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3D Robotics

Hizook (Travis Deyle and Robert Powers) have found some fascinating research: 

We were scanning through the upcoming ICRA2012 program and noticed an interesting paper titled, "Resonant Wireless Power Transfer to Ground Sensors from a UAV."    This certainly piqued our interest -- especially for Travis, who happens to work with wirelessly-powered sensors at his day job.  Come to find out...  the article is by Dr. Carrick Detweiler, PI of the NIMBUS Lab at the University of Nebraska-Lincoln (our undergrad alma mater!).  Furthermore, he just provided a preprint of the paper (PDF) and a video on his website.  Score!  Their quadrotor delivers power via magnetic resonance (ie. WiTricity-style) to a load on the ground.  This same type of technology is being actively researched for lots of applications, including: consumer electronics, transportation (eg. electric vehicle recharging), and remote sensing (this application).  Adding it to a UAV adds a bit of flexibility to the system.   Anyway, be sure to check out the video below... and we'll also give a brief overview of a few different wireless power + robotics projects over the ages.


The paper is titled, "Resonant Wireless Power Transfer to Ground Sensors from a UAV" (PDF) by Brent Griffin and Dr. Carrick Detweiler. 

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Magnetic resonance can be a good method for wireless power transfer at medium distances (ie. a meter or so).  Owing to the resonant fields, it is more efficient that inductive coupling, which would require the UAV to be in close proximity to the load (a few centimeters) to get good mutual coupling.  Furthermore, the magnetic fields are less susceptible to occlusions or material composition compared to microwave (electromagnetic) or laser-based wireless power transfer.  

However, being at least partially familiar with the underlying technology, we know that alignment and (dynamic) frequency tuning are absolutely critical for efficient power transfer using magnetic resonance.  Presumably, the quadrotor itself could supply the necessary flexibility in the system to help align the coils -- heck, we've all seen quadrotors perform impressive feats of acrobatics.  So kudos to Carrick and Brent for their insights!


Lots more history on this kind of power transfer at the rest of the post here

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3D Robotics

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Last week, DARPA announced that the recommended simulation environment for its Robotics Challenge for Disaster Environments would be Gazebo, from the the Open Source Robotics Foundation:

The Open Source Robotics Foundation will develop an open-source robot simulation software system for use by the DARPA Robotics Challenge program. The effort will develop validated models of robots (kinematics, dynamics, and sensors) and field environments (three-dimensional surfaces, solids, and material properties). The effort will develop physics-based models of inertia, actuation, contact, and environment dynamics to simulate the robot's motion. The effort will make the simulation software available on an open-source basis, and will host the simulation so that participants in the DARPA Robotics Challenge program can access it freely. 


First, yay! The government is recognizing the power of open source robotics! But what actually is the Open Source Robotics Foundation?  It turns out that it's a spin off from Willow Garage's Robot Operating System (ROS) project. 

Evan Ackerman from IEEE Spectrum explains:

A few years ago, Willow Garage integrated ROS and the PR2 into Gazebo, a multi-robot simulator project started at the University of Southern California by Andrew Howard and Nate Koenig. Willow Garage now provides financial support for the development of Gazebo. However, DARPA isn't awarding the simulator contract to Willow Garage itself, but instead to the Open Source Robotics Foundation, which nobody has heard of until just now.

From the sound of things, Willow Garage has decided that ROS is now mature enough to go off and fend for itself, and the Open Source Robotics Foundation is the shiny new embodiment of that confidence. And it really is brand new: the OSR Foundation website is, well, minimalist, to say the least. All we really know is that it's a Menlo Park, Calif. nonprofit that's managed by "members of the global robotics community who have demonstrated a commitment to open-source robotics, are visible to the community, and have relevant experience in the field," but who are currently still anonymous.

It's certainly true that Gazebo and ROS have impressive pedigrees, and according to DARPA's announcement, it chose Gazebo on the basis of "an informal market survey" through which the OSR Foundation was "deemed to be the sole viable supplier for providing the necessary open-source simulation software within the specified timeframe." It's interesting to note that as far as we know the OSR Foundation kind of didn't even exist until very recently, so DARPA is putting a lot of faith (and presumably funding) into a foundation without a distinct track record. We'll just have to assume (for now) that both DARPA and the OSR Foundation know what they're doing, and that they've got things under control and ready to go.

The other little niggling question here is whether this means that the OSR Foundation is going to devote the majority of its resources into optimizing Gazebo for the Challenge itself, as opposed to taking an approach that might be better (or at least more productive) for the robotics community and Gazebo users as a whole. I guess this probably depends on how much funding it gets from DARPA as opposed to other sources, but the risk is that Gazebo becomes a project for DARPA rather than a project that DARPA simply benefits from.

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Moderator

1880 mm Skywalker woodwing platform

3689453339?profile=originalSkywalker 1880mm wingspan.

1880 mm FPV/UAS platform - WoodWing + EPO fuselage Skywalker.
Wood + Covering film main wing.
Fuselage and tail wing are EPO material.
Made for long range fpv/uas flying with high payload

Features :
Wingspan : 1880 mm Wood and Covering film main wing (2 flaps)
Lenght : 1150 mm (Fuselage and tail wing are EPO)
Empty airplane weight : 920 grams
WOOD CAMERA MOUNT INCLUDING IN THE PRICE
(free mount)

Requires:
2815-2835 800-1000kv brushless motor
30-40A ESC
3S 2200-5000mah LiPo
9040-9060 propeller

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Price: 129 US$

Skywalker 1880 mm wood wing

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3D Robotics

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Back in 2004, in the day before ubiquitous smart phones and data networks, Microsoft and some hardware partners such as Fossil and Swatch introduced SPOT (Smart Personal Objects Technology) watches, which used a satellite constallation to send 41-character messages to low-power devices anywhere in the world. The idea is that you would register with a service and you could get weather or sports data on your watch anywhere. They flopped, but the satellite constellation is still operating. 

Now you can buy Spot radio hardware and a service that let's you SEND messages, too. So who needs an expensive satellite data service for long-range UAVs? Just lower your data rate and send just what you need as SPOT messages. It's $150 for the hardware, $100 a year for the service, $20 for the breakout board, $0.10 per message.

From Hackaday:

[Nate] over at Sparkfun put up a great tutorial for using the SPOT personal satellite communicator with just about any microcontroller. These personal satellite transmitters were originally intended to pair with the bluetooth module of a smart phone, allowing you to send a short 41-character message from anywhere in the world. Now, you can use these neat little boxes for getting data from remote sensors, or even telemetry from a weather balloon.

[Nate]‘s teardown expands on [natrium4] and [Travis Goodspeed]‘s efforts in reverse-engineering the SPOT satellite communicator. The hardware works with theGlobalstar satellite constellation only for uplink use. That is, you can’t send stuff to a remote device with a SPOT. After poking around the circuitry of the original, first-edition SPOT, [Nate] pulled out a much cheaper SPOT Connect from his bag of tricks. Like the previous hacks, tying into the bluetooth TX/RX lines granted [Nate] full access to broadcast anything he wants to a satellite sitting in orbit.

We’ve seen the SPOT satellite messaging service put to use in a high altitude balloon over the wilds of northern California where it proved to be a very reliable, if expensive, means of data collection. Sometimes, though, XBees and terrestrial radio just aren’t good enough, and you need a satellite solution.

The SPOT satellite service has an enormous coverage area, seen in the title pic of this post. The only major landmasses not covered are eastern and southern Africa, India, and the southern tip of South America. If anyone out there wants to build a transatlantic UAV, SPOT, and [Nate]‘s awesome tutorial, are the tools to use.

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Moderator

The bar has been raised

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Schiebel kindly sent me this morning a link with this video on it. Its pretty amazing and certainly to my mind points at how Europe really is pulling ahead of the USA. (starting a flame war there) Imagine how difficult it would have been test flying the system in the USA.

I think there will be a rush towards large helicopter based systems now. This will become the minimum expected standard from movie UAS. It will cost a bit that's for sure.

It excited me enough yesterday to add it to our UAS Got Talent tab, if you have an entry then please suggest away.

Its on show in Las Vegas this week.

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3D Robotics

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Article here. Excerpts:

It’s a land rush in the air.

Jordi Munoz Bardales is one of a handful of San Diego entrepreneurs staking out new territory in the rapidly commercializing field of unmanned aviation.

Munoz, 25, is CEO of 3D Robotics Inc. Working out of a Kearny Mesa business park, his enterprise produces and sells components for model-size unmanned aircraft, providing them to hobbyists, college engineering programs and other entrepreneurs.

Its specialty is autopilot electronics.

Early in the venture, Munoz said, he saw that he might be onto something when he assembled 40 autopilots and sold them in a single day. “I realized I had a business here,” Munoz said.

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Munoz said his enterprise is a success because it uses open-source software. 3D Robotics operates a website called DIY Drones, which lets tinkerers compare notes.

He said he also tries to make everything he sells as inexpensive as possible.

Cruising Along

It’s a long way from 2007 and 2008, when Munoz disassembled components from a Nintendo Wii and integrated them into a model helicopter, making a drone of his own. He posted updates to the project on the Internet, including the code he wrote. The work attracted notice from Chris Anderson, editor in chief of New York-based Wired Magazine and author of “The Long Tail: Why the Future of Business Is Selling Less of More.” Anderson sent him $100 and a note of encouragement. Today, Anderson and Munoz are 50 percent owners of 3D Robotics.

3D Robotics has left garage and bedroom quarters in favor of 10,000 square feet of industrial space. The firm has 20 employees in San Diego and six in Tijuana, and relies on 20 software developers worldwide. It has three jobs open.

Its building houses specialized machines that churn out ArduPilot autopilots, which fit on purple circuit boards the size of business cards. Munoz said he would like to buy a second pick-and-place machine to mount components to circuit boards, and locate it in Tijuana. Eventually, he said, he would like to put most of his production in Mexico, while keeping the engineering team in the United States.

A few corrections: Wired is based in San Francisco, not New York. 3D Robotics does not operate DIY Drones, I do (personally -- it's not a company). And 3D Robotics already has a second pick-and-place machine for the Tijuana production line. 

(article via the 3D Robotics Twitter feed)

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Moderator

Interesting controller and hexa setup. 

http://www.engadget.com/2012/04/16/dji-aircraft-live-video-feed-controller/

 

Extracts: 

"Shenzhen-based DJI Innovations was on hand at NAB today to demonstrate its new hex-rotor aircraft, designed to provide photographers (and videographers) with a low-cost tool for capturing aerial images."

"The Spreading Wings S800 is available for pre-order now and is expected to ship next month for roughly $8,500. That clever live video controller will cost you another pretty penny, however, with an estimated $5,000 price tag and a TBD ship date"

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How not build a 3dr Hexacopter

 Decided to write up about my experience in building my lastest multicopter, a 3dr hexa. The lessons learned from the exercise include

  1. Check before you start , that you have all the screws  and spacers are available.
  2. Decide on what flight controller you are planning to use.
  3. Start your build early enough, so that you could catch some sleep.

 I should thank the 3dr folks again for the awesome work they have done. The build was straight forward, the only challenge was that once i opened the box, and laid out the contents, I realised that some nuts and spacers were missing. This lead to my next lesson, given i had promised myself to take the hexa for test flight next day, my choices were limited, cannibalise an already assembled 3dr quadcopter and hexacopter ( from quadframe) or not to build. So I decided to proceed and strip my 3dr (from fully build to mere frame and bits missing) and took my (qaudframe) hexa to parts.

The next one to make my mind up on which flightcontroller to choose. I had a choice of six in front of me, mk,uavp, st32, APM1.4, hoverfly and APM2.3689453047?profile=originalAgain, this goes back to lesson number 3, the later in the night the hazier your brain becomes. Finally i decided to go for the APM2. The final result of this build defenitely shows the signs of non functioning brain.

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3D Robotics

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Yes, you can major in "drones" now in college. 

From Bloomberg (via sUASNews). Excerpt:

Russell Peters is a junior at Embry-Riddle Aeronautical University (78211MF), one of the top U.S. flight-training schools, who has no intention of taking to the skies.

Standing next to a 3-foot-wide (91.4 centimeters) plane that searches for objects on the ground using artificial intelligence, he talks about how his fascination with robotics led him to theDaytona BeachFlorida, campus to prepare for a career building and operating drones.

I don’t care about flying the planes,” said Peters, of ColoradoSprings, Colorado. “I just want to make the planes. And if we can get rid of the pilots, that’s great.”

As the U.S. Federal Aviation Administration prepares to let civilian unmanned aircraft operate in domestic airspace, universities including Embry-Riddle have created majors in flying and building drones. Enrollment is accelerating as students look for new opportunities in an aviation job market pummeled by airline bankruptcies.

The drone industry, estimated worldwide at $5.9 billion annually, will expand to $11.3 billion by 2021, according to areport last year by the Teal Group Corp. of Fairfax, Virginia, which analyzes the industry. It’s “been the most dynamic growth sector of the aerospace industry this decade,” the firm said in the report.

...

Alex Mirot, a retired Air Force major who piloted Predator and Reaper unmanned vehicles built by General Atomics Inc. ofSan Diego, coordinates Embry-Riddle’s degree program inUnmanned Aerial Systems Science. In less than one year, 75 students have enrolled to major or minor in the subject, he said.

'Kind of Amazing'

“To me this is kind of amazing,” Mirot said in an office festooned with photos, ribbons and other memorabilia from his 10 years in the military. “That’s how popular this is as a technology.”

The program offers two tracks for students: training on simulators to be drone operators, or non-pilot roles such as operating remote-controlled cameras and managing unmanned- aircraft programs.

Students can take classes in how unmanned systems work, robotics, business management, operating remote sensors such as cameras and radars, and drone simulator training, Mirot said. They must take courses in electrical engineering and programming, he said.

Across campus at the Department of Mechanical, Civil and Engineering Sciences, students like Peters study how to build and design unmanned aircraft, Charles Reinholtz, the department chairman, said in an interview.

Graduates Getting Jobs

The University of North Dakota in Grand Forks established a drone-study major more than two years ago and has graduated 17 students, Benjamin M. Trapnell, an aeronautics professor who developed the program, said in a phone interview.

Graduates can expect to make starting salaries of at least $50,000, and perhaps double that if they accept jobs in dangerous locations, Trapnell said. That dwarfs entry-level salaries as airline pilots, which can be below $20,000, according to government data.

He said his graduates, who must obtain FAA commercial pilots’ licenses, have landed jobs with drone operators and manufacturers such as the Aeronautical & Space Systems division of Information Systems Laboratories Inc. of San Diego and AAI Unmanned Aircraft Systems, which is owned by Textron Inc. (TXT) of Providence, Rhode Island.

It’s premature to design courses and pilot training programs for unmanned aircraft because the government hasn’t yet outlined requirements for how they must be built and flown, said the head of the only U.S. civilian test bed for unmanned aircraft.

No U.S. Standards

“We’re having a hard time understanding how you develop a bachelor’s degree program when you have no federal standards,” Doug Davis, who directs the drone program at the New Mexico State University (28344MF) Physical Science Laboratory in Las Cruces, said in a phone interview.

Gene Gamble, an Embry-Riddle senior, is on a team led by Peters that plans to enter a national unmanned-aircraft contest later this spring. He said he relishes seeing the amazement of people who stop by the drone lab for tours.

“I do enjoy telling people that I work on robots that drive themselves,” said Gamble, who’s on a five-year program leading to a master’s degree in software engineering.

Gamble spoke while replacing the battery on a winged device slightly longer than one foot that hovers like a helicopter with one blade. The craft is based on the way a maple seed rotates as it falls from a tree.

Sensor Design

Using a hobbyist’s radio remote-control handset, he flew the device more than 10 feet up into an atrium. Gamble is helping design software and sensors that will eventually allow the device to fly and navigate itself.

“I’d like to work for a company that does things like this,” he said.

Michael Tagliereni, of Jackson, New Jersey, an Embry-Riddle senior majoring in aeronautics, said he enrolled in an introduction to unmanned aircraft class as a fallback in case he can’t find a job as a pilot or an air traffic controller.

Sitting next to him in a classroom, Paul Renart, a freshman from Warwick, New York, said he chose to major in drone studies because it will help his military career. Renart is in the Air Force Reserve Officer Training Corps.

For Peters, the junior drone-building enthusiast, his fascination with making intelligent machines has put him at the forefront of a field with a large measure of cool on campus.

“I like to be on the cutting edge,” Peters said. “I think it’s just the beginning.”

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3D Robotics

Tiny PCB quad gets an upgrade

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Update from Hackaday. This looks like a good candidate design for a cheap open source version of the cool U-Penn GRASP Lab swarming quads.  The company plans to manufacture and sell them. 

Crazyflie, the itty bitty quadcopter that uses a PCB for its frame is at the cusp of being able to fly without a PC. We were enamored with it when we first spotted it, and the Crazyflie has only gotten better. As you can see, a new PCB gives it a slightly more stylized look, but that’s not all. There have been major improvements to the design of the software, and various parts of the hardware. They’re waiting for the final prototype to arrive from the factory to test the ultimate goal, PC-less flight.  We’re not sure why this tiny quadcopter is so enthralling, but it sure has us captivated.

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APM2 survive 20 minutes in the water

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Lost control of my Quad a couple months ago and it landed in a nearby pond, me and my kid(pictured) spent like 20 minutes in a cold 4 ft deep body of water looking for it. I really thought that I had lost everything. We finally found it and it was still beeping, we pulled off the battery plug immediately and just could not believe how in the world this happened. Anyways, got home and placed all the electronics in a container full of rice to suck the humidity off, after a few days we decided to turn the power on and see what kind of damage had occurred, to our surprise the only thing we had lost was 2 ESCs..(very lucky)..  

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3DR Quad suspension

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Hey everyone, it always bothered me when my Quad hit the ground hard, so I started looking on a way to add a suspension to it and after 2 weeks of trying, this is what I came up with:

I got some shock absorbing from a 1/10 scale buggy and added wheels, one on each side of each leg with a total of 8, they are very light (used on some airplanes like Apprentice etc). Had to 3D print some parts to hold the shocks on the Arm, I also printed the Sonar support. I am very happy with the result of the suspension. To test it I cut the power off at about 2 feet high and it hit the ground but it doesn't bounce at all (the shocks absorb all the impact). I'm very satisfied with the results, and I just wanted to share.3689453090?profile=original3689453021?profile=original3689453097?profile=original

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APM2 Flies to 100k Ft.for 7 1/2 hours 300 miles !

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On 4/14/12 we flew an APM2 ardupilot in a balloon to over 100000 feet for 7 1/2 hour 300 mile + flight !

The flight originated near Albuquerque NM and landed near Trinchera ,CO. The flight was over 300 miles and lasted far longer than we planned. The flight was so long the 5 on board cameras ran out of memory and battery before the flight ended.

The chase crew went 225 miles before giving up because there was no data from the Digi M10 Satellite modem. The crew was almost back into Albuquerque when all of the sudden three phones got e-mails from the Digie modem at the same time.

ET CALLED HOME !!!

It gave us the Lat, long, and altitude of where it was. Several emails later we realized the package landed. We quickly put the coordinates into google maps and could not believe where it was ! It was in Colorado! And it landed 7 1/2 hours after launch !

I will download the data from the APM2 SD card and see the flight.

Here are some pictures.

Could have landed here in Colorado

3689453176?profile=originalBut it landed 10 miles further 50 feet from the edge of a farm road !

3689453029?profile=originalSome of the equipment flown...

3689453193?profile=originalI will post more pics and some videos later when I get back to Albuquerque. My car motor seized up out in the boonies right after retrieving the package. Got to get rental car and find way to get new motor in 2006 Saturn Vue.

Earl

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Developer

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This is spring time and thus the ThermoPilot project is still under intensive development (now the v6.x version) and real tests flights can be conducted because the thermal upwards can be hunted above the fields... Below a sample log flight during a full autonomous thermal hunting in free mode.

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 Here a flight log during a 23 km of full autonomous cross country soaring mission in closed loops with 5 waypoints.

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An ArduPilot Mega 2560 is installed on the Cularis e-Glider with the ThermoPilot v6.x firmware (an enhanced version of  the ArduPlane v2.33). The ThermoPilot v6.0 includes a lot of improvements for the cross country soaring and the thermal hunting and some dedicated ML algorithms to do a close following of the thermal upwards.

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Below the Cularis e-Glider and its big brother, the Fashionista: a 5 meters wingspan e-Glider (a very good thermal hunter)...

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During the summer and the spring 2012, the ThermoPilot project will be very active in the air... Stay tuned...

Regards, Jean-Louis

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Humidity sensor SHT2x for ArduPilotMega

I have implemented an i2c temperature+humidity sensor on my ArduPilotMega. This could be useful for anybody, so I will try to explain here how I did it.

 

What is needed:

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the sensor i used is the SHT21 from Sensirion, but it should also work for the SHT25. On the manufacturer website you can find technical data about the sensors, and they also sell their sensors themselves:

I received the sensor from Sensirion mounted on a breakout board.

 

 

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a connector to easily change the sensor breakout borad.I used one from samtec(ref SMS-104-01-G-S).

 

 

 

3689425387?profile=originalAn I2C/SMBus Voltage Traslator (I2C Level Shifter) With adapter because the sensor uses 3.3V i2c when the APM outputs 5V

 

 

 

 

3689425335?profile=originalAn EM-406/uBlox/MTK Adapter Cable 10 cm , or whatever length.

(only 4 wires are required. So you can remove the red one and the black one standing next to it)

 

 

 

Code:

I did include all the files I modified here.

 

Code features:

-I did not implement mavlink code for data transmission. It seems it requires changes in Mission Planner, which I cannot do.

-In the Command Line Interpreter (CLI), in the test "menu", the "meteo" command output temperature and humidity, until "enter" is pressed.

-It can log temperature and humidity about every second (I have to check if the logging interval is really 1 sec). The logged data can be retrieved in Mission Planner. Logging can be enabled or disabled in the "logs" menu.

 

So far it seems to work fine. I will test more in the next days.


a)     ArduPilotMega.pde

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A South Carolina Arducopter Project

 

There are a lot of home-brew parts in this machine (no fooling, really).

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I had orignially fabricated parts based on the 'A' frame but after noticing the 'B' release, I ordered replacement parts and modified mine as close as possible. The bottom plate is 1/8 aircraft plywood painted. The top was made from an FRG piece I had in a junk box.

Getting access to the PDB is now much easier and if you have an 'A' and break it, go to the 'B'.

The legs are made on my home-brew CNC Dremel router.

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Using the posted 3DR drawings, I made some G-code that cloned the 3DR leg pretty close. I didn't bother with the nice radius at the 'foot' end but may tinker with the code later. The harvested circuit board material found new life rather than being tossed in the landfill to decay over a thousand years. This way I get to break it in spectacular fashion!

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I used 6-32 screws and remachined  some aluminum hex standoffs I had for the leg hardware. I let the CNC router crank out two complete sets of legs as I suspect a few will get broken while I earn my quad wings.

Using what I have in my shop/garage and buying significant parts from 3DR has been my approach.

Things left to do/make are:

  • Electronic stack plates - I may go with 1/8 aircraft ply. I have to make G-code for this.
  • Optimizing the wiring and completing the connectors
  • Weight reduction - perhaps some material off the arms beyond the leg mounts?
  • Ebay stuff to fund the APM and the rest of the electronics.

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More to come!

April 14, 2012

I've been assembling the PBD, ESC and motor connectors.

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I went with the XT60 for the battery side rather than the Deans.

After routing the motor wiring as mentioned previously, I added another layer of heat shrink to the wiring to provide another level of anti-chaffing.

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For those of you interested in the actual hole pattern on the arm...

 

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As this is my trainer quad, as mentioned before, I think the next arm will have radiused corners out past the motor. This will reduce impact edges and give the arm a more finished look I think.

Here is one of the arms with the extra heat shrink at the motor, the ESC with all connectors zip-tied in place.

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I took the Arducopter, prior to mounting the just shown wiring updates, to one of the local shops in Greenville, SC,  The Great Escape. Keith is the resident heli-nut and we discussed the need for me to spend time with a simulator. Real Flight 6 Heli now has a quadrotor in the selection. The in-store demo unit had me hovering and breaking props in between reset button presses. It looks like a great product and at rev 6, it seems that it won't be going away anytime soon.

Keith inquired about the PDB and had not heard of 3DR. A quick trip on one of the store's PCs to the DIYDrones Store and he was in love with the Hex copter. I tried to explain the APM and its open source development. He was accustomed to a single threaded application (dumb controllers)  rather than a 'smart' controller like APM.

We had a good visit for about an hour or so and I promised to return when the Arducopter was getting closer to flying.

 

Before I get the funds for the APM order, I may build a servo 'stimulator' and  check the motor directions. Anyone ever try that before bolting in an APM?

May 19, 2012

Checklist items acquired for the quad:

  • Spektrum DX6i (with DSMX) an ebay win
  • AR6210 receiver with sat receiver for above
  • Cable allowing the DX6i to operate FMS sim software
    • Been practicing with an FMS quad model - the only problem, it does 3D! INVERTED HOVERING!

Still building funds for the APM2 purchase. I gathered parts for the servo stimulator and need to get that sub project going. I may just breadboard it and then used one of my favorite programming languages - solder.

 

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Quick video of my newest bird, an Xaircraft X-650 V-8 featuring all new flight controller and AHRS V.2.  I didn't realize I was in Acro mode in the beginning as seen in the video but figured it out eventually.  Must have been some English/Chinese translation issue or maybe just the fact that I didn't read the manual :)

 

Anyway, enjoy the video

 

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