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HK's GCS now compatible with APM MAVlink

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Paramater updates and waypoint/mission commands are now included in my GCS. "Control" commands are not available yet because I don't know what's ready to go in the APM MAVlink code yet....

The MAVlink trunk is here: https://ardupilot-mega.googlecode.com/svn/Sketchbook/trunk

Download my GCS here: http://code.google.com/p/happykillmore-gcs/downloads/list

It took me a while (and some help from Doug Weibel...Thanks Doug!) to figure out the 2-way communication. The hardest part about this implementation is it's asyncronous. Which means you've got to be ready to handle the messages even though they're sprinkled in with telemetry data. I still need to add the ability to change the output Hz on the MAVlink messages.... and all the control messages (like RTL and Loiter Here....etc). I'd also like to be able to download logs files using MAVlink.... but I'm not sure if that's possible.

Works via X-Bee. Built in parameter limits and descriptions. Drag and drop waypoints built into Google Earth plugin for real time mission planning. Automatic retries and timeouts for bad connections. Progress bar and status messages. Full APM mission command set.
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Martin Jetpack Job Opportunity

 

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Hi all,

I would like to inform everyone that a flight control engineer/software developer position currently exists at Martin Aircraft Company.

 

Martin Aircraft is a small R&D company based in Christchurch, New Zealand which is currently in development of the Martin Jetpack. The Jetpack has been featured in the media all over the world, including being named in Time magazines “Top 50 Best Inventions of 2010”.

 

Essential qualities:

  • A Bachelor of Engineering
  • C/C++ programming experience
  • Proven microcontroller and electronics experience
  • Practical experience in control algorithm development and implementation (at the very least a thorough understanding of PID implementation/tuning)
  • A thorough understanding of, and practical experience with autonomous UAV and/or fly-by-wire systems (inertial sensors, GPS, software, communications etc)
  • Proficient with MATLAB
  • Must be willing/able to relocate to Christchurch, New Zealand

 

Highly desirable but non essential qualities:

  • GUI development experience (preferably using Qt)
  • C# programming experience
  • Some understanding of navigation algorithms (Kalman filtering etc)
  • Experience with Simulink
  • Proficient with Solidworks
  • PCB design experience
  • Some knowledge of ducted fan and basic flight dynamics

 

The successful applicant will effectively be my replacement as I am leaving to begin a PhD in March.

 

Applicants from outside of Australasia are invited to apply but will be subject to immigration/work permit rules and regulations.

 

If you have any questions, feel free to PM me, otherwise email your CV and expression of interest to dan.wilson@martinaircraft.co.nz.

 

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BOB4 - another autonomous indoor flight

Here is another autonomous flight. The UAV just tries to hold a fixed position.

Remember that this UAV is 100% autonomous with its own sensors (sonars + IMU + magneto).

The autonomous part of the flight begins at 0'09" and ends at 2'20".

I plan to take part to the IMAV2011 competition with it.

Do not hesitate to ask me question about it. 


Leon - French Hobbyist.

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3D Robotics

San Francisco-area fly-in today

3689388340?profile=originalWith apologies for the late notice, I and a few other DIY Drones developers will be flying in Concord, in San Francisco's East Bay, starting at 2:30 pm. Any Bay Area folks who want to spend Super Bowl Sunday outside in gorgeous weather, rather than watching a football game on TV, are welcome to join us. We'll be testing the latest ACM code on quads, and testing the latest APM code on Skywalkers and other aircraft, to check how various GPS modules behave in auto mode.

 

The location is in the large open public park at the end of Court Lane in Concord, here. Anyone from this community is welcome to join us. You can bring something to fly or just watch UAV development up close. Crashes are likely!

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Developer

The Attack of the Clones

In a distant continent far far away...  Futaba clones are back on stock.

 

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Accord to the HobbyKing site, the RX is compatible with Futaba FASST receivers: TM7, TM8, TM10, TM14 and others.

 

Some weeks ago, I bought my OrangeRX Spektrum compatible ones (main RX 6ch and the satellite).

It seems to work fine. The price... you know, is the best part.

Now is the time for the generic Futaba ones too (since October of last year).

If you have a Futaba TX and if this clone is as good as the Spektrum clone/generic ones, should be a great deal. Don't you think?

 

More details here.
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T3
Hi all,
since I am doing photomapping of terrain,
I have experienced, that the light tends to change progressively as I shot photos.
The problem is, the flight is following zig-zag or spiral shape and as a result I have gradual variation
of brightness and contrast across ortophotomap.
In my case I am striving for fast response, not for HDR quality, and it might be difficult to repeat a mission
that takes up to 2h of UAV flight.
The question is, are there any tools that can linearly/gradually or maybe automatically apply some correction to a list of images?
We are talking abotu 300-3000 photos per flight, up to a few times per day. A real mill.
I am aware of ImageMagick toolset, but it is not a solution:
The problem is that any automatic method I know gathers statistics over a single image, then applies the correction to one or many.
Also ImageMagick scripts I tried to apply by merging photos etc show insufficient processing speed of Image Magick (it is general tool, with dozens of intermediary memory copies/logic layers during processing a script).
What is needed is a tool that analyses 3..tens..all neighboring images (consecutive in the list) and applies slowly changing correction.
I know that somebody will advise fixing exposition in the camera but thsi is NOT the way to go in 50% cloud cover changing the lighting 8 times during the flight.

What is needed is something like Deflicker algorithm used in movies, but this would be ideal but I doubt it exist for photos.
At the moment I am looking for anything that works.

I know the issue could be known to ppl doing Timelapses but I have no idea what are the solutions (I guess they usually merge the results into a movie, then apply Deflicker filter in movie processing soft, but the resolution, compression and quality is lost).

At the moment typical application of autobalance or histogram equalize/anything leads to photos where 1 out of 20 pops up with very off colors or other parameters.
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3D Robotics

3689388272?profile=originalI installed the ReadyMadeRC pan/tilt pod for the Skywalker this evening, and was delighted to find that it's also a perfect fit for ArduPilotMega. The autopilot and GPS fit very neatly right into the back of the pod, as shown above.

 

The whole thing is custom made for the foam Skywalker and fits like a glove, all secured with a little thumb screw in the front. And it keeps APM out in the open, so you can see the LEDs. Sweet!

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Developer


Quadcopter simulation on AeroFly Professional Deluxe

Here, you will find the model of my Quad Rotor Observer (QRO) v5 for the AeroFly Professional Deluxe simulator

(AFPD).
This is very useful for training purposes during outside bad weather conditions and/or during our cold winter...

The QRO v5 quadcopter model for AFPD can be dowloaded HERE

Tested successfully on Aerofly Professional Deluxe v1.9.7.11

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

Regards and Enjoy,

Jean-Louis

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New AMA Documents shed light on NPRM

3689388164?profile=original3689388101?profile=originalThe AMA appears to have broken the silence over the coming NPRM. Full docs posted on Feb. 4, 2011 HERE and HERE.

In short they say:

 

"Although the exact language of the proposed regulation is not yet known, there are a number of conclusions that can be drawn from the ARC recommendations. The following are AMA’s areas of concern, the restrictions that are likely to be imposed and their effect on
the model aviation community:"

 

ALTITUDE: As proposed, the rule would impose a nationwide altitude ceiling of 400 feet.


SPEED: It is likely that the rule will attempt to limit model aircraft performance by
establishing a set speed limit such as 100 mph

.

WEIGHT: As proposed, the sUAS rule will limit small unmanned aircraft to 55 pounds
or less.

 

TURBINE BAN: The blanket prohibition of gas turbine engines.

 

AIRPORT PROXIMITY: It is understood that the FAA is considering going outside the ARC’s
recommendation and extending the “area of concern” around the nation’s 19,760 airports
beyond the current 3-mile radius to 5 miles.

 

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3689388258?profile=originalI was reading this mornings news and came across this interesting item.

It started out playing with model helicopters over a few Friday night beers.

Now, it's becoming big business, using the ultimate in boys' toys.


News item link

Mr Wilmot, Media Mechanics' director, said he first thought about attaching a camera to a helicopter when he was flying model helicopters at after-work drinks sessions.

The helicopter, which weighs 12kg and costs $38,000, is handy for filming where static photography or photography using full-sized helicopters doesn't work.

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3D Robotics

The paradox of DIY electronics warranties

3689388049?profile=originalOne of the trickiest parts of selling electronics kits, as we do, is how to handle customer support and returns. I'd estimate that 90% of the problems that users have with DIY Drones gear is due to user error: soldering mistakes, not following the manual properly, issues with their own PC/Mac, or simply misunderstandings and confusion about how to use the products (no doubt sometimes due to documentation that could be improved).

 

But perhaps 10% of user problems (and only a tiny fraction of all orders, of course) really are due to defective boards, which somehow made it out of our factory with a problem. Although every board is tested and demonstrated working before being shipped, there are some things that our test code doesn't check, such as what happens when that particular board is vibrated or subjected to cold temperatures. And there are other products that we simply resell and don't test, which could have come from their makers faulty (a recent batch of FTDI cables from China had the wires connected in the wrong order, for example).

 

So how to handle returns? The normal answer for companies that sell finished goods doesn't work for DIY kit sellers, since it's hard to tell whether the problem was due to a manufacturing error or user error. So most such retailers have a clause in their terms of service like this one, from MakerBot (which they discuss here), that pretty much says that the moment you power it on or touch it with a soldering iron, the manufacture's responsibility ends:

Returning Purchased Items. MakerBot Industries accepts returns for any unaffected item within 14 calendar days from the date of receipt of merchandise."Unaffected" means a device has never been assembled, powered up, programmed, or otherwise changed. MakerBot Industries cannot accept returns on purchased items that have had electrical power applied to them, or been otherwise programmed, changed, or affected.

The paradox, of course, is how can you know it's defective before you power it on? In practice, most of these companies will accept returns of products that have been powered on, but typically not if they've been soldered. We wrestled with this and decided to be more explicitly generous in our terms, while still limiting our liability:

Defective products manufactured in house will be replaced within 10 days of receipt, with the same item. All goods are checked before they are sent out. In the unlikely event that goods are faulty, they must be returned, to the DIY Drones store at the address listed on your order invoice. The DIY Drones store will not accept goods that have clearly been used more than the amount needed to evaluate their functionality. If the goods are found to be in working condition, and the lack of functionality is a result of lack of knowledge or assembly error on the customers part, no refund will be made, but the goods will be returned to the user at their expense

So this is a judgement call. Most of the time, when people ship us back "defective" boards, it's clear that they were simply soldered wrong or not defective at all (the user had plugged in their RC gear wrong or loaded the wrong code). In cases of soldering errors, if it's easy to fix we might do that, but if it's really been bungled, we may just send it back. We try to error on the side of being as helpful as possible, but there are limits to what we can do.

 

We've invested a lot in customer and technical support over the past few months and now have full-time employees doing both.  As the MakerBot post linked above points out, this is uncharted territory for open source hardware companies like ours, and we're all trying to find the path that is right for the community but also allows for sustainable businesses. It will evolve over time. But I wanted to let our customers know how we're approaching this, and I welcome suggestions on how to do it even better.

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3D Robotics

Incredible ArduCopter videos

 

Testflights Acro Mode ArduPirates Quad from Norf on Vimeo.


The ArduPirates team, who have taken over development of the 1st Generation ArduCopter code, have been posting amazing videos of the ArduCopter platform doing stunts and otherwise showing remarkable range in this Vimeo channel.  Norf, who is world-class quad pilot, is doing acrobatics in acro mode above.

 

How about an awesome smooth APM-driven hexicopter?

 

 

Ardumega Hexacopter from levent oktay on Vimeo.

A little FPV action!

 

ArduPirate's ship second test flight from Helicoblast on Vimeo.

 

 

GPS position and altitude hold!

 

Testing Hein`s new ArduPirates NG Update 212 from Norf on Vimeo.

 

 

Congrats to the whole ArduPirate team...this is great community work!

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Announcing... Dronepedia.com Wiki

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For me, one of the things that always seems to be missing in many hobbies is a solid wiki.  Oh, they try their damnedest to consolidate data from ever larger comment threats and FAQ stickies, but lots of useful advice is only found after a user has been browsing a site for weeks.

 

A month ago a user requested a DIYDrones wiki, and the admin here welcomed the users to put one together, since Ning proved incapable of doing it.  Then I realized - I can do that!  I've just recently become involved in UAV research, and I'd like to find ways to help build the community, which is a matter of some urgency given the looming regulatory decisions.  A thorough wiki can be one of the fastest ways to become acquainted with a topic you don't understand, and to cease fearing the unknown.

 

 

 

After a week of working on spam filtering methods, constructing lists of desired content and slowly adding stub pages myself,  Dronepedia.com is ready for launch as a collaborative project, encompassing all facets of civilian unmanned flight.  Virtually all of this hobby's knowledge base is chronicled in disorganized blog/forum posts that new users only tend to locate through a lucky Google search.  I'd like to change that. Who's willing to help out?

 

http://dronepedia.com

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3D Robotics

More Quad+Kinect+ROS goodness



Another entry to the Willow Garage Robot Operating System (ROS) 3D contest: a nice job of sensor fusion with a Kinect and optical flow sensors on a quad.

 

The ROS blog writes it up:

The Chair of Automation Technology at Chemnitz University of Technology shows just how versatile a Kinect on a quadrotor can be. Their entry, "Autonomous corridor flight of a UAV using the Kinect sensor", uses the Kinect to find the ceiling, walls, and floor of a corridor. Once the quadrotor knows the geometric structure of the corridor, it can happily fly down the middle to get where it needs to go.

Their demo is built on an AscTec Pelican with a stripped-down Kinect. To handle the rest of the autonomous flight needs, they use a ADNS 3080 optical flow sensor for position and velocity control, and a SRF10 sonar sensor for altitude control. Sample-consensus algorithms from PCL are used to convert the 3D point cloud data into the estimated positions of these surfaces. Remarkably, they managed to make all of this run on an Atom processor.

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3D Robotics

Hydrogen-powered UAV makes first flight

3689388067?profile=originalFrom the Wired Autopia blog:

AeroVironment has successfully flown its Global Observer unmanned aircraft for the first time powered by a hydrogen-fueled propulsion system. With a wingspan of 175 feet, the Global Observer is a long-endurance UAV that could stay aloft up to a week at a time according to the company.

The first hydrogen fueled flight lasted four hours and was at lower altitudes above Edwards Air Force Base in California. But the company says the aircraft would fly missions at 65,000 feet making it an observation platform and communications link over a very wide area approximately 600 miles in diameter. By combining a pair of Global Observers, each of which could fly for up to a week at a time, operators could provide continuous coverage over any part of the earth’s surface for “as long as needed” according to AeroVironment.

A liquid hydrogen powered internal combustion engine drives a generator that powers the four propellers as well as batteries and operational payloads. At the high altitudes the Global Observer is expected to fly, it would be flying above most weather and other air traffic, possibly simplifying the use of the aircraft in existing airspace.

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3D Robotics

3689388128?profile=originalHelicoblast over at the ArduPirates RCG thread answered a frequently-asked question on the various ArduPilot code bases with this great graphic.  The only small corrections I'd make is that the software the DIY Drones dev team (left column) is currently working on, which is an effort to sync up with ArduPilotMega (APM), the very mature full UAV code on fixed wing aircraft, is actually code-named ArduCopterMega (ACM).  It will be released with the month as ArduCopter 2.0.

 

Also, ArduCopterNG (next generation) and ArduCopter RC2 (release candidate 2) are actually the same thing. RC2 was just the public name for NG. The big blue arrow to the right means that further development of RC2 was handed off to the ArduPirates team while the DIY Drones dev team did a restart based on the APM architecture to achieve full UAV functionality with ArduCopter 2.0.

 

The ArduPirates code, which is what we recommend people use until ArduCopter 2.0 is released, is here.

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3D Robotics

New DIY Drones feature--"Like"

3689388104?profile=originalNing (the social network platform DIY Drones is built on) is rolling out a bunch of new features, many of which we'll be implementing here. Today's is the "Like" button, which you'll find at the top of posts (the comment count has also moved to the top of the post when it's displayed on the front page). You can click it for anything that you enjoyed, and over time we'll add features that raises the profile of content with lots of likes.

 

There's also a Facebook Like, which will post the like to your Facebook feed.

 

Coming later this week is a proper professional redesign of the site, which will give it a new look (not radically different, but hopefully cleaner and easier on the eye). A bit wider, too.

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3689387947?profile=original"Representatives of the GPS industry presented to members of the Federal Communications Commission clear, strong laboratory evidence of interference with the GPS signal by a proposed new broadcaster on January 19 of this year. The teleconference and subsequent written results of the testing apparently did not dissuade FCC International Bureau Chief Mindel De La Torre from authorizing Lightsquared to proceed with ancillary terrestrial component operations, installing up to 40,000 high-power transmitters close to the GPS frequency, across the United States."

 

http://www.gpsworld.com/gnss-system/news/data-shows-disastrous-gps-jamming-fcc-approved-broadcaster-11029

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