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APM 2.0 AHRS Testing

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So after demonstrating the "magic" of the APM at one of our meetings at the UIC Robotics Lab, we found that there really wasn't much concrete information regarding how stable the AHRS of the APM is over time.  We also knew that since our application was in an indoor (no GPS) environment, we didn't quite know how all that would affect the AHRS (yaw angle specifically).  And since we have some fancy robots, we decided to perform some real testing of the board.

Not surprisingly, we found that the APM is indeed a very robust system.  The image is probably the best representation of what we found:

It's definitely not a perfect system, as you can tell the Yaw would fluctuate by up to +/- 5 Degrees.  But for most people and most applications this would be completely acceptable.  For much more information and results you can view the wiki page here:

https://code.google.com/p/icarus-uav-system/wiki/APM_Tester

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3D Robotics

Autonomous boat crossing the Atlantic

From Hackaday:

While we may be waiting for unmanned drones to deliver a pizza, there’s already an unmanned ship plying the Atlantic on a transoceanic voyage. It’s called Scout, and it’s the product of about two years worth of work by a very close-knit group of friends.

Scout is a 12.5 foot ship constructed out of foam and carbon fiber loaded up with solar panels, electronics, an electric motor and a SPOT satellite tracker. The team has been working on Scout for the last two years now, and this last week the autonomous ship finally set out on its mission: a 3500 mile journey from Rhode Island across the Atlantic to Spain.

Right now, Scout is just over four days into its mission having travelled 90 miles from Rhode Island on its way to Spain. You can follow Scout on its journey on this very cool live tracking site.

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3 D printed Quad

drone-it-yourself-1.pngInteresting topic on Gizmag.

According to van Loenen, all the plastic parts, which include the clamps to attach the motors, can be 3D printed in ABS, with the appropriate files made available on van Loenen's website. The clamps used may not work with more unusually shaped objects, but there's nothing stopping anyone from designing their own custom variants.

http://www.gizmag.com/drone-it-yourself/28209/

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Wiki Ninja

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In a robot lab at TEDGlobal, Raffaello D'Andrea demos his flying "quadcopters".. robots that think like athletes, solving physical problems with algorithms that help them learn.

    In a series of nifty demos, D'Andrea show drones that play catch, balance and make decisions together -- and watch out for an I-want-this-now demo of Kinect-controlled quads.

  
  http://www.ted.com/talks/raffaello_d_andrea_the_astounding_athletic_power_of_quadcopters.html

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I never do a range check. But when I do, I forget to take it out of range check mode before takeoff.

APM2.5 saved the day and loitered around home until we realized our silly mistake. 

This was our first flight ever with APM. Everything worked nice. Special thanks to Droidplanner app, which talked  to us throughout the whole flight and kept calm when everyone else was panicking. 

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So it`s been just a bit more than a year and a half since we first offered the Aeromaper UAV platform and we have seen the Aeromapper evolve significantly.

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Since we introduced the Aeromapper Option E it has been a great success because it is a complete package with excellent features on it, that we managed to keep at a reasonable price, like the following:  

- Camera: Sony NEX 7 (24 megapixel camera!) with Voigtlander 15mm wide angle lens. It is a top quality combination for mapping. The camera mount inside the UAV also allows for enough room to use other lenses, like a Pancake lens. Not as good as the Voigtlander, but much lighter in comparison.  In addition, we received a great amount of requests from customers wanting to use as well the Tetracam ADC Lite camera on the Aeromapper option E, so we ended up adding a very light camera mount for this camera too. The user just need to switch cameras between flights. 

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3689534815?profile=original3689534749?profile=original- Parachute recovery: it's been really a winning feature, because literally no RC skills are required for landing. Just flip a switch and it lands nicely & safely. The parachute release bypass the autopilot, meaning that the human pilot is always in command of it. The user don't need to wait until the mission is over the deploy the chute, it can be released at any moment during flight, which is another great failsafe feature. Normally, the chute is deployed when the plane is loitering over the home location at about 50 m or so, after the return-to-launch flight mode has been selected or the mission finished.

- Automatic trigger: many people have asked us how the triggering "sequence" works. It is pretty straightforward: flip a switch on the remote control and the camera will start shooting images every 4 seconds by default (via an infrared shutter release) but easily adjustable to 1, 2, 3, ......60 seconds, or minutes. At the same time the camera lens cover door will open automatically.  Flip the switch again and the lens door will close and the sequence will pause until new command.

3689534823?profile=originalWe also have been asked to provide only the fiberglass Payload Bay Modules (also called pods) for developers & researchers, including some universities, so that they buy only this part and integrate it to their existing airframes adding more internal volume for payload, a parachute recovery system, and the lens cover door features. For this reason we decided to offer a package with this module only, at a very reasonable price. We found it can be easily attached to a huge range of airframes. It comes with the standard 60'' diameter High Drag coefficient parachute (highest drag is achieved with a toroidal shaped chute) and kevlar lines. But for users with larger or heavier airplanes up to a 72'' diameter parachute can be installed.

This is another great & unique advantage of the modularity of The Aeromapper.

 

The Aeromapper option C is also another variant often ordered by universities for project development and payload testing. The combination of Ready to Fly status with ArduPilot Mega and telemetry, Parachute system, DX8 transmitter and price makes it very attractive.

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"There won't be any Predators preying on the unsuspecting at

the Small Unmanned Systems Business Expo being held

in San Francisco on July 25-26, but rather a group

of entrepreneurs praying that they can bring enlightenment

to the masses by extolling the values of their small unmanned vehicles.

 

Sponsored by the sUAS News Group, the group is hoping to change the narrative

and broaden the perception of “drones”. They have gotten a bad rap and there

is a running misconception that they are going to be used to look in people’s windows,”

says Patrick Egan, President of the Silicon Valley chapter of the

Association of Unmanned Vehicle Systems, Int’l. “We see them being used in

search and rescue operations, wildlife management, forestry protection, waterway

and levy surveys , as well as feeding a hungry world,” he said.

 

 “The positive uses for this technology are endless.”

 

“California has had many firsts in aviation and we are continuing that tradition

as this business event will be the first of its kind, with speakers, exhibitors,

and an opportunity to pilot a drone,” said Egan. “This will be a great opportunity

for people to walk through the door of a new era in unmanned, robotic technology."

 Register here 

Speakers include:

 

Chris Anderson, 3D Robotics,        Chris Norris, CEO Alta Devices

 

Tad McGeer, CEO Aerovel               Chad Partridge, 2D3 Sensing        

 

Ken Giles,  PhD UC Davis                 Chuck Johnson, NASA

 

Dr. John Appleby, DHS                     Karl Hedrick, PhD  UC Berkeley

 

Patrick Egan, sUAS News               Joerg Lamprecht, AIBOTIX     

 

Gene Robinson “sUAS for SAR”    Douglas McQueen, LeClair Ryan Law

 

Eileen Shibley, Cal. UAS Portal       Ted Wierzbanowski “ASTM F-38 Update”

 

Gus Calderon, “IsisCopter”             Mathew Schroyor, “Drone Journalism”

 

Gary Mortimer, sUAS News             Dr Jerry Lemuix, UVU

 

Gretchen West, AUVSI

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Techpod Drone ready-to-fly to Belize!

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(Re-posted from: http://conservationdrones.org/2013/07/08/techpod-drone/)

Earlier this year, Wayne Garris from the Kickstarter projectHobbyUAV.com, donated two Techpods to ConservationDrones.org. I finally just had the time to build one up, equipped with an APM 2.5+ autopilot system.

This drone will be one of four that we will be bringing to Belize later this Summer. We are partnering with WCS to fly over Glover's reef to explore the use of drones for patrolling marine protected areas.

While building this drone, I was quite concerned about the wing flex, even though I was assured by others that these 2.5 m wings are meant to flex!

I decided to add some rigidity to the wings by fiber-glassing them with an ultra thin glass fiber cloth by applying several coats of water-based polyurethane. The fiber-glassed wings definitely helped to reduce wing flex and prevent sudden dips in the air. (I know I did not do a perfect job of it, but I am happy just as long as it flies!)

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After installing the APM 2.5+, receiver, telemetry and APM power module, there really wasn't much space left inside the fuselage.

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I created a battery holder using a piece of craft wood (pine), and a few pieces of velcro. This battery holder replaces the canopy, and can hold up to two 5000 mAh Turnigy batteries. The picture below also shows the location of the Turnigy Thrust 45 A ESC I used. I always prefer to place the ESC outside the fuselage to avoid overheating. The wings are held together mostly by friction at the wing joints, but further secured by several elastic bands hooked onto picture hangers on each wing. These picture hangers were glued to the wings with J-B Weld steel reinforced epoxy.

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At first, I wasn't quite sure whether to glue the nose dome to the fuselage. In the end, I decided to improvise a hinge using control horns so that I can access the APM and receiver from the nose if needed.

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The motor mount was given extra support from two 5 mm diameter wooden rods wrapped in shrink tubes, taped to the rear of the fuselage and zip-tied to the motor mount. I used a Turnigy 3536 1000 kv motor spinning a 11x7 2-bladed MasterAirscrew propeller. This combination provided about 1.6 kg of thrust, drawing about 30 A at 100% throttle. The All-Up-Weight (AUW) of this setup with one 5000 mAh battery is about 2.0 kg. This plane can cruise comfortably at 30-40% throttle drawing about 6-8 A. (I fly it with about 5 degrees flaps, which significantly improves lift without creating too much drag.)

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The rudder servo was moved from underneath the fuselage to nearer the tail section. I used 22 g Corona digital metal gear servos for the rudder and elevator, and 11 g Turnigy metal gear servos for ailerons and flaps.

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I don't like fussing with aileron and flap connectors inside the limited fuselage space, and so decided to bring them outside. This makes wing assembly and disassembly in the field much easier. In this picture you can also see the antenna for the 3DR telemetry.

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I installed front landing gear to a piece of plywood Gorilla-glued to the bottom of the fuselage (where the carbon fiber rod is exposed).

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The rear landing gear was screwed to the bottom of the tail section. These two screws also attach the vertical stabilizer to the carbon fiber rod.

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The horizontal stabilizer is attached to the vertical stabilizer by an improvised system of control horns and 1.5 mm carbon fiber rod. These mods make the Techpod completely modular and can be easily disassembled and packed back into its shipping box.

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I improvised a camera mount by just attaching a 15 mm diameter carbon fiber rod to the main carbon fiber rod using a few pieces of zip-ties (cable ties). This system also allows me to adjust weight distribution to achieve optimal CG (85-90 mm from leading edge of wings).

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During the maiden flight, I tested flight endurance by letting it fly in Return-To-Launch (RTL) mode. It did so mostly at a speed of 10-12 m/s at 30-40% throttle. At 50% battery capacity (of a single 5000 mAh battery) it had stayed in the air for about 18 minutes. So I estimate a flight time of 30 minutes (range of 21 km) with one battery and 50 minutes (36 km) with two batteries.


... Sneak Peek of the next Conservation Drone, based on the amphibious Icon A5!

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Announcing our new product listings for mid-summer 2013!

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3D Robotics Y6 and X8 Multicopters - RTF and Kit

We released the Hexa-to-Y6 conversion kit a few weeks back, and now the complete Y6 DIY package and Ready-To-Fly  are available. A Y6 design is able to withstand a single motor out scenario, provides a more open and stable view for cameras, and doesn't weigh as much as a traditional Hex (because it uses less parts). It features folding arms to make ground transport a painless affair. This is our new go-to multicopter at 3DR: better performance than a quad at about the same size!

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If six motors aren't enough for you, there is now the X8. With the same coaxial motor design as the Y6, but with four arms. This brute is amazingly compact, it's actually smaller than our quads in the front to back dimension, due to the wide angle of the arms. This is the platform to choose for flying your heavy camera and gimbal setups. The redundant nature of this vehicle is a valuable trait when carrying expensive gear or flying over difficult terrain. This vehicle can lose a motor and remain in a stable loiter with almost no disruption .  The 3DR X8 is available ready-to-fly only at this time.

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APM 2.6 and 3DR uBlox GPS with Compass

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APM 2.6 is the same APM 2.5 you know and love, but with one valuable change: this revision of the board has no onboard compass, which is designed for vehicles (especially multicopters and rovers) where the compass should be placed as far from power and motor sources as possible to avoid magnetic interference. (On fixed wing aircraft it's often easier to mount APM far enough away from the motors and ESCs to avoid magnetic interference, so this is not as critical, but APM 2.6 gives more flexibility in that positioning and is a good choice for them, too). This is designed to be used with the new 3DR uBlox GPS with Compass, so that the GPS/Compass unit can be mounted further from noise sources than APM itself.

Note: APM 2.6 requires an external compass for full autonomy. If you are using APM 2.6 with a GPS module that does not have a compass sensor, you must use a stand-alone external compass. We recommend this one with this cable.

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New GPS shown as it comes, in a nice enclosure
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The board, inside the enclosure

You can also use the new uBlox GPS with on board magnetometer (compass) with your existing APM 2.5, To modify your board, follow the directions here.

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FPV Package

If you have been wanting to add first-person-view (FPV) capability to your vehicle, our new FPV package gives you everything you need in one kit (including batteries). All connectors have been built in the factory and designed to give you an easy plug-and-play experience -- no soldering required! On-screen-display is provided by our MinimOSD board for real time data telemetry. This is an important safety and convenience feature for anyone flying FPV.

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All of these items are available for order immediately.

The FPV kit is ready for shipping today.

The Y6 DIY package and APM 2.6 will ship on July 15th.

Note: RTF Y6 and X8 units will follow the normal 1-2 week turnaround. You'll find those and more on our new RTF store here: http://rtf.3drobotics.com/


 

 

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I have been working recently with the Robotics Association at Embry-Riddle Aeronautical University to provide the multi-rotor component of their 2013 Roboboat competition.

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You can see some footage of the flight and collision testing above.
 As the competition approached it became apparent the need for prop guards. Here are the two versions I came up with. The first was four Kydex rings with spokes that attached to the motor mounts

  The second approach removed much of the excess material and reinforced the structure with 1/8" srung carbon fiber spars to increase rigidity and keep the weight low. There was a 10% drop in flight time and the throttle response seems relatively normal. ounts. I flexed the rings into an arc to provide rigidity yet maintain a perimeter around the prop. Worked well in minor collision testing, although the impact on flight characteristics and longevity where severely diminished. 

  I have seen a lot of approaches out there and would be interested in the feedback on these designs and what should be considered with regard to maintaining prop efficiency,reducing weight while providing suitable protection.

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Hi guys,

As way of contributing to the development of AC, I have decided to try and document possible solutions to the compassmot problems I have, and their effects on compassmot.

In summary - I have a compassmot score of 148% (without modifications), and it toilet bowled. For those unfamiliar with this expression, it is when loiter is engaged, the MR starts to circle in an ever increasing circle (while maintaining the same heading) until a loss of control event. This is caused by magnetic interference on the compass. I won't cover this in too much detail, as there are threads dedicated to this.

The most effective method is to move the APM away from the source of the interference - most likely the PDB and ESC's directly below it. However, there are reasons why this is not a practical solution.

For me, my reasons are:
1. Safety features.
I want to keep my protective hardware to protect the electronics in the event of a flip. This is a clear dome, and a FG cage underneath (you can see the cage in the pic above). If I raise the APM board, I will need to raise these too. The cage I could probably do with 6-7cm risers but I've not found any. I can get them in metal, but that will cause more mag problems! But the dome needs to stay where it is, forming an effective seal when velcro'ed down to the top plate. It's very effective at dust and grass exclusion, and I don't want to lose that.

2. Cost.
To raise the APM board 2cm I need to purchase the following (admittedly not expensive) parts:
- 8 new male-male servo cables, 5cm longer than the current ones
- 4 x 3cm rubber risers, or 4 x conventional plastic ones. Obviously I want to preserve my vibe damping so I want those…but they're like hens teeth

- 4 x servo extension for the motor servo leads
- a 5cm longer DF13 for the telemetry
- a 5cm longer DF13 for the power module feed
- a 5cm longer DF13 for the GPS
- 4 x 6cm risers for the cage (assuming I want to sacrifice the protective qualities of the dome)
- 8 x plastic screws to replace the metal ones close to the APM
- I already have the mumetal and ferrous rings but they're still a cost

So what to do?

There are 3 alternative options to airframe modification. Two of which I will try and detail here - I have already covered the effects of the first one (addition of mumetal and ferrous rings here: http://www.diydrones.com/profiles/blogs/how-i-got-from-148-to-43-on-compassmot). I will try to document via pictures, video and log data their respective performance improvements, and where I got the components from.

Option one - addition of 3rd party external mag to existing APM 2.5+

For this I have purchased:

a) the external compass: http://www.goodluckbuy.com/hmc5883l-triple-axis-compass-magnetometer-sensor-module-for-arduino-mwc-m49.html

b) a DJI-style riser: http://www.goodluckbuy.com/bracket-holder-set-for-dji-wkm-gps-autopilot-system.html

c) a 30cm or 45cm DF13 4 wire. Except...I can't find any! Only place is 3DR...and they want to charge me $38 for shipping *one* cable! If anyone can help with the sensible purchase or construction of this cable, I'd be most grateful, and would happily cover your costs.



Option two - addition of new 3DR external GPS/compass to 2.5+.

In all cases, the "baseline" airframe will be the one that flew perfectly on 2.9.1. ie:

quadframe heavy: (http://quadframe.com/collections/quadcopter-frames/products/heavy-weight-quadcopter-frame-with-21-5mm-carbon-arms). The one useful feature is the external DJI pylons...perfect for mounting external, mag sensitive stuff away from the main components.

quadframe 155mm legs
quadframe DJI board (for mounting APM on)
quadframe PDB
Tmotor 3508-29's 380kv
Tmotor (clones) 1455 CF props
Tmotor 30A OPTO PRO ESC's
Spektrum Rx + telem
APM 2.5+, incl ublox GPS, power module, 433 telem

Flight pack is either a 10900 6S or 2 x 4000 6S. Electronic pack attached to 3DR power module is 890 3S.

UAW: 3.8kg

Stay tuned - I'll post the first results in this thread when the parts arrive in a few days time.

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Admin

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By Matthew Gryczan

Pity the poor drone. It suffers from the image problem as an ominous bird of prey looming overhead in spy operations or as a dealer in deadly force, the subject of congressional filibusters and news reports about terrorist raids.

But in reality, drones are being flown every day in Michigan and other states by colleges and universities, public safety agencies and entrepreneurs for much more benevolent purposes, such as covering the 2013 Chevrolet Detroit Belle Isle Grand Prix, assessing the recent flooding of the Grand River and creating a spectacular promotional video of the De Zwaan windmill in Holland.

It’s inevitable that the use of drones in aerial photography will take off in Michigan in the near future because it provides customized aerial shots for as little as $100 — a fraction of the cost of photos taken by businesses that rely on manned helicopters and airplanes.

As they continue to become easier to fly and drop in price, drones are expected to be embraced by anyone who wants an eye in the sky — farmers who want to know where crops need water or fertilizer, companies that want to inspect equipment in hard-to-reach places and videographers who want to get stunning shots of subjects on the cheap.

“Think about how tall a cell tower is,” said Chris Bergen, owner of Bergen R/C Helicopters in Cassopolis, which builds manually controlled craft and drones — also euphemistically called “unmanned aerial vehicles.” “I’ll be damned if you would get me to climb that frickin’ tower to inspect it. I’ll fly my multicopter up there to take pictures or video of it instead.”

For instance, Michigan Technological University in Houghton uses several of Bergen’s “birds” on behalf of the Michigan Department of Transportation to assess which dirt roads in the state are rife with potholes and ruts, then calculate how much fill would be needed to smooth them over.

“I laugh at the nightly news when they talk about these drones,” Bergen said, “because none of this is new.” 

In a holding pattern

Bergen’s business and others, such as EAI LLC in Grand Rapids and Northwestern Michigan Collegein Traverse City, are eagerly waiting for the floodgates to open for the commercial use of drones. At this point, the potentially high-flying industry is grounded by the reluctance of the Federal Aviation Administration to permit the commercial use of drones until the agency can issue regulations on their operation.

Les Door, an FAA spokesman, said his agency expects to propose regulations on the operation of small unmanned aerial vehicles, or UAVs, by the end of this year. But he cautioned that those regulations also need to go through a public comment period and further consideration before potential implementation.

Until then, permitted drone use is limited to experimentation by universities and public entities. As of February, the FAA had issued 327 certificates of authorization or waiver allowing noncommercial drone flights nationally. Under-the-radar businesses that use drones to shoot video or photos for customers and take compensation are unaware of or ignoring the FAA prohibition or think it doesn’t apply to their situation.

As one such business, EAI has taken video of homes, businesses and events around Grand Rapids; Holland; Hudsonville; the Grand Prix races at Belle Isle; Walloon Lake; Elk Rapids; Atlanta, Mich.; and locations in North Carolina and Florida. The company, started last year by Tommy Knight and Eric Snyder, posted a demo video on YouTube in February that has stunning shots of what is possible using the technology.

Knight said the CineStar8 multirotor helicopter that they built from a kit can carry an 8-pound payload for more than 10 minutes — more than enough lifting power to carry a high-definition video camera. The company that makes a line of CineStar8 heavy-lifting multirotor drones advertises that a basic kit costs about $3,600 for one that’s 3 feet in diameter.

But the advent of drones such as the CineStar8 have become a Pandora’s box for aviation, largely because a growing number of entrepreneurs are now finding compelling business reasons to invest in radio-controlled aircraft that before had been the purview of a small group of hobbyists.

And while a UAV may be small, it still can pose a significant hazard for aircraft if flown recklessly, Door said.

Parrot SA reported last year that it had sold more than 300,000 multirotor helicopters called AR.Drones with imaging technology that can be controlled with a smartphone and can send images directly to an electronic tablet.

A report issued in March by the Association for Unmanned Vehicle Systems International estimated that the commercial use of drones would create more than 70,000 jobs in the United States and a total economic impact of $13.6 billion by 2018 if they are integrated into the national airspace by the 2015 deadline for regulations imposed by Congress on the FAA. Michigan would see an estimated $94 million of impact during this period, according to the Arlington, Va.-based trade group, which represents about 600 corporations and 7,000 individuals involved in the manufacture and operation of ground, sea and air drones.

No special skills necessary

Bergen has had a ringside seat in the transition of the radio-controlled aircraft market during the past 20 years from a small cadre of people who spent months learning how to fly radio-controlled helicopters for industrial and military applications to entrepreneurs looking to make money with much easier-to-fly equipment. His company employs four full-time people in the manufacture of UAVs that can range from a small electric octocopter with eight rotors equally spaced in a 3-foot diameter to a turbine-powered helicopter with a wingspan diameter of 7 feet.

Bergen’s father, Larry, started the company in the 1980s as a machine shop that eventually made parts for radio-controlled helicopters. Bergen joined the business after he received an honorable discharge in 1991 after eight years of service in the U.S. Army as a flight engineer for Chinook helicopters. He bought the assets of the business in 1999.

“At that time, a lot of colleges and universities were developing auto-pilot systems for helicopters,” Bergen said. “They needed a test bed to work out their programming and algorithms, sensors and electronic components, and they needed aircraft that could carry the weight of all these components. Our products fit the bill.”

While he still makes the Turbine Observer radio-controlled helicopter, which can stay aloft for 30 minutes with a 10-pound camera on its nose, the real growth area is smaller, multirotor craft that have auto-pilot features and don’t require nearly the same amount of skill to fly.

The degree of onboard automation helps distinguish a drone from radio-controlled craft that can only be manually controlled.

“We try not to use the ‘D’ word around here because it has a negative connotation across the general public right now,” said Tony Sauerbrey, manager of the unmanned aerial systems program at Northwestern Michigan College. “They typically think it’s a mindless flying robot that you turn on and it goes off and flies its mission without human involvement.”

Sauerbrey said UAV pilots at the college can set altitudes and program a flight plan with point-and-click software, but they still supervise the flight operations and have the ability to take over manually if the occasion arises.

Everyone expects the drone market to rise exponentially with the recent advances in automation.

“We gave a (radio-controlled helicopter) demonstration to the Georgia State Patrol six or seven years ago, and they initially wanted these craft in every one of their barracks across the state,” Bergen said. “But it didn’t happen when they saw how much time it takes to learn to fly. It can be a year or more of learning how to fly (radio-controlled) helicopters, making it cost-prohibitive.

“But now with these new multirotors, we are getting law enforcement to take a second look at it because I can teach someone to fly a multirotor literally in minutes.”

Under the radar

Technically, anyone who flies drone missions for money is doing so without the permission of the FAA, which is charged with maintaining the safety of the nation’s airspace. The federal agency permits hobbyists to fly model aircraft under 400 feet of altitude and away from airports and populated areas. When it discovers commercial drone operations, it issues cease-and-desist letters and warnings about potential $10,000 fines per flight.

But it is clear that the FAA doesn’t have the resources to tightly enforce the prohibition when the technology is already in the hands of so many people and has been used for years with radio-controlled aircraft. One Indianapolis television station reported that the FAA has launched 23 investigations of unauthorized drone flights during the past two years, resulting in warning letters to 10 operators nationwide. Complaints of unauthorized drone use are on the rise.

Initially, the owners of EAI were interested in talking with Crain’s about commercial applications for their drone, but they declined further comment after they visited Sauerbrey and issued a statement that they only operated their craft in short ranges where they can be seen. EAI stated that it had several restrictions on taking images of subjects, such as a distance of more than five miles from a G-class airfield, wind under 15 mph, altitudes under 200 feet and clear and open airspaces.

Bergen and Sauerbrey said the FAA is working diligently to come up with regulations, but the agency has been somewhat stymied by the considerable variation in drone styles, which can range from a Boeing 737 to a model airplane.

Northwestern Michigan College offers several classes on UAV uses and operation under its current FAA certification, with the anticipation that it will be well-situated to provide training to get a UAV pilot’s license when requirements are defined.

“We are a little bit ahead of our time, so to speak, with anticipating the market,” Sauerbrey said of his program, an outgrowth of NMC’s manned aircraft training, offered for the past 40 years. “But we think this is going to be a very large part of aviation going forward.”

While the threat of a $10,000 fine can have a chilling effect on setting up a large-scale commercial drone enterprise, the sheer ratio of potential violators to FAA inspectors makes enforcement difficult, Bergen said.

“When I worked for Delta Airlines down in Atlanta, Georgia, I used to see FAA inspectors quite often,” Bergen said. “I don’t know about you, but around here I haven’t seen too many FAA inspectors.”

http://www.crainsdetroit.com/article/20130707/NEWS/307079980/drone-industry-set-to-soar-when-faa-gives-nod

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We flew an Arducopter (a.k.a Japicopter Sr.) along Bambarakanda Falls, the tallest waterfall in Sri Lanka (863 ft - 299th in the world) to capture a video footage. The copter flew flawlessly despite occational strong winds.

We used firmware V2.9.1b on APM 2.0 board. The location didn't help us for a GPS fix, hence mostly relied on Stabilize mode, and occasionally used altitude hold mode. 

We missed a good camera gimbal to do hardware stabilization. Some modifications are already planned to get rid of jello. We had to use software stabilization in the video. 

This is our first video and appreciate suggestions a lot!

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What does toilet bowling look like?

3689534468?profile=originalAs you can see, this is the beginning of a toilet bowl, which - left unchecked - will crash.

Took my quad out tonight, after going back to 2.9.1. First few loiters, everything was ok. Even did a few RTL's. Everything looked like before.

Until the last two loiters - my toilet bowl was back! At first, I thought it was because I had tried to tighten loiter a little (P from 0.2 to 0.4). Fair enough I thought. But I set it back to 0.2, and the toilet bowl was still there!

Now admittedly, I still have all my 3.0.x mods on - mumetal, ferrous rings etc, but I didn't think loiter used these in 2.9.1. Some investigations required here. Well, they're all coming off tonight, and I'll be back out tomorrow with the airframe absolutely identical to pre 3.0.x. And my logs set to raw + motors, as tonights were still set at factory default so missing some important data2013-07-07%2020-47%2011.log. Doh.

Unrelated annoyance: Had two props take up lawn mowing on take off tonight; one leg had snagged in a weed! So important tip; if flying from grass, make sure your legs are unsnagged. Another fun evening with the spirit level re levelling my arms as as consequence.

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3689534453?profile=original

Hello,

First al all, I appologize for my english in advance. I'm Electronic Engineer, and at present, I'm in charge of the execution/fulfilment of an oficial reaserch project which pretends to develop a prototype of a Quadrotor/Quadcopter MAV platform for Robotic and Automation Research for the Department of Electronic Engineering. The main idea is to develop an experimental plant for the study of big nonlinearities presents in the flight systems and the development of robotic algorithms for autonomus and intelligence behaviours. 

Certainly, a Quadcopter seems to us an excelent option for trying this objective for many reasons: mathematically complex, mechanically simple, relatively inexpensive, it can be manipulated indoors, and it focus/concentrates on the avionics/electronics (more than the aerodynamics and mechanics) development, what is very convenient/perfect because unfortunely we don't count with mechanical or aerospace engineering programs. Additionally, this project offers a good/nice and sublte/gentle transition between this two fields (from electronics to aerospace engineering), considering that we're planning to work within aerospace electronic engineering avionics in the futureSo, in summary, we find this project is a good beginning and the perfect starting point for our all purpouses.

Now, despite the Quadcopter construction could maybe/certainly looks like a so simple task for an engineer, many of you expert hobbist, and such as I saw in some post and how-to guides in internet, this is completly new and unkown for the team and it certainly represents a challange; that's why we put it in a research context, because if I know how to do it, it wouldn't. Although I've research experience I'm really bad in prototyping and I don't know anything about aircraft systems. This was my opportunity to introduce myself in this topic which I love an beyond the aerospace field. And in passing, winning abilities in prototyping. 

 

I suppouse this is one more of the many many similar projects undertaking for ... el valor agregado a mi propuesta radica en...

multiple applications

good capabilities

I'm completly newbie

Now, in addition/order to the project presentation and communication of my research, 

 

COnsidering no experience in prototyping of this kind of systems, it is perfect to begin in an diy comunitiy and in the hobby model aircraft community

 

I've created this site hoping to find some research colaboration and share my experiance and point of view from a engineer begginer in the topic. Through/Along my periodical posts/publications I will share my experiences and my advances during the development of this project. I pretend to show/expose a step-by-step analysis and development the building and development of a UAV from a person engineer who initially doesn't know anything about this. But that, as an engineer and resercher show you how, by using/applying the engineering method (not scientific one!), is possible  

 

In addition to  the project introduction, in this short post I inicially pretend to introduce myself and my project, and the conditions under/over/on which is given. I pretend with this two things: 1) share 2) colaboration 3) Learn of your comments and advices about this because is very important for me your experience above all in the context of the prototyping.

. Im studying my M.Sc. next year and later my Ph.D. and I hope to make some friends

 

 

 

Purpose

Of course as an engineer, I certainly can purpouse a systematic guide (idea) a based on my knowledges in many fields of the technology about what I need. 

 

My objective/aid of publishing this, it is

 

research view it's different from hobbist view

 

 

We work in this topic not just because I like it but because we believe that this could be the future and a good alternative to assist in the battlefield for our solders.

 

It has been a good purpose becasuse unfortunely we don't work with this kind of technology. I mean UAV or flight systems. Of course we can see drone/uav toys here, but builting them is a different thing. 

 

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MuMetal Testing

I’ve been trying to clean up magnetic interference from the motors on my quad. When I run compassmot I get any where from 100% to 130%. I ordered some MuMetal and did some testing to figure out how to best use the metal and to see exactly where interference was coming from.

All of the flight electronics were removed and temporarily installed under the frame.

Here are the specs of the quad used:
3DR Quad frame Rev C
APM 2.5 running 3.0.1rc1
3DR AC2830-358 850KV motors
3DR 20A ESCs
APC 10x4.7 props
3S 6400mAH battery
Spektrum AR8000 Rx
3DR 900Mhz Telemetry

My transmitter is a Spektrum DX8

I used an old compass I have left over from my boy scout days and the magnetometer within my cell phone. (The app is Sensor List Pro).

The fields generated by the wiring, ESCs and battery all seemed to be about the same relative strength.

The MuMetal does have a small magnetic field of it’s own. It’s not very strong but it is there. (Notice how the compass point angles toward the MuMetal). In later tests I put a small amount of space under the compass.

I think I’m going to end up with my APM about 22mm above my wiring with a MuMetal sheet at about 19mm. I may consider also attaching a small MuMetal sheet to each ESC on the top as they seem to be quite magnetically noisy.

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3689534443?profile=original

3689534539?profile=original

 

This is the first picture of VR BRAIN 4.5 + VR IMU GOLD.

Thi new imu expand the number of imu available for VRBrain .

With this addon is possible to have two active imu controlled by VR Brain.

On VR IMU Gold there are 3ACC 3GYRO 3 MAGN and a EEPROM for store temperature drift correction table.

With this kind of option we intend to improve a lot the quality of VRBrain for GOLD (Prosumer version ) and VRBrain PRO.

Now we are in development stages :) This is a good hack for your VR Brain 4.5 ;) 

The main advantages for Arducopter32 rev 3.1rc3 is that with external IMU is more simple to have less problem with vibration , and is possible to put the magnetometer far to electromagnetic fields.

This two option is very important so is possible to have a affordable and very high quality sensor data for your high speed cpu.

Is yet available in the code repository a branch that support external imu for your VRBrain 4.5

this is the link : https://code.google.com/p/vrbrain/source/browse/?name=ap_hal_ext_IMU

The imu is connected to SPI3 of VRBrain , but the onboard imu still available on other SPI1 so is possible to implement a code to read the two imu at same time to have more affordable data for your ahrs algorithm.

Best

Roberto 

 

original url : http://www.virtualrobotix.com/group/armcopterdevgroup/forum/topics/vr-brain-4-5-vr-imu-gold-is-coming?xg_source=activity

 

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