification is not currently required. Since all current aircraft must be certified, the FAA is admitting that RCMA are not aircraft.

Suddenly, if used commercially, remote-controlled model aircraft are claimed to be aircraft.

Although no enforceable statute or regulation has been adopted or changed, and no case law has been decided to support it, the FAA is now repeatedly claiming RCMA, when used commercially are aircraft and subject to its authority. It relies on Title 49 and 14 CFR as a basis for its newly claimed power to regulate commercially operated RCMA as aircraft, despite the fact that no language in either the statutory or regulatory definitions of aircraft makes the exchange of money a factor. Nor is the exchange of money found within the language of the very document the FAA had always provide as a courtesy as guidance to RCMA operators— Advisory Circular 91-57. Since RCMA are exempt from registration, pilot certification, airworthiness certification and accident investigation, how does operating them for compensation magically make them aircraft?

The FAA has gone as far as sending some folks what are essentially pretend cease and desist letters in an attempt to scare them into not operating commercially. Since there is no law to back up the FAA’s order to cease and desist, those letters are entirely meaningless; have no force of law behind them; and can be ignored with impunity. Of course one might incur legal fees trying to fight a cease and desist letter regardless of its merit, which explains why those who have received them have self-grounded themselves.

[UPDATE: 02/04/2014]  Recently released copies of FAA “cease and desist” letters, obtained via FOIA request submitted by Patrick McKay, indicate the FAA is indeed, as I stated in the paragraph above, lying about the law in these letters, and are in factpretending to have authority over RCMA. 

Law (versus Non-Law). Law, with respect to aviation, exists in three forms: federal statutes, federal regulations and federal case law, where the statutes and/or regulations have been interpreted. If no law exists in any of these forms, then no such law exists. One need not obey any law that does not exist.

The United States Code, Subtitle VII. Federal statutory law is enacted by Congress and found in the United States Code. The federal statutes that govern aviation are found in Title 49 USC Sec. 44101, et seq., and have the force of law. Current federal aviation statutes find their roots in the Federal Aviation Act in 1958, as revised. The Act basically provides the big picture with regard to aviation. Most importantly, it established the FAA, and granted it power to oversee and regulate matters relating to the safety and use of American airspace though the promulgation of regulations. As such, although the US Code addresses aviation law in broad terms, the details of aviation laws are actually found in the FAA regulations.

The Federal Aviation Regulations Federal regulations are promulgated by the FAA and found in the Code of Federal Regulations. The federal regulations that pertain to aviation, (the “FARs”), are found in 14 CFR 1.1, et seq., and have the force of law. There is nothing in the FARs that concerns RCMA. The FAA cannot just make up regulations as it goes along, to enforce activities that it simply wishes to enforce. There must exist an actual statute or regulation for the FAA to enforce. The FARs are the only federal regulations that exist pertaining to aviation, and are the only regulations that are legally enforceable. You’ll not find any that concern RCMA. You will see regulations that apply to other craft, such as balloons, rockets and even kites. So the FAA clearly contemplated flight-capable craft other than airplanes and helicopters when it adopted the current regulations. If the FAA had intended to regulate RCMA as well, it would have done so. It didn’t.

Federal Case Law. Federal case law is, in a nutshell, the collection of decisions made by adjudicative bodies concerning FAA enforcement actions. For example, the FAA may issue an order suspending a pilot’s certificate or it may impose a civil penalty. Enforcement actions may be appealed by way of a hearing before an NTSB administrative law judge. That judge’s decision may then be appealed to the NTSB Board. Finally, the Board’s decision may be appealed to the U.S. Court of Appeals. Whatever the final decision in the matter is, at whichever stage the controversy ends becomes precedent, and that decision essentially has the force of law under the doctrine of stare decisis. At this writing, there is no case law concerning commercial RCMA use. There will be soon.

In Administrator v. Raphael Pirker, NTSB Docket CP-217, the FAA is trying to fine Raphael Pirker, (who is being defended quite capably by Attorney Brendan M. Schulman), for “reckless operation” of a remote-controlled model aircraft. Pirker was hired by the University of Virginia to obtain aerial video of its campus.

Although the FAA alleged in its Order of Assessment, (its Complaint), that Pirker was flying for compensation, interestingly enough, it did not use that allegation as a basis for the proposed assessment of a civil penalty of $10,000.00. Instead it relied on Pirker’s alleged violation of FAR 91.13(a) that states, ”no person may operate an aircraft in a careless or reckless manner so as to endanger the life or property of another” as the basis.

If commercial use is in fact illegal, why didn’t the FAA also base its Complaint on Pirker’s alleged commercial use? Well, it couldn’t because there are no regulations that prohibit commercial use, and it knew in the absence of any such regulations, basing its Complaint on commercial use wouldn’t fly. (Pun intended.)

However, by not using commercial use as a basis of the proposed civil penalty, and relying solely upon an allegation of reckless operation, the FAA has also essentially admitted in its own Complaint that commercial use is not prohibited. If Pirker prevails, it still won’t settle the specific commercial use issue because that was not a basis of the FAA’s Complaint. However it will settle the overall question as to whether the FAA has authority to regulate RCMA at all, which would, of course, include commercial use.

Non-Law. Now let’s take a look at the stuff that might sound like law, but that is not law at all. A number of folks, including the FAA, mistakenly point to any or all of the following publications as regulations prohibiting commercial use of RCMA. However, not one of the following publications has the force of law, and therefore, none is legally enforceable:

Advisory Circular 91-57, entitled, “Model Aircraft Operating Standards” and published in 1981, is essentially a letter of guidance. Compliance with its language is entirelyvoluntary and it is merely a list of ​common sense ​suggestions, and ​is not legally enforceable.

The FAA 2007 ​Clarification​ is merely ​a document that clarifies the FAA’s own current ​policy​​ concerning operations of unmanned aircraft in the National Airspace System. ​Although it does in fact state that remote-controlled model aircraft may not be used commercially, it’s an Agency policy statement. A policy statement is not legally enforceable.

​The FAA Modernization and Reform Act of 2012, specifically Title III, Subtitle B is an Act of Congress, but in and of itself does not compel any person to do or not do anything. The Act contains a number of ​directives to the FAA to develop regulations concerning the integration of unmanned aircraft into the national airspace system. By definition, Congress having directed the FAA to develop regulations means none currently exist. Moreover, these directives​ ​​apply to ​the FAA​ ​only, not the general public. They are not ​themselves regulations, and are not legally enforceable.

Unmanned Aircraft (UAS) Operational Approval, which the FAA uses as a definitive guide to the Certificate of Authority process for unmanned aircraft. However, as it reads at it’s top, it’s merely a statement of “National Policy.” And as explained above, apolicy statement is not legally enforceable.  This document even contains language admitting it’s not legally enforceable. Paragraph 5 reads that it is “not meant as a substitute for any regulatory process.”

US DOT’s Unmanned Aircraft Systems Comprehensive Plan, published in September, 2013, is merely a five-year road map. It is self-described as a list of goals and objectives, to be revised annually, in furtherance of the FAA Modernization and Reform Act of 2012′s directive to the FAA to integrate unmanned aircraft into the national airspace system. An agency’s goals and objectives are not ​regulations, and are not legally enforceable.

Certificates of Waiver or Authorization. Pretty much everyone seems to think that obtaining a “certificate of waiver or authorization” (“COA”) is required to fly a drone. That’s what the FAA has been claiming for years. However, it’s not required at all. In fact, with respect to public aircraft, (government operated aircraft, such as those operated by police and fire departments), the FAA is not even permitted to regulate airworthiness or pilot qualifications. The FAA can only regulate public aircraft insofar as they interact with all other aircraft, whether civil and public. In other words, the FAA can only legally regulate that public aircraft to the extend that they comply with Part 91 regulations.**

Still not convinced?

The FAA has said so itself:

Because the heart of this issue is the safety and airworthiness of aircraft, I understand why people believe that only the FAA should make such determinations. We are the premier aviation safety oversight agency in the world and I am proud of our record and reputation. But from the very beginning and at all times during the existence of the FAA, there has been a clear statutory distinction between civil and public aircraft operations. FAA has regulatory and oversight authority over civil aircraft operations. Public aircraft operations are conducted by or on behalf of many different government agencies and departments, including state and federal, from the Forest Service and the DOI, to the Justice Department to the U.S. military. By statute, authority for the safety oversight of these operations belongs to the agency or department responsible for the operation. While FAA can and does provide technical support to assist other agencies with their safety oversight responsibilities, the law is quite clear that FAA cannot direct or compel another agency to impose specific safety requirements or force them to meet existing FAA requirements.

- Statement of Nicholas A. Sabatini, Associate Administrator for Regulation and Certification (June 2, 2004)

So, if you’ve made it this far after reviewing the sources above, you will see that there really are no federal statutes, regulations or case law that applies to RCMA. This is not to say that I believe there should or should not be, or that there will or will not be, but rather that there simply are no such regulations at this writing. My intent is to observe and report on how the area of RCMA law develops.

—

* Interestingly enough, a business known as PowerUp Toys, now markets a neat little device that attaches to a paper airplane. It has a propeller and battery, and permits a person with a Smartphone to operate it remotely via Bluetooth. If the FAA claims that RCMA are aircraft, this device will place the FAA in the absurd position of having to argue that a paper airplane is now a RCMA, and indeed an aircraft.

** While USC 49 § 44711 states, “[a] person may not— (1) operate a civil aircraft in air commerce without an airworthiness certificate in effect…” and “(2) serve in any capacity as an airman with respect to a civil aircraft,” the same is not true for public aircraft. The FAA cannot require operators of public aircraft to have airworthiness certificates or be operated by certified airmen. And as absurd as it might sound, a police department helicopter need not be airworthy, and it may be flown by a non-pilot.

Source: http://dronelawjournal.com/

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3689579052?profile=originalHere's a couple of screenshots of a little experiment I did today. This is a slightly reduced mesh from the point cloud example yesterday. In this work I'm using the blender game engine for path planning of an autonomous robot. My "robot" is that green cube over there and it's trying to get to the purple sphere. I'm using a navigation mesh laid over the parts where I don't want the robot to go at all, for example grass, the hedge or that mountain thing. Since my environment is georeferenced, I can simply take the "blender" coordinates from the waypoint list that the planner is generating and in theory feed them to an actual robot navigating the actual real world environment. If the environment is static and nothing changed, this works well. Not a guarantee for dealing with dynamic objects yet, but even the Google car makes a full plan to get to a destination, then tunes this for the actual situation depending on sensors that sense the immediate environment.

I already said the words: "navigation mesh". A relatively recent and better technology used for AI path planning for game characters is a navigation mesh, assuming you're working with characters that touch the ground. It's just a set of polygons that determines where a character/NPC is allowed to go and where it's not. For an impressive demo of how this works, check out this link. ( Some background here: previous algorithms used lists of waypoints. When you've ever seen NPC's in a game stuck in a running position on an object, then those would typically use those waypoint lists. They can't deviate from that path because they can't make assumptions, so get stuck when there's something in the way. This also makes the same robots collide or unable to avoid dynamic objects in their path. )

Setting up a little AI environment for experimenting is surprisingly easy in Blender. A very nice tutorial video showing how to do that is here.

This is all relevant because mainstream drone technology right now relies on operators to do the actual path planning. I think that's going to change in the future when you hook up databases with more specific information, deal with a large number of constraints, execute dynamic scenarios or are unsure of the vehicle capabilities. The idea is to have the computer propose a (list of) routes just like my Waze does, instead of plotting out my road wp for wp.

What blender thus allows you to do is set up a simulation environment and explore the algorithms and not waste precious time on the visualizations. Since it's all from within blender, offering great support for primitives, meshes, lines and points, it's pretty simple to add visual cues to the simulation. The biggest benefit is how easy it is to model a testing environment. Because it's so easy to work with python in the game engine, it should also be easy to 'drive' the blender simulation using an external simulator as well, for example a flight simulator that has a better flight model for uav's.

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3D Robotics

Amazing quadcopter prop-loss recovery

Via IEEE Spectrum, who reports "ETH Zurich has taken that quadcopter fail recovery software that they've been working on that can completely shrug off the loss of an entire propeller, and pulled it out of any sort of controlled or motion capture environment to show that it works in that real world place that we're always going on about. And it's amazing." From the video description:

We have developed an algorithm allowing a quadrocopter to maintain stable flight despite the complete loss of a motor/propeller. In a previous video (http://youtu.be/bsHryqnvyYA) we have shown this algorithm in use, where a motion capture system was used to measure the position and orientation of the quadrocopter. 

In this video we have a pilot fly the quadrocopter. The algorithm is executed on the quadrocopter's onboard micro-controller, and the only sensors required are the quadrocopter's angular rate gyroscopes.

We use blinking LEDs, mounted on the quadrocopter's arms, to indicate a virtual yaw angle, so that the pilot can control the vehicle with the same remote control commands after the failure. As an alternative to the LED system, an onboard magnetometer could be used to track the vehicle's yaw angle. Alternatively, using more sophisticated algorithms, the system could be made to work using only the rate gyroscopes.

The failsafe controller uses only hardware that is readily available on a standard quadrocopter, and could thus be implemented as an algorithmic-only upgrade to existing systems. Until now, the only way a multicopter could survive the loss of a propeller or motor is by having redundancy (e.g. hexacopters, octocopters). However, this redundancy comes at the cost of additional structural weight, reducing the vehicle's useful payload. Using this technology, (more efficient) quadrocopters can be used in safety critical applications, because they still have the ability to gracefully recover from a motor/propeller failure. 

This technology is patent pending, and we hope that it will soon be available as a product on most commercial platforms.

For more information, please see www.FlyingMachineArena.org.

Researchers:
Mark W. Mueller, Simon Berger, and Raffaello D'Andrea

Pilot: 
Thomas Kägi

Video:
Mark W. Mueller, Markus Waibel, and Raffaello D'Andrea

Location:
Flying Machine Arena at ETH Zurich; and Zürichberg, Zürich

Acknowledgements:
This work is supported by and builds upon prior contributions by numerous collaborators in the Flying Machine Arena project. Seehttp://www.flyingmachinearena.org/people.
This work was supported by the SNSF (Swiss National Science Foundation).

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3D Robotics

3689578848?profile=originalUnder the amusing headine "Free the Beer Drones", a law expert writing at Slate raises some legal concerns about the FAA's assertion that it has the authority to regulate UAV.  It's a great article, and I encourage you to read the whole thing, but these is the opening paragraph and the three main points:

Currently, the Federal Aviation Administration maintains that anyone operating a drone in the United States must obtain an experimental aircraft permit, which severely limits the number of active drones and the parties permitted to fly them. However, a closer look at the statutory and regulatory laws governing the FAA suggests that the administration may not actually have the authority to require those permits or limit drone usage. If I had a company that wanted to deliver beer by unmanned aerial vehicle (and I wish I did), there are three points I’d raise in my defense against fines levied by the FAA for unlicensed drone delivery.

1) U.S. code and regulations that give the FAA its authority do not define unmanned aircraft, unmanned aerial vehicles, or aerial drones. (Let’s call them all “UAVs.”)

..

2) Even if it has the authority to regulate UAVs, the FAA has not taken the necessary steps to do so. In fact, it’s published other documents suggesting that UAVs are permissible.

...

3) Congress did nothing to confirm the FAA’s current authority to regulate UAVs when it passed the FAA Modernization and Reform Act of 2012.

Read the rest here

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