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A class for autonomous unmanned sailboats

3689391205?profile=originalHi all ! First of all, let me introduce myself : I'm Pierre from the north of France. I'm a RC sailboats enthusiast since my childhood. 

 

Two years ago, I decided to launch a community site to enable all practitioners of model sailing to share their experiences : Voile-RC (sorry, french speaking)...

On this social network, I met people with whom we are now to mount a construction project: an autonomous unmanned sailboat whose only sources of energy are wind and sun. This sailboat, when ready, will perform journey of about 200 nautical miles in complete autonomy (Atlantic or Mediterranean Sea) ... Needless to say that this project is both exciting and motivating ...

 

For other enthusiasts to join us, and eventually build comparable sailboats, we decided to create class rules. And that's what we've done here: vrc-a.org! Of course, all is not yet fixed in this class and we're listening to all those who want to participate. In particular, these class rules currently only exist in French ... If you understand French and want to help us to translate it into English (and in any other language) you're welcome.

 

This class has the distinction of being published under a Creative Commons license because we want it to be used by anyone who wants ...

 

In a future post I will talk about "Open Sailor", the first sailboat to be designed to meet the requirements of this class. Let me just enough time to give her a nice website ..

 

Pierre

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3D Robotics

 

We've now got more than 40 retailers and distributors selling 3D Robotics gear around the world, in addition to the main store here. You may want to shop at one near you, both to save on shipping and support local robotics companies.

 

If you want to become a 3D Robotics distributor, please email partnerships@3drobotics.com for terms.

 

 

North America

US

Canada

 

Europe

UK

Germany

Greece

Italy

Lithuania

Netherlands

Norway

Portugal

Romania

Slovenia (serving all EU)

Switzerland

Turkey

Spain

 

Asia

Australia

Japan

Korea

Malaysia

Singapore

Thailand

Taiwan

India

 

Latin America

Argentina

Chile

Mexico

  • uDrones (maker of RTL ArduCopter and APM and core DIY Drones partner)

Brazil

 

Africa

South Africa

 

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Distributor

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Just seen this added to the BBC here in the UK, looks like we may be waking up to the uses of a UAV. I think Maja sales might be about to go up, think I look to see if I can start to stock a few :)

 

Video here:

http://www.bbc.co.uk/news/technology-12564717

 

In a nondescript building on the Southampton University campus, is a wind tunnel once used to develop the pioneering aircraft which defended Britain during the Second World War.

Clambering up a staircase to the control room I pass a large painting of a Spitfire, and a plaque commemorating Southampton's links with its designer R J Mitchell.

Today, the aircraft trembling in the wind-flow from the giant fans represents cutting edge research of a very different kind. It does not need a crew, for a start.

Southampton University is already a leading player in the field of robot vehicles; later this year it will become the first campus in the UK to run a course specialising in the design and build of a new generation of robotic craft.

Drone wars

Watching the experiments, Professor Jim Scanlon explained that although this work has direct links to unmanned military aircraft, such as the Predator drones currently deployed in Afghanistan, the key for his team is to make the technology available at low cost.

"The machines used by the military cost millions [of pounds] to develop; we believe we can provide unmanned platforms for a few thousand," he said, "We're looking at better ways of using consumer technology to reduce cost whilst retaining a wide capability."

The new unmanned aerial vehicle (UAV) Masters design course will see students creating and building a UAV from scratch to take off, for a specific mission requirement. Future courses will include the development of land and space vehicles.

In a nearby development lab, Matt Bennett showed me another of the prototypes which have already flown successfully.

Remote control

Predator drone on a mission in AfghanistanMilitary UAVs such as the US RQ-1 Predator cost millions of pounds to build

Having graduated from Southampton, he has returned to help develop the new course.

On the bench in front of him is a miniature aircraft, similar to those flown by enthusiasts every weekend around the UK.

The tiny circuitry, constructed for around £3000, enables the aircraft to take off, fly its mission, and land, with one click of a mouse.

He says there are many potential uses for the technology.

"We can see these platforms being used for a range of research projects which involve aerial photography, mapping, or the monitoring of our weather systems," says Mr Bennett.

"They're even robust enough to play a role in search and rescue along our coastline," he adds.

The University's decision may be timely. According to its own estimates, the worldwide market for unmanned aircraft and vehicles is predicted to grow from $6.6 billion (£4.1bn) today to $55 billion (£34bn) over the next decade.

In the UK, which leads the European sector, there are already 14 companies producing 28 different designs.

Down the road at the National Oceanographic Centre, there are more potential customers for cheap, crewless technology.

Beneath the skies

The design team here created the Autosub, a long-range, autonomous underwater vehcile.

It has already made more than 300 successful survey trips to the ocean floor, and beneath the ice of Antarctica.

But there are limits to the number of sorties that Autosub can make, and it is too precious to lose

Pete Stephenson from the NOC believes low-cost robots could extend the range of missions it contemplates.

"What if the new generation of subs are much smaller; small enough to be dropped from aircraft over oil spills to monitor the effects of a clean up operation?" he muses.

"Or [are] able to go beneath the ice, and then to hibernate as the ices closes in, until we need them to carry out their research in areas which we cannot reach."

Back at the University, the research team are looking ahead to their next test flight; 75 years ago, Mr Mitchell's Spitfire prototype was being readied for its first flight at what is now Southampton International Airport.

He might not have foreseen planes which flew themselves, but he surely would have approved?

 

Regards

 

Martin

 

www.buildyourowndrone.co.uk

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The PPM Saga continues

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Following on from my PPM Encoder mods (PPM Encoder Updated), I needed to be able to test and tune the main rotor speed controller.  I figured that a small setup was needed to simulate the pulses generated by the RPM sensor, that was motor driven and speed controllable by the ACM board.

 

So on the right of the photo, you see a my RPM test set consisting of plastic bucket lid, with a hole to allow light onto a sensor below.  The lid is bolted to a small brushless motor, and the ESC (which I think I just burned out) is connected to the throttle servo output on the ACM.

 

When it's fired up, the PPM Encoder is measuring the RPM pulse timing and outputting the result to Ch5 into the APM chip.  However, due to the method I calculate the timing, the resolution on the RPM speed is useless.

 

So as far as the PPM encoder mods go - its back to the drawing board.

(The things we do in the name of progress)....

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3D Robotics

ROS+Arduino update

3689390988?profile=originalAs we've mentioned before, our long term plan for ArduPilot includes it being compatible with Willow Garage's Robot Operating System as a "ROS Node", which is to say that it can communicate with ground computers running ROS for things like swarming and multi-UAV control. The Willow Garage team is supporting this, too, and here's their latest update on Arduino+ROS progress:

 

We recently wanted to hook up an analog gyro (the Analog Devices ADXRS614) to ROS, and decided to use an Arduino to handle the conversion.

The Arduino runs a tiny loop that reads the analog values from its six analog lines,and writes these values to the USB serial connection.  Meanwhile on the robot, a small ROS Python node listens to the USB reports, and publishes them as a ROS topic.

That's all there is to it: the whole thing takes under 40 lines of code.

This is probably the simplest possible way to use an Arduino with ROS.  There are quite a few more sophisticated projects:

  • pmad  - controls an Arduino's I/Os using ROS service calls
  • avr_bridge - automates generation of ROS-Arduino message transport
  • arduino - our own package: an Arduino as an Ethernet-connected ROS node
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Max2769: RTK GPS for all?

Here we go again.

Like mp3 encoders before LAME, RTK GPS based on inexpensive GPS receivers & software has long been a dream that no-one has been able to get working. 

http://gpspp.sakura.ne.jp/rtklib/rtklib.htm

For years, a Japanese team has used a discontinued uBlox module that costs just as much as a commercial RTK GPS solution.  Now the latest hobbyist movement is to use just the GPS front end & do all the baseband processing in software.  Unfortunately, we have no idea what to do with baseband GPS data to convert it into RTK corrected information.

 

http://www.maxim-ic.com/datasheet/index.mvp/id/5241/t/do

 

For years, Maxim has had a GPS front end available for $11 but only now has anyone tried doing anything with it.  http://unreasonablerocket.blogspot.com/2011/02/gps-progress.html

It doesn't look like he's going to have enough time to finish it.

 

 

There are some notes on using a laptop for baseband processing but no actual sourcecode.

http://www.maxim-ic.com/datasheet/index.mvp/id/5241/t/do#Application%20Notes

The only remaining step is really getting data into the format RTKLIB needs.  This is really a movement worth getting behind, since RTK GPS would eliminate the pressure sensors, sonar, pitot tubes, & guesswork VTOL flyers have become familiar with.  Well, unless you're in the business of selling pressure sensors, sonar, & pitot tubes.

 

 

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What's needed for an Ardupilot-based boat

3689391084?profile=originalMy collection of links in the process of assembling what I'll need for an ArduPilot-based boat:

(The platform sailboat I'll use, a Soling 1M One Meter, the largest class of model boats in the American Model Yachting Association)

 

ArduPilot (original version)

Specifically needed for a Sailboat - a sailboat only absolutely needs a wind vane the rest is optional

 

Other discussion of ArduPilot-based boats:

Lake Depth Survey Blog - http://diydrones.com/profiles/blogs/ardupilot-goes-into-the-water
Lots of interesting posts about the evolution of a boat used the survey the depth of lakes. He used the Ardupilot and V1.0 software, but modified it for a his boat.

Discussion regarding sailboat application - http://diydrones.com/forum/topics/imu-3000Didn't entirely understand the conversation, but it regards drift compensation. 

Required components for a Boat - http://diydrones.com/forum/topics/ardupilot-boat-requirementsUser Jim Covert asks about the components need for a boat project. Chris Anderson points out the that he'll want to use Ardupilot 1.0 which lacks stabilization control. A boat doesn't really need that feature.

Another lake survey project - http://letsmakerobots.com/node/21098Detailed description of boat building process and application of an Arudino Duomilanove for controlling the boat.

Boat navigation with ArduPilot - http://diydrones.com/forum/topics/boat-navigation-with-adrupilotUser Tony K. asks about the components needed to pilot a sailboat. Chris Anderson Give some direction on what is specifically needed and some specifics about GPS parameters. 

Two-way Telemetry - http://diydrones.com/forum/topics/moving-waypoints-in-flightUser Peter Ho appears to be using ArduPilot on a boat and wants to change waypoints while en-route. Chris Anderson points out that two-way is available on the ArduPilot Mega.


AP for Sailing Vesselhttp://diydrones.com/forum/topics/ap-for-sailing-vessel

andrew was starting a project for a auto pilot for a sailboat. He focussed on the magnetic compass. He demonstrated a working tilt compensation compass details here.

 

AUOOSB Open Ocean Sailboat Projecthttp://diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A62783&commentId=705844%3AComment%3A62801

 Michael King Put up a community page at auoosb.ning.com to work toward building an autonomous sailboat. The site appears to have put on hold by NING but I believe I contacted Michael about reactivating it. 

 

PID Tuninghttp://diydrones.ning.com/forum/topics/705844:Topic:46763?xg_source=activity

Michael King Post on how to tune your PID settings for each craft. Not specific to boats, but PID tuning did cause Harald Molle a lot of grief in his boat project.

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Spektrum Dx6i interception/injection Board

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hello,
some time ago I broke my DX6I 2.4ghz transmiter, not the full radio, just the transmiter board... The Power Amplifer went away due to the break of the antenna...
I'm still waiting for another transmitter board, but already made a modification based on the transmitter of a hobbyking radio that accept PPM In as signal to continue flying.
As I was browsing web trying to find a explanation of the serial protocol used by the DX6I motherboard (DX5e has a spi protocol so the transmitter is not compatible), I found this Website : Dx6i Channel expander .
Thanks to him (and the google translator) I figured how was the motherboard acting, and decided to make my own interface with much more functionnality.

The basics features :
* Grab DX6i motherboard serial line and decode it
* Translate the 6 channel into a negative PPM signal

The advanced fetaures :
* Send decoded channel over USB (if connected)
* Send decoded channel over Bluetooth (if connected and usb disconnected), ok I'm not sure that adding Bluetooth inside a 2.4Ghz radio is the idea of the year, but it is funny.
* inject/modify channel from Bluetooth or usb
* Expand Channel Number of the radio
* Grab PPM In and translate it to channel (still lot of work to do here...)

The more advanced fetaures :
* Send all channel in parallel to a rf22 433Mhz transceiver to add Long Range Failsafe (on the receive side a rf22 and a µc is acting like a satellite) (the 433Mhz is the same used on the [OpenLRS|blog.flytron.com/category/openlrs-project|en] project)
* Receive 433Mhz telemetry from the rf22 and send it back to bluetooth/usb
* The board is aslo designed to act as a receiver (lot of correction to do here)


At this time, I made a proto board that seems to work, the USB is not working the way I would like it for now, but on the good way.
I would like to have a composite usb (CDC RS232 + HID joystick), but for now only the CDC is working, the HID don't want to start...
The Bluetooth is working, I can connect it to my smartphone and receive the channels informations :
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dx6i interception/injection board from BARTHELEMY Roman on Vimeo.



The PPM out is working nice as the servo out (x8)

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The RF22 seems to init smoothly, I have to build another board to make them talk each other.

I'll soon be able to play to my PSX emulator using my DX6i ;)
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HobbyKing Quad Frame Hands On

3689390762?profile=originalMy shipment from HobbyKing arrived today.  Among a few other things, the new Quad Frame V1 was in the box.  I  was pretty excited to get this and see if it was worth the $14.  

 

When I opened up the shipping box I noticed that HK packaged the frame parts in its' own box instead of having just a bag of parts.  I opened that up and to my surprise, the arms had been pre-assymbled!  Everything was grouped and packed nicely in bags.  The only thing that I did not see...Instructions!  Who reads them anyways, right?  

 

I pressed on and started to dry fit everything.  All of the pieces clipped together nicely and in no time, I had the frame mocked up. I am very happy with the construction, it seems to be well done.  The only thing that I think will be a problem is the landing gear.  Right now it just seems too flimsy to last.  I did not glue/screw anything together yet, but I don't think that will change much.  Also, as you can see in the first photo, the gear orientation is for + flying setup only.  I'm sure I can mod it to work for X without much effort.   I was wrong, I figured it out.

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Overall I would have to say that this frame will do just fine.  Once I get everything installed I'll give you all an update, but at this point I would easily recommend this frame, especially since it cost less than I paid for the materials to build my own.  Mine did not have gear or a camera mount!

 

Here are some stats and additional photos, I hope it helps.

 

Motor to Motor distance: 19.5"

Ground Clearance (without camera mount): 4.5"

Inside area: ~5"

Inside Height: 2" 

Dry Fit Weight: 5.7 oz

 

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Bay area snow day

It's 1 of those really obvious things that no-one tends to get on top of, but we do have snow forecast for Saturday morning.  Sounds like a good time to fly.  Might be a good idea to get the aircraft ready.  Are we getting it?

 

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Our airframe is beyond its useful life.  It might get some 30ft shots on video, but no stills or anything spectacular.

 

 

 

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Beeler UAV Dev. Part 7

I am nearing the completion of my UAV build code named "The Predecessor".

This is the drone I will be presenting in front of a panel of judges for 50% of my English grade for the year.

This is a year long research project, where I learned the principles of flight, how drones fly/work, how to design on CAD, building, and flying my original drone.

In this video I will show off my drone as it is today (90% complete!) 

 

 

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New Lithium Titanate Batteries the perfection of Li-po

scib-battery.jpg

The very low internal resistance of the Batteries (typically 8 – 10 milliohms) give huge benefits such as:

  • Far longer battery lifetimes with upwards of 1000+ cycles expected for a battery pack.
  • Lower heat build-up during the discharge cycle.
  • Faster cell recovery.
  • Lower voltage drop under loads, which equates directly to a much higher RPM per volt from your electric motor.
  • More available power for the battery pack.
  • Ability to charge at higher charge rates (It is important to allow the battery to cool below 25c before charging commences).
  • Suitable for all applications and especially so for use in high current applications.

 

If you wanna try them for your R/C project, you can find them .... Lightspeed Batteries

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Arducopter with 8 motors - First aerial photos

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Had again a really nice saturday flying with my Hashcopter. Took first images from the copter with my 800 gram camera. Pictures didn't turn up to be anything spectacular but copter flew nicely at high altitude and was very controllable. I'm still waiting for parts to arrive for my camera stand and FPV equipment. For that reason camera stand was just taped to nice position and images shot by feeling.

I actually had some difficulties with cheap ESCs not arming the motors properly. This was due to it being -25 degrees Celsius temperatures and electronics just needed some warming up occasionally. Actually so did the pilot. Eventually one of the ESCs broke down and flying was over for the day.

Because ESCs did some tricks on me I accientally ended up testing what happens when one of the motors shuts down. I was landing the copter still hovering at around 20-30 meter height when one of the motors just stopped. It was nice to realise everything was still controllable and I was able to land to copter nicely to a snowy field. It could have been flown with just 7 motors despite the heavy camera hanging under the copter.

 

3689390554?profile=originalAll saturdays pictures with better resolution:

http://www.markusjahn.net/gallery2/main.php?g2_itemId=47419

Previous two parts of the story:

http://www.diydrones.com/profiles/blogs/weight-testing-of-8-motor

http://www.diydrones.com/profiles/blogs/arducopter-quad-with-eight

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Developer



Here a video of the maiden flight of my Quad Rotor Observer (QRO) v7 with a Wii Motion Plus and a "home made" KKmulticontroller type board.

Flight controller hardware:
- Home made KKmulticontroller board with an ATMEGA168 and based on the board of Rolf R Bakke
- Wii Motion Plus (genuine Nitendo version) with the IDG-600 and the XR3500 MEMS sensors

Flight controller firmware:
- XXcontroller_KR_v1_5b based on assembly code by Rolf R Bakke converted by Mike Barton modified by Minsoo Kim and Jean-Louis Naudin

- 4 brushless motors DualSky XM2822CA 1450KV 7A
- 4 ESC 12A XC1210-BA
- Lipo battery 3S (11.1V) Turnigy Nanotech 2200 mAh
- receiver Corona CR6D 2.4 Ghz

 

Here a video of my quadcopter at high speed forward flights and at high turns rate... The Quadcopter is now well tuned with the WMP sensors, it can be very stable during the hovering and also very agile. The flight is really fun...

 

The Full tutorial for hacking the WMP is at:
http://ardupilotdev.googlecode.com/files/GyroWMPen.pdf

More infos at:
http://diydrones.com/profile/JeanLouisNaudin

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Developer

ArduCopter factory updates, Feb 2011

 

 

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China has awoken so have we!

 

In last 3-4 weeks there has been a lot of changes on how ArduCopter factories are working and how we as a creators are organized. First we moved out working under FahPah and we are now fully standing on our own as jDrones

 

Our new office / storage area are now fully working on its new location starting from Monday 21st. And we are really happy about this change. If you are visiting in Bangkok, please let us know and you are welcome to visit on our office.

 

Even tho there has been a lot of changes and we have been moving our storage, we been able to ship out kits and other parts with rather steady stream.

 

China had 3 week Chinese New Year holiday and that caused delays for bigger shipments, now it is over and first shipments are starting to arrive. Ok it will take some weeks until all queues of our suppliers are fully cleared but they will be.

 

New distributors are also demanding a lot, to full fill these orders will also affect on jDrones stock levels for awhile but eventually we are in position that kits are always in stock. Now there are uDrones, Robonor, BYOD and naturally DIY Drones who are selling kits.

 

How things are looking in future:

 

We all in ArduCopter group have been working hard to make this project better and better. There are new frames coming out shortly like Tri and Hexa frames that are following traditional ArduCopter design. Sonar mounts are out already and 3-4 different type camera systems will be available too.

 

Just like other our partners we have created fully assembled quad kits. These assembled kits are great for customers that are busy or not sure if they have right tools or skills to assemble their own quads. Good thing on these kits is that you can be sure that all electronics works and has been build properly. Only thing you need to add on these kits is your own radio, receiver and battery. They are already tested for you and test flown before shipped out from our premise. User just need to connect receiver, do calibration for them and they are ready to fly again on your home area.

 

After other frames are ready to ship out, we will start provide them too as ready assembled kits. We also have been looking to take this one step further but we will tell about that after time is ready. But first we will do some packing and shipping to full fill our users growing demand.

 

As we are part of DIY Drones internal network, we just started to carry more of their electronics on our site and more will come.

 

More parts for DIYers ...

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For private users and DIYers we now carry all our parts that can be used to build your own drones or what ever. This parts includes various nylon screws/nuts/washers, hexagonal spacers, polycarbonate screws and nuts also specially designed cable sets are available.

 

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Best way to find these are by looking under "Parts & Pieces" category. More will be added and if you might have some special needs, please drop a note to us and we can look what can be done for you and whole community.

 

There will be more general R/C parts too visible in stores shortly like servos, rc-switches, battery alarms, cables and so on.

 

Have fun and safe flying,

Jani

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PPM Encoder MUX Switch modifications

3689390466?profile=originalAfter my RPM sensor additions to the PPM Encoder, it seems my MUX switch for enabling/disabling the Autopilot is not working.  Some testing with a proportional channel (Throttle) revealed the MUX channel mid value to be about 2800, which is where I have set the RC_MUX_MAX now.  The previous value of 1250 was too low for detection.  Not sure whether my RPM mods had an impact, but the new settings seem to work fine.

If you're interested, the new PPM encoder project with RPM measurement, including the .hex file, is attached to this post.


PPMEncoder.zip


And here's a picky of the Heli static display at our local club's public display held yesterday at Hastings foreshore.  I'll upload the other photo soon on the clubs web site (www.wpmac.com.au).


My heli is on the right with the ACM connected - prompting a few questions from onlookers and members alike.  The green coloured box sitting on the muffler is a fibreglass crashproof box for the Ardupilot.  I'll provide some details on how to make one in a later post.


 


Now - On to the Heli code.

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