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The quest for human-powered flight


Da Vinci sketched the oldest known plans for a human-powered aircraft in 1485. Yet it wasn’t until 1977 that the first one truly flew. Flight requires lift, when the net air pressure pushing upward counteracts the craft’s weight. For years, many assumed that flight required more lift and more power than the human body alone could provide (although the admonitions did little to stop myriad failed attempts). But inventors persisted. Aircraft fly using three basic configurations: fixed wing, flapping wing, and rotors. In the last 50 years, inventors have conquered fixed-wing and flapping flight. Now they are on the verge of overcoming the greatest challenge yet: vertical takeoff.

Click here to see a history of flight in the page of PopSci

To fly a human-powered helicopter, a pilot would likely have to produce 500 watts of power. Even the fittest pilot could not sustain that output, says Antonio Filippone, an aeronautical engineer at the University of Manchester in England who has published two papers analyzing theoretical human-powered helicopters. “You can lift off,” he says, “But for more than a few seconds, it is not possible.” We’ve heard that sort of thing before.

AIRPLANE


Fixed-wing flight

The Challenge: Fixed-wing flight requires an efficient airfoil, such as a wing that’s curved on top and flat on the bottom. As the airfoil moves forward, air streams faster over its top than underneath it, creating a difference in pressure. When the pressure below the craft overcomes the pressure above it, there is a net upward force. Most planes use engines to get enough forward motion, but people can’t propel a vehicle nearly as fast. The Solution: In general, the longer the wings, the more lift. In the early ’60s, Southampton University undergraduates built a 130-pound craft with an 80-foot-wingspan and a bicycle-style transmission connected to a propeller. It flew a third of a mile but had significant steering problems. In 1977, engineer Paul MacCready designed the Gossamer Condor, a 70-pound aluminum and plastic craft with a canard—an airfoil on a boom in front of the fuselage. It was more maneuverable than its predecessors and flew in a figure eight around markers a half-mile apart, winning the Royal Aeronautical Society’s prize for the first controlled and sustained human-powered flight. There’s still room for improvement. For example, engineers have refurbished the ’90s Airglow (seen here) with bent wingtips and curvier wings—improvements that stabilize it during turns.

ORNITHOPTER

Flapping-wing flight

The Challenge: Small animals such as hummingbirds beat their wings fast enough to stay aloft entirely from flapping, pushing more air down than they do up and creating a net upward pressure. But at large scales, it’s difficult to beat quickly enough to remain in the air. Bigger flappers, therefore, require a boost from forward thrust. Think of an engine pushing forward a flapping-wing plane, or ornithopter. The Solution: Larger birds’ wings flap, but they also twist forward and back as if jiggling a doorknob, which generates extra forward thrust. So as a graduate student at the University of Toronto, aeronautical engineer Todd Reichert and fellow students designed their craft, named Snowbird, with wings that both flap up and down and twist 10 degrees. They used computer simulations to fine-tune their design. And they gave Snowbird a wide, 105-foot wingspan and employed carbon fiber and Kevlar to keep it light. A person generates power in the 94-pound craft using a leg press similar to those found in gyms.

On August 2, 2010, on a field in Ontario, a car towed the craft forward until it glided into the air. Then the car stopped towing. As Reichert worked the leg press, the Snowbirdflapped its wings and flew on its own at a height of 11 feet for 19.3 seconds, traveling 475 feet.

HELICOPTER

Rotor-based flight

The Challenge: A helicopter flies when its spinning rotors force air down, which decreases air pressure above the craft and increases it below. Unlike planes and ornithopters, helicopters cannot rely on forward motion, making flight much more challenging. Helicopters also generate turbulence that can cause serious stability problems. Several teams are trying to prove that they can conquer vertical flight by winning the American Helicopter Society’s Sikorsky prize, a standing $250,000 award for a human-powered helicopter that hovers for one minute and hits a minimum altitude of three meters (9.8 feet), while staying within a 10-meter (33-foot) square. The Contenders: The University of Maryland team’s Gamera II helicopter is a quadcopter, a craft with four 42.6-foot-wide rotors connected to a bicycle-like transmission. Several smaller rotors near the ground can lift off more easily than a single large one. They also balance one another for better stability. In June, a pilot sat and pedaled with his hands and feet to raise the Gamera IIabout one foot off the ground for 49.9 seconds.

Aeronautical engineer Neal Saiki, who designed the first human-powered helicopter to lift off in 1989, is back with a new craft: the Upturn. A pilot pedals to spin its single, 85-foot-wide rotor with four blades, two of which have propellers at their ends, which help with stability. Each blade also has an adjustable flap and a sensor to detect vibration and balance, and Saiki’s software tweaks the flaps’ angles in real time to compensate for wobbles. In June, a pilot lifted the Upturn two feet for about 10 seconds.

The competition is still heating up. Snowbird co-designer Todd Reichert officially registered for the helicopter prize this July with a new group, but it hasn’t yet released a full design of its quadcopter. Maryland continues to improve its craft. Saiki aims to use a stronger pilot. And team gravity will be fighting all of them every step of the way.

http://www.popsci.com/technology/article/2012-08/they-said-it-couldnt-be-done

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3D Robotics

Swarming drones and rovers cooperate

3689484024?profile=originalFrom the great IEEE Spectrum Automaton blog:

We’re used to thinking of robot swarms as consisting of lots and lots of similar robots working together. What we’re starting to see now, though, are swarms of heterogeneous robots, where you get different robots combining their powers to make each other more efficient and more capable. One of the first projects to really make this work was Swarmanoid, with teams of footbots and handbots and eyebots, and researchers presented a similar idea at IROS earlier this month, using an AR Drone to help a swarm of self-assembling ground robots to climb over a hill.

The focus of this research is communication: getting a flying robot to be able to communicate with a swarm of ground robots by relying exclusively on visual feedback from LEDs. All you need to get this to work are lights, cameras, and some mildly intelligent robots: you can leave your maps, GPS, IMU, hardware IDs, and all that stuff at home. Here's a video of the system in action:

As interesting as the communication is, it's the applications that really make this video worth watching. Since the ground robots can't see very far, they rely on the quadrotor to scout ahead and estimate the parameters of upcoming obstacles. Then, the quadrotor instructs the swarm on the ground how to team up to best overcome those obstacles. With the hill, for example, the quadrotor can use stereo imagery to compute how steep it is, run an onboard simulation to see how many ground robots will have to team up to make it over, and then give instruction and direction to the robots below. Very clever.

"Spatially Targeted Communication and Self-Assembly," by Nithin Mathews, Anders Lyhne Christensen, Rehan O’Grady, and Marco Dorigo, from Universite Libre de Bruxelles and Instituto Universitario de Lisboa, was presented at IROS 2012 in Vilamoura, Portugal.

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3689417660?profile=originalremzibiconverter_thumb.png

Update 10/22/2012 - For those few who may be interested, I'm now using this software on my personal quad with ACM 2.7.3 and 2.8. This software now compiles with Arduino 1.0.1 and works with Mavlink 1.0 or 0.9. The wiring and hardware requirements has not changed. You can download the software from my personal website at this link.

Original Post:

Since I purchased my Arducopter last November, I've wanted to use my NTSC video camera, Remzibi OSD, and 1.280 Ghz video transmitter with my quad and experimented with different ways to do it. It was easier with Arucopter NG RC2 since Mavlink was not in use and I could generate my own serial stream to the OSD. With the release of Arducopter 2.0.x and Mavlink it was a little harder.  I really wanted to have Mavlink up and running to my Ardustation tilt/pan antenna and notebook while using the on board OSD. 

 

My solution was to add an Arduino Pro mini to my quad configuration and modify some Mavlink Ardustation software from phillip.anthony.smith to create the serial stream that the Remzibi OSD likes. The details of this mod and link to the my Mavlink to Remzi converter software is available here:

Mavlink to Remzibi Converter

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3D Robotics

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As mentioned in my earlier Arduino DUE post (DUE is now released, BTW!), the new Arduino IDE will make it easier to support different hardware platforms, including the PX4 board. Now the beta of Arduino 1.5 is out, and the team explains more:

The new Arduino 1.5 software brings a number of improvements, some in support of the new Arduino Due board and others to make it easier to install libraries and to simplify the boards menu. While these new features should work well, we expect to get lots of feedback and to iterate on them in future releases of the Arduino software. That also applies to the new (experimental) libraries for the Due, which add features like USB Host, audio playback, and cooperative scheduling. In the short-term, if you’re not using the Due, you might want to stick with the current 1.0.x (AVR-only) releases of the Arduino software; Arduino 1.0.2 will be out shortly. In the long-term, though, we’re going to be basing the Arduino software on the Arduino 1.5 code. Here’s an overview of the improvements and changes it contains.

Support for Multiple Microcontroller Architectures and Toolchains

While the interface for compiling and uploading sketches remains the same, we’ve made some significant changes under the hood in order to support the new 32-bit, Atmel SAM3X ARM processor on the Due. The new Arduino environment (IDE) can now be configured to target multiple processor architectures, each with its own toolchain and compilation process. To support a new processor family, the core language and libraries need to be ported (as we’ve done for the Due) and some configuration files edited to specify the commands for compilation and uploading. We’ve focused on ensuring that this new system works seamlessly for the Due and our existing AVR-based boards, but with some tweaks and improvements, we imagine that it will allow the Arduino environment to work with many, many more microcontrollers. We’ll be posting more details of this new system soon but, for now, you can look at the “avr” and “sam” directories in the Arduino software for an idea of how it works.

Note: the changes to the underlying configuration files means that older “third-party hardware” folders will require some tweaking to work with Arduino 1.5. We’ll try to improve backwards compatibility in future versions of the software but, for now, you’ll need to work with makers of third-party hardware to update their files for Arduino 1.5.

Easier Library Installation

Arduino 1.5 makes it easier to install libraries. We’ve added a new “Add Library…” menu item (inside of “Sketch > Import Library…”) that prompts you select a library zip file or folder on your computer. It then copies it to your sketchbook folder and adds it to the list of installed libraries. You can still install libraries manually but this is a simpler alternative.

Simplified Boards Menu

With the addition of the Due, the boards menu in the Arduino software was getting so long that we decided to simplify it. To do so, we’ve separated the choice of the board itself from that of the processor (microcontroller) on it. For example, if you’re using an Arduino Mega with an ATmega1280, select “Arduino Mega” from the boards menu and “ATmega1280″ from the processor menu. To make things easier, the processor menu defaults to the microcontroller on the most recent version of the selected board. So if you have an Arduino Mega with an ATmega2560, you can simply select “Arduino Mega” from the boards menu and the processor menu will default to the appropriate item (“2560 or ADK”). If the selected board only has one processor option, the processor menu will be disabled. (For example, every Leonardo board comes with an ATmega32U4.) We hope this makes it a little easier to find and select the board you’re using.

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3D Robotics

Glider 3D printed directly on to tissue paper

3689484055?profile=originalGreat work from my friend Andrew Plumb. From the Ponoko blog:

Andrew Plumb (aka @clothbot), who I’ve interviewed here before, published an awesome glider design today called the PaperFly.

Based on an earlier glider (the Bukobot Fly) that was entirely 3D printed, the PaperFly is instead a minimal frame printed directly onto a sheet of tissue paper!

Andrew also put a tutorial on Instructables that covers the prep work necessary to make one of the gliders. Basically, in order to keep the paper flat and unmoving, it has to be secured in a cardboard frame that is then placed on the printer’s build platform. Like this:

Tissue paper and frame

Once the glider has finished printing, the weight of the nose must be adjusted to make it flightworthy. How is that done? By adding LEGO pieces to the connectors on the nose cone, of course. :)

PaperFly on platform

The design file is an OpenSCAD script, so it can be extensively customized or adjusted to fit on the user’s own 3D printer.

If you’d like to make one for yourself, check out the full details on Instructables here:http://www.instructables.com/id/3D-Printing-PLA-on-Tissue-Paper/

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100KM

hey guys,

 just thought I would show of one of my latest efforts.A servo hacked continuous, controlled by a maple reading a 12 bit absolute encoder controlled to move to any absolute position.

megneticencoder30a.pde

the encoder is a AS5045 read by a maple dev board. working on an open source continuous rotation gimbal to go with the techpod, avalable for pre-order @ http://hobbyuav.com/

wpid-0015.jpg?w=500&width=300

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3D Robotics

Arduino DUE (ARM-based) coming on Monday

3689483694?profile=originalHackaday reports:

After a years-long wait, an ARM powered Arduino is finally due. The Arduino Due will finally be released this coming Monday.

On board the Arduino Due is an Atmel-sourced ARM Cortex M3 microcontroller running at 84 MHz. The Due has an impressive list of features including a USB 2.0 host, compatibility with the Android ADK (lest you still need an IOIO), 12 analog inputs with 12-bit resolution, 2 analog outputs running at 12 bits, a CAN interface, and more input pins than you can shake a stick at.

For a full list of features, you can grab this PDF we picked up when we saw the Due at Maker Faire NYC

This hardware update to the Arduino platform makes a lot of very cool builds very possible for even the beginner hardware hacker. Of course the Due will be used for controlling drones and UAVs, laser cutters and 3D printers, and playing WAV files from the analog outputs. The much improved hardware opens up a lot of other possible builds including making your own guitar pedals – DSP is a wonderful thing – and reading the telemetry from your car in real-time via the CAN bus.

Although it’s not available right now, you will be able to buy an Arduino Due for $49 USD this coming Monday at your favorite electronics retailers. 

The ArduCopter/ArduPlane team is currently focused on porting the code to our PX4 board, which is based on a much faster and more capable ARM chip than the DUE and has other cool stuff like a RTOS already up and running. But one of the cool things about the Arduino DUE release is that includes some improvements to the Arduino IDE to support a wider range of hardware. So our near-term priority will be to see if the Arduino IDE can be modified to support PX4, which will allow us to retain the accessibility of Arduino without having to support two different ARM-based hardware platforms.

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Free APM2 Help Manual

3689483865?profile=originalSometimes I need some info regarding APM2 and iI have to search in different internet pages and forums for help, so i start to collect info, pictures and some tips all in one word file. I believe that this might help because now we have all in one .pdf file. I hope that none of the pictures are copyright but if some one don´t want to have their pictures in this "manual" please tell me and I will remove them.

APM2_Manual.pdf

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Developer

Annual Public Service Announcement

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It is that time of the year when for many of us the furnaces have been turned on for the coming winter and the indoor air is getting dry, so it must be time for my annual ESD Public Service Announcement.

 

What is ESD?  Electrostatic Discharge!  That little spark you sometimes get when you touch a light switch or some other grounded object.  Electrostatic discharge is always an issue when working with electronic equipment, but is a particular problem during the winter months due to dry indoor air.  When low temperature outside air enters a building and is heated the relative humidity drops considerably.  Dry air conditions increase static charge buildup.

 

Why should you care?  Well, if you are working with APM (or any other unprotected electronics) and build a large static charge on your person, then transfer that charge to APM (which may (or may not) be signaled by your touching it being accompanied by a spark), that may cause damage to the autopilot.  The hardware multiplexor on APM1 is particularly susceptible to damage from ESD, but many other components can be damaged as well.

 

How can you avoid damage from ESD?  There are a variety of products and techniques that can help.  Best practices would include using an anti-static mat on your work surface and using a wrist strap to ground your body to the mat when working on APM.  However, simpler, lower cost things can help a lot.  Pay attention to what clothes you are wearing when working on APM.  You may want to remove your fleece jacket or wool sweater.  When I sit down to work with APM I try to momentarily ground myself when first sitting down at my bench to drain any accumulated charge I am carrying, and do so every time I leave and come back to the bench.  Also, there are a variety of household anti-static products that can be very effective in lowering the amount of static charge you pick up.  I use an aerosol anti-static product that will treat a room with a few seconds spray, and which will last several days.

This may be old news to many, but if not then developing a small amount of ESD paranoia and some good habits can save you from killing electronics on the bench.  Personally if I am going to ruin an autopilot I prefer to do it with a spectacular crash!

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Developer

Lemon-RX UART and PPM output

rx1-320x320.jpg

I have had a Lemon-RX (previously known as Orange-RX) DSM2 6-Channel Receiver (PPM + UART)

sitting around for a bit, and finally got around to hooking it up to my logic analyzer and checking it out today.  I was interested in this RX as an inexpensive option if you need PPM output and run Spektrum/JR gear.  I knew from the spec sheet that the channel resolution on the UART output was a bit coarse.  It runs DEC(66) ~ DEC(134) full scale, giving only 68 disrete levels.  The PPM output is a bit better with a minimum change of about 12 microseconds, so about 83 steps.  Bumping my TX endpoints up got it up to 100 steps.  So that is not great, but OK for drone use IMO.  The stability and jitter looked really quite good at around 1 microsecond.

 

This RX comes as a bare board with a 3x7 header and 3x2 header soldered on.  It is a bit longer than an AR6200 and a bit narrower.  Some careful work with a soldering iron should allow for removal of the headers and soldering in a 3 wire pigtail if all you need is PPM, leaving you with a very thin package.

 

I have not done any range testing, but my expectation is that it should be similar to a real AR6200 as they are using the Cypress RF chipset.  Seems like a pretty good PPM option for only US$ 15.30 (plus shipping of course).

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3D Robotics

3D-printed drone from UVA

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The DimensionNext blog reports on a cool new UVA research project. Excerpt

When Mitre Corporation, a McLean-based defense contractor announced that they were looking for summer interns, University of Virginia engineering student Steven Easter and his brother and lab partner, Jonathan Turman applied the job. They got the assignment: to build an unmanned aerial vehicle, using 3DPrinting technology.

Luckily they got support from Professor David Sheffler, a 20-year veteran in aerospace engineering. Between May and August the team has been working on designing and building a plane entirely from parts from a 3DPrinter.

The plane has a 2 metre wingspan and all the parts were printed in layers in plastic. During four test flights in August and early September at Milton Airfield near Keswick, the plane achieved a cruising speed of 70 kilometers per hour.

This is what it looks like covered:

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3D Robotics

A photo tour of the 3D Robotics TJ plant

3689483114?profile=originalOn Wednesday, before I spoke at the Tijuana Innovadora conference, I dropped by the 3D Robotics factory there. This is our second factory, and it's now equaled the capacity of our San Diego plant. Guillermo ("Gigio") Romero, the operations lead there, has done a tremendous job bringing this factory up, building a top-notch pick-and-place and CNC operation and a staff of 20 in just a few months.

Here's a quick tour of how your APM 2.5s and ArduCopters are built!

3689483224?profile=originalBefore 3D Robotics acquired it and it ramped up as a full factory, uDrones was a small stand-alone assembly operation doing early ArduCopters. Some of that history, as well as current products, are on display in the lobby. 

3689483174?profile=originalHere you can see the back of the factory. The ceiling of the overall space is very high and the entire space is not air-conditioned, so the manufacturing part is in a "building within a building". Behind those walls and hung celiling, everything is air-conditioned and the air is filtered (double-filtered in the CNC room).

3689483135?profile=originalComponents and inventory is kept in a fenced-off area with strict controls. This allows us to keep tight reins on stock and our supply chain info. 

3689483238?profile=originalBoards start by going through this stencil printer. 

3689483188?profile=originalThen they go through the pick-and-place machine. This is the newest Manncorp, even better than the one we have in San Diego. 

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Then on to the reflow oven, at right. 

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All electronics workers wear anti-static pads on their shoes.

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When the boards come out of the machines, they are put on a test jig and run through a full software test routine. 

A video of how the sensor testing works.

3689483285?profile=originalVisual inspection is a very important step of the QA process. Boards that fail here are reworked or binned. 

3689483341?profile=originalThis is the station where ArduCopter PDBs and other solder rework is done. 

3689483251?profile=originalAnd this is the station where they do the hand soldering of connectors and other through-hole parts. 

3689483472?profile=originalA rack of APM 2.5s waiting for their pins!

3689483359?profile=originalNow for the CNC room, where ArduCopter parts are made. This is the bigger of the two CNC machines. He's holding part of a secret not-yet-announced camera gimbal design ;-)

3689483493?profile=originalAnother CNC machine and operator. Because of the dust, masks, ventilation and filtering is really important in this room. 

3689483404?profile=originalFinished legs, ready for kits. 

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Lots of instructions

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There are lots of binders with really specific manufacturing instructions. We're going for ISO9000 compliance!

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This is the room where the ArduCopter kits are assembled, tested and packed. 

3689483519?profile=originalComponents. Inventory control is super important. All parts have check-in/check-out forms on the box and we have a custom ERP system. We'll be implementing bar-code scanning soon.


3689483389?profile=originalPart of the Admin area

3689483562?profile=originalThis is the engineering area

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Lissana will meet you at reception

3689483446?profile=originalTime for a group photo!

3689483545?profile=originalGo team! 

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3D Robotics

Good primer on how servos work

3689482989?profile=originalRue Mohr has written a great tutorial on how servos work. Even if you already know most of this, it's a great reference on everything from the basic electronics to modifications and optimizations. 

Sample:

Servos are controlled by sending it a variable width pulse (a type of Pulse Width Modulation (PWM)). Important paramiters about the shape of the pulse are the 'centre duration'  and repetition rate. A servo often turns less than 180 degrees on the output shaft over the rated minimum and maximum output pulse lengths.
The centre position of the servo is defined by a pulse width input of 1.5ms high (it should be the shaft position in the middle of its capable movement). The standard pulse width range is 1ms to 2ms, which is often described as having a 180 degree difference in the output shaft, but often does not. (you can go wider on the pulse width changes, for example .9ms to 2.1ms which, depending on the servo, may give you more movement.)
Every time a control pulse is sent to a non-digtital servo, it performs a position 'correction'. The designed correction rate (pulse rate) is 50Hz, or a new pulse every 20ms, more about that later.
So, in summary, the servo expects to see a pulse every 20 milliseconds (ms) and the length of the pulse will determine the output position.
  For example:
   - 1.5ms pulse will make the motor turn to the 90-degree position. 
   - 1 ms pulse moves it to 0 degrees
   - 2 ms pulse will turn the servo to 180 degrees

 

[Via Hackaday]

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UAV Civilian Market Roundtable

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Interesting roundtable discussion among UAV 'experts' and opinion leaders

From The Engineer: 'The role of the pilot, or commander, or whatever the person overseeing the aircraft is called, is already covered by the existing regulations and the concept of equivalence, said Corbett. Although there are differences in how control is exercised, ‘the aircraft is still piloted, whether it’s by waggling a stick, or using point-and-click with a mouse and on-screen interface. The elements of “airmanship” have to be exactly the same as any other pilot occupying the same piece of airspace, because they will have to cope with the same conditions. Their training might be different, but the end result has to be the same.’

 In fact, Corbett said, the whole category of UAV is somewhat misleading. ‘There are four categories of aircraft: glider, balloon, airship and flying machine, and there are manned and unmanned versions of each,’ he said. ‘But if they’re going to operate in the same airspace, then UAVs shouldn’t be considered separately, as something tagged onto the side. They’re just another subset of the same categories.’

'...another consideration is the interest from potential commercial UAS users, and where their demands could pull the technology. Much of the demand is for vehicles which fly at or below 500m, where some of the technology developed in Astraea — sense-and-avoid, for example — might not need to be so complex, as there is little chance of colliding with other aircraft or trees at these altitudes.  ‘But the two ends [high- and low-altitude] will come together as the technology miniaturises,’ commented Dopping-Heppenstal. ‘We’ll see lessons from small-scale UAVs taken up by those developing larger aircraft...’

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Moderator

 

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This is Vbrain RTF with new enclosure the .stl file is available on thinkverse:

http://www.thingiverse.com/thing:32321
This last revision of VBrain will be official presented to Makers Italy in Milan 9 November 2012 join us at the event : http://www.virtualrobotix.com/events/virtual-robotix-workshop-d-autunno-incontriamoci-a-makersitaly

Emile and Roberto are progressing on the port and test of the VRBrain with the Arducopter

code now we are working on rev 2.7.3-4.

In this video is possible to see the test of Emile Hexa . It's the first flight and we testing the stability , loiter and alt hold and return to land with approach activated.

 

We have succesfully flown and tested latest features and came up with some benchmarks to compare the different architectures using Arducopter firmwarre.

Results are pretty impressive and although all the glory goes to the Dev team for the latest firmware a special note goes to Roberto with his new VRBrain design.
Our goal was to have an already "ready platform" where actual developers could start coding on a 32bit platform without loosing the actual code simplicity.
We started with the STM32F1 CPU, running at 72MHz with no FPU and then jumped onto the STM32F4 168MHz CPU which supports hardware FPU on the chip.
Our latest improvements were on the CPU side and we were able to activate soft FPU calculation without the need to modify actual code.
Basically the STM32F4 supports three types of FPU:
no-fpu: uses standard libraries and emulates floating point calculation
soft-fpu: uses hardware floating point instructions but floating point function parameters/return values will be passed in core registers and not FPU registers
hard-fp: all function parameters/return values are passed to the FPU core registers bypassing the core register
These are basic results for the main loops in the Arducopter code:
Arduino 2560 on APM1-2:
Main loop time taken (microseconds):
Min: 4380 us
Max: 6592 us
STM32F1 on Multipilot32F1 V1 and V3 (72MHz no FPU):
Main loop time taken (microseconds):
min: 656 us
max: 1104 us
STM32F4 No FPU on VBRAIN and MP32F4V3 and VBRAIN (168MHz FPU available but not used):
min: 315 us
max: 492 us
STM32F4 soft FPU on VBRAIN and MP32F4V3 and VBRAIN (168MHz with soft FPU enabled):
min: 210 us
max: 315 us
Basically we are at least 20 times faster than current Arduino Hardware although we share 90% of original application code.
Also with the same CPU (F4) we can go 2 times faster without changing one single line of code (almost).
Better performances (at cost of re-writing the code) could be with hard FPU .
So this performances is impressive :) We have a lot of power for start to try more complex algorith as EKF or UFK inside standard Arducopter32 library architecture. If there are some hardcoder that want try to work on this task are welcome . Will be all support from FOXTEAM :)
We yet try the OpenPilot EKF on VBRain and it is very smooth ... but not so differernt of last DCM implementation. Thanks Tridge :)
In this video is possible to see a vbrain installed on a custom frame that use great component : SmartDrone motors and propeller the time of flight is around 27 min.
This is the video of first flight of special revision of firmware for VBRAIN that use the FPU acceleration the benchmark is about this revision of code.

 

 

Roberto and Emile a FoxTeam Member .


Here the original blog post :http://www.virtualrobotix.com/profiles/blogs/foxteam-present-last-update-on-vbrain-project-benchmark-of-arduco

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3D Robotics

Molding replacement gears for tiny helis

3689482925?profile=originalAn interesting post from Hackaday:

So you’ve got a broken gear for you model helicopter, and don’t have a 3d printer handy. If you need your little helo flying right away, [James] wrote in to tell us about his solution. As you may have guessed from the title, he made a tiny mould and produced a copy of the gear he needed with it. Given the complications of printing or some tiny subtractive method, this little gear turned out really nicely!

The video after the break shows all the steps for doing this procedure. If you’d rather just skip to the results, check out around 10:00 to see the finished gear, and eventually the little guy in flight. As noted, he did have to drill a hole in the middle of the gear after the mould process, but this was the only machining operation.

The helicopter gears worked out nicely, but be sure to check out some of the other really interesting projects on the [xrobots], some of which we’ve featured here!

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New $500,000 UAS Competition Announced by NASA

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NASA has announced a new UAS contest that I think might interest people here. It is called the UAS Airspace Operations Challenge and it's being developed as part of NASA's Centennial Challenge Program. Our goal is to hold the competition in the Fall of 2013 and the total amount of prize money available at that time will be $500,000. If the 2013 competition goes well, it will be followed by a tougher competition in 2014 with $1,000,000 in prize money. We're announcing it now, along with a preliminary draft of the rules, to get feedback and ideas from the UAS community and to see if any organizations are interested in partnering with us to run the competition. The rules are incomplete because there are many details that still need to be worked out and we want to be able to improve things based upon your feedback. 

This is your chance to give us your ideas on how we can structure this competition to foster significant progress toward solving the technical challenges to integrating unmanned aircraft into the U.S. National Airspace System. The web page lists the kind of information we are looking for and how to submit official feedback to NASA. There is a link to the draft rules on that page. 

Garry

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