Given that ArduPilot is now in a relatively mature commerical release, it's time to reset the comments on the home page. Rather than delete the 400+ comments (dating back more than nine months) on the old home page, I've just created a new home page with the same info, so we can start the comment thread anew. The old one is still here and all comments will show up in any searches on the site, but newcomer will not be confused by old conversations about bugs long gone.
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I didn't expect that fast response on uploading a picture otherwise i would have included a little more information. As i didn't know if anyone read it if i commented on my own picture, i figured i should make it a blog post.The picture was ment to be a reference of a prior project. I am currently looking for videos or fast image sequences taken onboard a UAV. The goal of that is to evaluate the feasibility of some computer vision algorithms for use onboard a UAV. I wrote a post in the forum about it and would be super glad for any data provided by this community. In return i'll keep you posted about any progress. (in case there is none and it would be too embarrassing i might not ever mention it again though)
The board is a stereo vision system for mobile robots i designed two years ago. Due to the four layer board, rather good lenses, and custom made lens mounts it's worth around 500 Euros paid for by the Hamburg University of Technology (It was before i spent my year abroad in Berkeley. Unfortunately i'm back home again.) The distance choice was rather random, designed to fit on a euro board (100 x 160 mm) and for rather short distances as the mobile robot was intended for indoor use.Some specs:-It uses two identical VGA Kodak CMOS image sensors-A Spartan3 FPGA with 32 MB of SDRAM and 4 MB of SPI Flash drives the image sensor and is intended for some low level image processing (like undistortion etc)-A Blackfin BF532 (you were right) running at 400 MHz with 32 MB SDRAM and 4 MB SPI Flash then does the stereo processing of the image data-Computed data is transmitted over ethernet using some Microchip SPI LAN controller-board is four-layer as mentioned, lens mounts are custom made CS mounts, the lenses have a fixed 4 mm focal length-The power consumption is moderate. The FPGA and the LAN controller burn relatively much power but it's still a dimension you might provide with batteries.Here some results. I know they are not brilliant but it's just the first attempt with a rather simple algorithm. (I added them anyways as it wouldn't be complete without it) Brighter gray corresponds to closer Objects.
A note about that kind of stereo vision for use in UAVs: I might be wrong, but to me it seemed like a not so feasible approach due to the relatively high distance to objects on the ground. The base length needed to get reasonable spatial resolution even with high resolution sensors would probably be too large (even if the two cameras were mounted on the tip of each wing). I'm trying to dive deeper into structure from motion techniques with one camera hoping to get some results while keeping the overall system complexity about the level of an ambitious hobbyist project.Bye, Jørn
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Hi everyone , today i travel across France to watch the Paris air show 2009 celebrate the 100 anniversary of the expo.Here is the picture , most of all are Uav of course :
I am download NE test code in micro controller of ardupilot & then calibrate the FMA copilot in setup mode.But when i am exit from set up mode & then again power on , rudder servo work fine but elevator servo not woking.I use only elevator & rudder servo.Button setting of FMA copilot(CPD4):Button 1: ONButton 2: OFFButton 3: ONButton 4: ON
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Here are few status updates:
--With the launch of the 2.2 code, the manual and the expansion board kit, we now have what we consider a pretty stable and complete commercial product. Development on ArduPilot will be more incremental from here on, with minor code changes and feature additions and no planned hardware changes. That should allow everyone to get the current version working and adapt it for different aircraft platforms, which we now support with custom settings files.
--We will re-release version 1.0 (the navigation-only autopilot) as a cut-down version of 2.2, using the latest code and GPS module support but without 2.2's stabilization code. It's designed for cars, boats and for those who want to use the FMA Co-Pilot for stabilization. The new version will be called 1.1 and should be out in a few weeks.
--We will discontinue support of all other code versions. If you're using 2.0 and 2.1, they will still work, but we won't be improving them and we won't be able to support you if you're having trouble. For those with the green (168) board, 2.1 is the last version of the code that works. That's totally compatible with our ground station and setup utility, so you should still be in pretty good shape. But if you want to keep evolving with the project, I suggest you upgrade to the red (328) board.
--We should have the thermopile sensor situation sorted out in a few weeks. We hope to be able to sell XY and Z sensors at a very competitive price then. Stay tuned.
--Our development resources will now shift to the next generation of ArduPilot, which will be based on an IMU expansion board, and ArduPilot Mega, a "pro-level" autopilot built on the Arduino Mega architecture. We are targeting the IMU expansion board at less than $100 (including code), and ArduPilot Mega will be around $50. Combined with a good GPS module, we are hoping to be able to release a very capable 6 DOF IMU-based autopilot for less than $200 around the end of the year. As with everything else we do, they will be open source, so the actual manufacturing and sales of the autopilot will be by third parties.
--We're working on loads of other products for the DIY Drones store, including an OSD, more sensors and perhaps some "all in one" kits, up to and including aircraft.
--We'll also sell a premium version of the Blimpduino kit that comes with LiPo, charger and 2.4 Ghz RC equipment.
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That's right, Nintendo's Motion Plus addon is out, and inside is a 3 axis, 16 bit gryo (well, a 2 axis gyro and a 1 axis gyro). Which is way better than the 2 axis, 10 bit one I was expecting. Communicates via I2C and costs less than $20. This could be pretty revolutionary for hobby IMUs. Coupled with a Nunchuck, its a 6DOF all digital sensor for $40!Details on the innards and protocol here.For the moment, it seems that you need to switch between the Motion Plus and the Nunchuck via a somewhat complicated method. Can't just read them both from different addresses. Hopefully that will be resolved when people better understand what's going on inside it.There's also some mention of it being able to run at two different sensitives toggled by some i2c command. And possible temperature compensation (they did this in software, only using the gyros?)Eventually I'll write some arduino code for the Motion Plus, but there are probably lots of you out there who could do it better/faster, so by all means give it a go!PS: Anyone know about progress on adapting the DCM method to ardupilot/arduino?
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Ready to make the first flight test with our nanoAHRS. Servos are connected to nanoAHRS and standard receiver are connected by PPM to nanoAHRS. All channels are downloaded in realtime through Xbee PRO.jlcortex
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This is my latest modification of the EasyGlider to coincide with the official release of Ardupilot 2.2.I call her the “EG 2.2”. The last modification, found here,involved increasing the fuselage volume but this is a little more ambitious and includes standard tail conversion to an inverted V-tail, moving the motor to the rear in a pusher configuration, moving all servos to the control surfaces and extending the nose by two inches. The nose was extended to get the CG set without having to add nose weight and to make room for the larger autopilot and data logger.The booms are made from collapsible fishing pole segments and house the elevator cables. The elevator servos are joined with a Y connector that contains a reverser for one of the servos. The ailerons are joined with a simple Y connector.She had her maiden flight yesterday and she flies fine. As soon as the new Ardupilot and shield arrive, I’ll get them installed and restart my flight tests. I’m predicting much better success this time since there will be throttle management and I have a better feel for how the code changes effect flight.
The Parallax Propeller autopilot I have been building is almost ready to test ! Here is a few pictures. Good thing I put 3 electronics bays in this 7 foot monster. There is a LOT.GPS6DOFPressure/Altitude module2 servosMONSTER motorUltrasonic ground sensor900 Mhz cameraOSD on propeller board6 Channel RC RxXBee TransceiverIf anyone here is going to the Parallax Expo West June 26,27 in Rocklin CA ...I will be there hopefully with the B2 monster.Oh...one more thing. I don't know how to fly RC planes so I hope the AP knows it's stuff !
And it has big changes, including;-The support of the protocols Sirf III, NMEA and UBX.-Separated header file to easily setup multiple airframes (instructions inside the zip files).-Compatible only with ArduShield (battery voltage, pressure sensor and GPS auto shutdown).-And many more minor fixes.The new GroundStation 2 and ArduPilot 2.2.2 can be download from here:http://code.google.com/p/ardupilot/downloads/listDon't forget to read the user manual (in beta):ArduPilot ManualRemember: Is not easy but also not impossible! Enjoy Fellas!
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I know this is a bit risky to propose a new platform for a UAV, but I think it could be a very good platform.The system are slow, stabel, won't brake if a crash should happen, easy to operate, ok payload.How about having ArduPilot installed on a RC Paraglider.I hope you all can se the opportunities with this kind of systems.See more here RC ParagliderI hope to here some comments from the creates.
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We should be releasing the 2.2 code early next week. In the meantime, here's a beta of the official ArduPilot manual. Corrections/comments/wishlist and other feedback in the comments here please!
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G'Day all,On checking some legislation for entry to the 2009 Outback Challenge I noticed that ACMA are amending class license 2000 to specifically exclude the use of video under the provision for telemetry transmitters. (OSD telemetry)The reasoning given doesn't make any logical sense to me, I'd appreciate a review by one of you more technically savvy DIY Droners on the validity of the reason for the change. Quoted below-Quote - Telecommand transmitters are used to transmit signals to initiate, modify or terminate functions of equipment at a distance. Telemetry transmitters are used to automatically indicate or record measurements at a distance from the measuring instrument. To prevent interference with other devices telecommand and telemetry transmitters operating under the LIPD Class Licence must not exceed EIRP limits as outlined in items 25, 26 and 27.Telemetry transmitter classes should not be used as high power video senders, nor can higher power telecommand channels be used for transmitting computer programs. To carry out such activities would require a breach of the maximum EIRP limits stated. ACMA therefore proposes to include a limitation on the use of telemetry and telecommand transmitters, to prevent the use of these items for sending video or software downloading. - End QuoteWhy would transmission of video require a breach of the specified EIRP power of 1W?In my view ACMA shouldn't be making rules for the sake of it and should have a reason for the modification. If there have been real interference issues I'm sure they won't mind producing the reports.Aust based FPV flyers feel free to review the change at http://www.acma.gov.au/WEB/STANDARD/pc=PC_311727 and send your comments to - regulatorydevelopment@acma.gov.auSUBMISSIONS ON THE CHANGE CLOSE 15 JUN 09
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Jordi's released a new product in the store: a shield expansion board kit that includes everything you need! Just $47.50.
Includes:
--Shield board with airspeed sensor
--Pitot tube with silicon tubing
--Connectors
--Cables to connect IR sensors
--RC cables
--A reset button
--A "bind plug" to jumper the board for field calibration.
This is a great deal!
[BTW, we hope to have the sensor inventory situation sorted out in a week or two. I think we've got a good solution that will ensure enough affordable sensors for everyone without any more interruption.]
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Posted by John Gantner on June 10, 2009 at 11:20pm
This post is about a live (simulated) FPV system using Google Earth, relaying data over a cellular GPRS/3G network. A while ago I saw a commercial OSD setup that used Google Earth to simulate an FPV display. Needless to say, I was immediately smitten. However, video TX gear is expensive and a hassle, so Google Earth here serves as a simulated FPV. Hopefully this will eventually mature into a Google Earth HUD (like the Flight Sim easter egg already in it, but real-life!) Comments/Questions/Suggestions welcome. This is just a proof of concept for now, so it is really just an experiment to help me learn KML.
Basically, it is:[Controller]--Serial-->[Bluetooth module]--Bluetooth-->[Cellphone]--GPRS/3G-->[Server]<--GPRS/3G/Wifi/Wired-->[Ground Station]The server, and the roundabout, non-streaming nature of the system, is required because of NATing, and carrier APNs generally not allowing anything but straight HTTP and outgoing connections (and generally being terribly unreliable).So here's some simple PHP scripts. PHP was used because I found a free host that offered it. These have very little error-checking and are generally hacky. There isn't really anything written up about how to use them yet. Caveat emptor.kmlupdate.php - Called by the UAV. Takes any POST/GET data and appends it to a csv file on the server.loadkml.php - Generates a KML file for GE that has 2 NetworkLinks in it. The ground station calls this page once at the beginning of the flight to setup for live telemetry.lightkml.php - This one is called by GE via the KML NetworkLinks that loadkml generated. It dynamically returns (only) the latest data in a 3D point form and in a simulated FPV form. It's called lightkml because it is designed to use only a small amount of bandwidth, useful if the ground station is on costly GPRS/3G. I could really cut it down by building the file locally, but I can't really be bothered to do it right now.heavykml.php - Still working on this one. It has a rollercoaster-like animated FPV tour and 2D/3D line tracks. It returns the entire flight each time it is called, not just the last point, so it is only suitable for post-flight review.I don't actually have the Bluetooth module yet (or the actual controller for that matter, but I do have a program spitting out simulated datapoints for testing), so I won't upload the J2ME stuff until I get a chance to test it. Right now I am only simulating the Bluetooth and the UAV data on a J2ME emulator. Theoretically, it should work on any Bluetooth J2ME phone that properly implements JSR-82 with RFCOMM and has HTTP available.To try it out you can load the scripts somewhere then do something like://Some simulated data stored at "test". Google Earth's camera roll/pitch/yaw is not like a plane. Altitude is absolute.http://127.0.0.1/kml/kmlupdate.php?filename=test&latitude=37.796037&longitude=-122.390736&altitude=200&roll=-40&pitch=82&yaw=178//Generate the KML file. Save this and rename it to a .kmlhttp://127.0.0.1/kml/loadkml.php?filename=test//Start Google Earth and load the "loadkml.kml" file//Select one of the 2 types of views, static view 3D point or animated FPV. The annoying "bouncy" effect on FPV will be removed soon. It will autoupdate every second, so try entering new data in kmlupdate and watch the results. It only displays the last point to (eventually) save on bandwidth. To stop the bouncing or to stop updating uncheck the boxes.Files: phpkml.zipRead more…3D Robotics
