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Dear Friends,

two years ago i developed a closed source Brushless Controller. It's based on ATmega 8 and support i2c,PWM,Serial Port. The ESC support until 20 Amp and the electronic is present a shunt resistor to evaluate the quantity of energy that the motor need in realtime.

So now I would to port a Arduino bootloader to this board and develop an opensoure code for it.

But i need help for this project ... There're some people that would join me in this project ? That's is good choice for Multipilot 2.0 / Ardupilot 32 platform.

Regards

Roberto

This is the link to forum thread: http://www.virtualrobotix.com/forum/topics/open-source-brushless

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Developer

DIYDrones Magnetometer issue resolution

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It's a long story that I will try to summarize. The latest revision of the magnetometer that had some design improvements including making it easier to manufacture to boost production using the pick and place machine, but that also came with a weird issue. 

When I was developing the APM Oilpan we had some noise issues on the 3.3V line caused by a missing 200K resistor on the Voltage Reference pin on the 5V side of the I2C translator (obviously this board never saw the light), if you don't populate this resistor it will introduce terrible noise on the line and cause the analog sensors to fail, this bug was found by Jose Julio (Thanks!). 

 

A curious thing is that the first version of the magnetometer didn't have this resistor (it worked fine anyway), in the second revision i tried to do the right thing and follow what the datasheet suggested so I added the 200K resistor (same that caused terrible issues on the Oilpan because we didn't use it), expecting some improvement. 

 

When the boards arrived from the fab, we assemble some and they appeared to be fine, Cindy (our testing lady) added the observation that the sensors were slightly noisier, but we didn't listen (Sorry Cindy!). For the pressure of months of long waits we just released the boards. In just matter of days we received tons of complains.   

 

After days trying to solve the problem we finally discover that the 200K was the issue. The 2nd issue we have discovered but is not critical is that the voltage regulator will not perform well if you don't suck enough current from it, the magnetometer uses very, very low power and the best practice to solve this is to add a 200 ohms resistor from the 3.3V to GND to add enough load to it (Thanks to Nathan Siedle for this trick), we are not doing this right now, so you will see a power supply output of 3.7V, but the performance is perfect. 

 

All new boards have this fix, but for those who already got affected boards I would like to give a sincere apology to all our custumers and I would like to offer two resolutions to this problem:

1.- Send it back and we will repair it for you. We will cover all the shipping expenses. Please contact custumer support for more info: help[@]storediydrones.com 

 

2.-Repair it yourself (DIY) quickly and safely by following the following instructions.

 

NOTE: Before you repair your board, check if your board has a resistor marked "204". This means it has not been fixed (see the first two photos of the repair steps for reference), and if you see instead a resistor marked "0" your board is fine.

If you choose to repair it yourself and something gets messed up, you cannot then return the board. If you are unwilling to take this risk or are feeling a little uncertain about your soldering ability, do not do this. Just return the board for replacement.

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1- Locate the 200k resistor, it is marked with "204."

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2- With a soldering iron, heat either of the resistor's solder points
and wait a few seconds for the heat to reach both solder points. Weak solder irons may not work very well. 

 

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3- Without applying too much force as no not damage the pads, gently
nudge the resistor with the tip of the soldering iron. 

 

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4-The resistor


should stick to the tip, so just lift the tip off the board to remove
the resistor.


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5- Make sure you the pad are still there. 

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6- To create the solder bridge place the tip of the soldering iron
over both pads and apply enough solder to brigde the pads.

 

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7- If the solder ball is touching both pads then your are done. 

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3D Robotics

 

3689384642?profile=originalLots of good stuff in this report, titled "Factory @ Home", which was commissioned by the White House Office of Science and Technology Policy. 

 

It ends with these recommendations:

 

This report recommends the following actions be taken.

1. Put a personal manufacturing lab in every school

2. Offer teacher education in basic design and manufacturing technologies in 

relation to STEM education

3. Create high quality, modular curriculum with  optional manufacturing 

components

4. Enhance after school learning to involve design and manufacturing

5. Allocate federal support for pilot MEPs programs to introduce digital 

manufacturing to regional manufacturing companies

6. Promote published and open hardware standards and specifications

7. Develop  standard file formats for electronic blueprints design files

8. Create a database of CAD files used by government agencies

9. Mandate open geometry/source for unclassified government supplies

10. Establish an “Individual Innovation Research Program”  for DIY entrepreneurs

11. Give RFP priority to rural manufacturers that use personal manufacturing

12. Establish an IP “Safe Harbor” for aggregators and one-off producers

13. Explore micropatents as a smaller, simpler, and more agile unit of intellectual 

property

14. Re-visit consumer safety regulations for personally-fabricated products

15. Introduce a more granular definition of a “small” manufacturing business

16. Pass the National Fab Lab Network Act of 2010, HR 6003

17. “Clean company” tax benefits should include efficient manufacturing

18. Offer a tax break for personal manufacturing businesses on raw materials19. Fund a Department of Education study on personal manufacturing in STEM 

education

20. Learn more about user-led product desig

 

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From the released ARC document:

The AMA recommends removing section 3 in its entirety, leaving only the CBO (AMA) rules.

Note that FPV and atonomous systems are fully acceptable within LOS. The AMA prohibits all autonomous and FPV is allowed only with a budy box. "not operated in accordance with accepted standards" means nonAMA members.

 

"3. Model Aircraft Not Operated in Accordance with Accepted Set of Standards

3.1 Applicability
The following general requirements and limitations apply to Model Aircraft which are not perated in accordance with an FAA accepted set of standards, but are operated by hobbyists for the sole purpose of sport, recreation, and/or competition.

3.2 General Requirements
(1) Model Aircraft shall be flown in open spaces and in a manner that does not endanger the life and property of others.
(2) Model Aircraft shall yield the right of way to all manned aircraft.
(3) Model Aircraft shall not interfere with operations and traffic patterns at airports,heliports, and seaplane bases.
(4) Model Aircraft shall not be operated at locations where Model Aircraft activities are prohibited.
(5) Model Aircraft are limited to unaided visual line-of-sight operations. The Model Aircraft pilot must be able to see the aircraft throughout the entire flight well enough to maintain control, know its location, and watch the airspace it is operating in for other air traffic. Unaided visual line-of-sight does not preclude the use of prescribed corrective lenses.
(6) Model Aircraft shall be designed, equipped, maintained and/or operated in a manner in which the aircraft remains within the intended area of flight during all operations.
(7) Model Aircraft pilots may not intentionally drop any object from a Model Aircraft that creates a hazard to persons or property.
(8) Model Aircraft shall be operated in a manner that respects property rights and avoids the direct overflight of individuals, vessels, vehicles, or structures.
(9) Model Aircraft shall not be operated in a careless or reckless manner.
(10) Model Aircraft pilots shall not operate their aircraft while under the influence of alcohol or while using any drug that affects the person’s faculties in any way contrary to safety.
(11) Model fixed-wing and rotorcraft aircraft shall not use metal-blade propellers.
(12) Model Aircraft shall not use gaseous boosts.
(13) Model Aircraft shall not use fuels containing tetranitronmethane or hydrazine.
(14) Model Aircraft shall not use turbine-powered engines (e.g., turbo-fan, turbo-jet) as a propulsion source.

3.3 General Limitations
(1) Model Aircraft shall not exceed 55 pounds (lbs).
(2) Model Aircraft shall remain clear of clouds.
(3) Model Aircraft will not operate in Class B airspace without the permission of the ATC authority.
(4) Model Aircraft shall not be operated within 3 NM miles of an airport, heliport, or seaplane base without the permission of the ATC authority or airport manager.
(5) Model Aircraft shall operate in close proximity to the ground, at or below 400 feet (ALG) above ground level, and shall at all times remain below and well clear of all manned aircraft.
(6) Notwithstanding the above limitations, Model Aircraft weighing less than or equal to two lbs incapable of reaching speeds greater than 60 miles per hour (mph)
(52 knots), and powered by electric motor or mechanical stored energy (e.g.,rubber-band powered) may operate within 3 NM of a military or public-use airport or heliport; if they remain a safe distance from the airport or heliport, remain well clear of all manned aircraft, and remain below 400' AGL.
(7) Model Aircraft will not be flown at an airspeed that would cause the aircraft to
inadvertently leave the prescribed maneuvering area. !
(8) Model Aircraft cannot launch pyrotechnic devices which explode or burn.
(9) Excluding take-off and landing, no powered Model Aircraft may be flown closer than 25 feet to any individual, except for the pilot and the pilots helper located at the flight line.

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AMA Rules on FPV and Autonomous Aircraft

The AMA rules may well end up being the only FAA approved rules for recreational use of an sUAS (AMA membership may become mandatory as well).

This is the AMA rule for FPV:

"First Person View (FPV) Operations

1. An FPV-equipped model must be flown by two AMA members utilizing
a buddy-box system. The pilot in command must be on the primary
transmitter, maintain visual contact, and be prepared to assume
control in the event of a problem.

2. The operational range of the model is limited to the pilot in command’s
visual line of sight as defined in the Official AMA National Model
Aircraft Safety Code (see Radio Control, item 9).

3. The flight path of model operations shall be limited to the designated
flying site and approved overfly area.

4. The model weight and speed shall be limited to a maximum of 10
pounds and 60 miles per hour."

 

This is their official stance on autonomous and semi-autonomous flight:

"Autonomous flight, as it pertains to RC operations under AMA’s programs, infers usage of a navigational system that allows the model to fly a pre-determined mission from point A to point B, point C, etc.  Autonomous flight is navigating a model aircraft autonomously."

 

Note that the last sentence is a tautology and not a definition. Autonomous is autonomous? Big help there. Hopefully this kind of language will be a red flag to the FAA that the AMA does not  know how to write the proper documentation required by law for CBO standards. They do not even know the definition of the centuries old word "autonomous".

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Multicopter Build

 

 

Hi all.  Been lurking around here and the RCGroups site for a long time and finally got around to actually starting a multi-copter build.  I built my first Sig Cadet way back in the day, but got caught up doing other things for about 20 years.  Back to RC now and loving it.  And thanks to all in and around these projects that are making the community tick.  Open Source only works if you have kick ass people like Chris and a big team of supporters.  Nice job!

The MCopter is built on an RC Carbon frame from RC Hobby Helicopter (Thanks John!) and will be running 4 Hacker 20-22L's with 10 x 3.8 props.  Once I get the four motor version running we may bump it to eight in coax config to have more margin.  I have ArduPiratesNG on the APM right now so I can test the two axis camera mount with the GoPro Hero.  Once we get closer to the first test flight I'll decide which code base we fly.

 

Here's a few pics from Flickr

 

UPDATE: 2/16/10

Finally got the first version built and went for a maiden.  I am flying the latest ArduPirates code, but I did not do any PID tuning as I was tired of waiting and wanted to see how close it was stock settings.  This version is still a bit under-powered so I am going to switch from 10x3.8 to 10x4.7 SF props to see if it will help a bit.  I just want to get a feel for the thing before I strap four more motors on.  I'll spend much more time PID tuning before the next flight.

 

I added a few more pics to the Flickr set and am still waiting for the youtube video to show up...

 

 

 

 

 

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FPV168.jpgFeaturing a full fiber glass fuselage with built up ply and balsa construction the HobbyKing FPV / UAV is set to raises the bar in FPV performance. The large motor mount area allows for a variety of motor sizes depending on your application. A slick fiber glass finish provides superior aerodynamics while the ridge airframe offers a greater level of flight performance. The large clear canopy is perfectly suited to FPV applications or can be removed or modified with ease for a custom setup. The Fuselage boasts ample space for FPV equipment and will allow for a variety of custom setups.

You will require a 35 to 42 size Burshless outrunner, 5 x 9g servos (one for each control surface and one for the steerable nose wheel), a 40 to 60Amp ESC, 3s to 4s 2200mah~4400mah Lipo battery and your own transmitter and receiver (Tx/Rx). All the general hard ware (Push rods, screws, landing gear etc) is included to get this kit underway.

Some modeling experience will be required to complete this kit, However the finished product will be of a high quality with superior flight characteristics and will last a life time.

Specifications:
Wing Span: 1660mm
Fuselage: 1190mm
Motor Mount Diameter: 58mm
Distance From Center of Mount to Fuse: 114mm
Dry Weight: 1300g

Required:
Motor: 35 to 42 series Outrunner
ESC: 40a to 60A
Servo: 5 x 9g
Battery: 3s to 4s 2200mah~4400mah

 

Available here: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=15236

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Make your own plastic mini lens, part 2

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In a recent post I described some simple acrylic lenses I made using a simple press-molding technique. The methods were crude, but the results weren't too bad. Also, I had designed an assembly containing four minor variations of these lenses and submitted that for fabrication over the holidays. The injection molding step was a bit of an experiment- rather than using a full optic-grade firm, which would have cost us well into the five figures to try, we used U.S. based Protomold, who was able to create this mold in two weeks and make 100 assemblies (400 lenses) for a bit more than $2k. I again selected acrylic as the resin material for these lenses.

The picture above shows the parts as they came back (top and bottom side). Below shows a close-up of two lenses cut out from the above assembly.

 

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The real test, of course, is that image quality. I mounted these lenses onto some of our image sensor chips using the same methods as that discussed in the above-quoted recent post, painted on an iris, and sealed the chip up. Below is a picture of me waving at the camera in 32x32 resolution.

 

3689384524?profile=originalI also took another picture of my backyard with a different chip and a different setup at 90x90 resolution. The field of view was roughly between 70 and 80 degrees, thus the pixel pitch was less than one degree. The image quality in this latter picture was not as good. Two factors probably contributed to this- First the finer pixel pitch could have exceeded the limits of the optics, second my method for removing fixed pattern noise was less accurate in this setup. Right now I do not know which of these two factors dominate.

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One comment- There was in fact some shrinkage in the lens, on the flat bottom part that gets placed onto the chip. However this was small and easily filled in with the optical adhesive, which has almost the same index of refraction as acrylic.

One lesson learned regarding the injection mold design: There are four slightly different lenses in the above assembly. The difference is in the total thickness, with sequential lenses different by 25 microns. (It turned out this difference was moot compared to the varying thickness due to the amount of adhesive used.) This was to allow me to experiment with variations to compensate factors such as shrinkage and enlarging of the mold through polishing. However I made the mold family perfectly symmetrical (other than the small variations in lens thickness)! When I got the parts back, it was hard to find out which lens was which! Fortunately I found the sprue (where the plastic charge gets injected into the mold) and with careful eyeballing under a microscope, identified the lenses. But the lesson learned is that I should have added a slight marking or asymmetry to help me identify right from left.

Overall I am pleased with the results. For pixel pitches of about two degrees per pixel and up, this technique is adequate. Two degrees per pixel may not sound like much, but many flying insects have this type of resolution and do quite well. It may be that with the right iris and better fixed pattern noise cancellation, I could get the sharpness down to one degree or pixel, but this will have to wait.

Here again is the link to a zip folder containing the Alibre files for the mold: CYE_LensMold_Untested.zip

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I made this video showing the Ardupilot dreaming, the HK´s GCS taking telemetry data, and sending Tracker commands to an arduino, wich is driving two servos on a Trackers base.

 

Thanks Happy!!!!!

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FAA at AMA Expo. 1st hand report

"Mostly because I hate posting the same thing to multiple threads on multiple forums. But here is what I posted on RCGroups, Flying Giants, and RC Universe:

Here you go. SOme of it may not flow since I cut and pasted several remarks from another forum, but you should be able to get the general idea::

The presentation today was very interesting. The FAA had two people there. James Sizemore and a lady named Lynn. Mr. Sizemore was part of the FAA team early on and recently rejoined this group. Lynn is a recent addition. Mr. Sizemore is an active modeler in the DCRC club. He noted that a fair number of people in the UAPO (Unmanned Aircraft Program Office) are either active or past modelers. They both noted that the FAA fully recognizes the contribution of model aviation to the aviation industry.

As expected they were unable to address specific questions about the Rule. FAA policy prohibits them from doing so. Having said that, my overall impression is that I a bit more optimistic than I was when I woke up today.

A few high points for me were first hearing that the Rule is in fact written. It is undergoing a series of internal checks and reviews prior to being published as a NPRM sometime in June or perhaps July.

From there will be a comment period followed by a review and assessment of the comments and then the Rule may be modified based on those comments (or not) and then published in a final form. Final publication will likely be sometime in 2012.

They were very clear that the FAA is not interested in harming model aviation. They also clearly stated that the ONLY motivation for this was the explosive growth in the UAV world and the increasing number of commercial UAV folks trying to operate and calling themselves models. Since the FAA had no rules to regulate those uses, they decided to write these rules. It is a 100% air safety thing.

They very clearly stated that fears of terrorism and so on had absolutely nothing to do with the rules. They also said very clearly that there is no over riding concern about the past safety record of models or events that got us on their radar as it were. Again, it is the fact that in many cases we are indistinguishable from commercial UAS that they have to draw a line between us and them,

They laid out how the Safety Program that the AMA is writing will be reviewed and accepted (or accepted with modifications) for reference by the rule. The way it works is that if you want to be called a model you will operate in accordance with the accepted standards for models or you will have to operate as a regulated commercial sUAS.

They were clear that they are not prescribing any specific limits for altitude, speed, weight, propulsion, etc. At one point they said very clearly that they have not told the AMA to take turbines off the table for instance.

I expect that once an accepted set of operating standards is in place the way it will work is that the FAA will say go forth and enjoy. They will likely define places where you cannot operate regardless of compliance with the rules. This is sort of the same as saying ultra lights cannot operate in Class B airspace for instance.

The major challenge right now is to craft our safety program in a format and language that the FAA can accept. But they seemed genuinely interested in working with us to enable us to continue on in as close as possible to what we do now. They are also acutely aware of our concerns about altitude, speed, turbines, and so on.

While we are by no means out of the woods I can say that I am far more optimistic than I have been in the past. One really important thing I learned today was that when Dave Mathewson wrote his ominous article for the December MA it was right after a very disappointing meeting with the FAA. The AMA related their deep concerns and disappointment with the direction things were going. Shortly after that the FAA team was changed to the one that the AMA is working with now. For me the take away is that the FAA higher ups took the AMA concerns to heart and responded positively. That is huge in my mind.

So I am not dancing in the streets with joy, but I am also not thinking about selling everything either, for whatever that is worth to people.

Let me add that the impression I got is that they are working hard to help us to write safety standards that allow us to do what we do now in a manner that satisfies their need to demonstrate that they are protecting aviation safety.

Their concerns for us, as well as the commercial sUAS, focuses on things like what happens in a loss of control, pilot error, fly away and so on. They made positive statements about the things we do already, like checking battery packs prior to flight as a method of confirming that we will not lose battery power and control. Or selecting a field location that mitigates the risk from these events, and so on.

The only mention of AC 91-57 was during the explanation of why they are making the rule in the first place. There were a large number of commercial/public use users flying sUAS for hire who were doing so and saying that they were operating under AC 91-57. In 2007 the FAA issued a clarification of this saying that was not legal and then started moving towards writing these rules. That was the last time it was mentioned.

About the AMA working group doing the standards: Dave Mathewson and Rich Hanson have both stated very clearly that they are not "leaving anyone behind". There is no area of modeling they feel is worth sacrificing. So if the concern is that for instance the AMA will write a standard that says "No Turbines" or "No large planes" or "Nothing over 400 feet" I can more or less guarantee you that this is not going to happen.

The working group within the AMA has knowledgeable people from all parts of the hobby on it. Soaring, IMAC, pattern, jets, and so on all have solid representation there. Said simply, this is not a concern.


Bill Malvey
Leader Member
Distinguished Service Award (2007)
District Service Award (2010)
EX-AVP District X (Free Speech is Not Tolerated)
Orange County, CA "

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3D Robotics
"

3689373250?profile=originalArduPilotMega 1.02 is now available in the download section. This version updates the GPS libraries to support the new v1.6 firmware that adds some useful data fields and otherwise makes HappyKillmore's GCS, well, happier.

 

New MediaTek modules shipping from the DIY Drones store have the 1.6 firmware. If you've got one of those or have updated your module to 1.6, you can use it with APM by selecting "GPS_PROTOCOL_MTK16" as your GPS protocol in APM_Config.h.

 

If you want to update your GPS module to 1.6, here's what you need:

  • The 1.6 firmware is here.
  • Instructions and the installation utility are here.
  • Instructions on how to hook up the required FDTI cable are here.

 

 

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New Circuit for Antenna Tracker

 
Hi Guys,
I designed a new 6ch servo driver for antenna trackers or robotic controllers.
My plan was sending it first to HappyKillmore for his ground station's compatibility  but he is faster than me and just released a tracking solution :)
Actually it is not a new circuit of mine because i was designed it on December 2009 but it wait on desk for my free time. Now firmware ready for serial usage.
The Circuit including 1 RS232 input and 6 Servo output and size is 20x30mm. 
Antenna_Tracker-4-640x480.jpg
Command set is very simple for all programmers and languages, no need bit calculation or similar things and possible to use any robotic arm projects. You can type the commands from Hyper Terminal too :)
Baudrate: 9600 baud
Signal Resolution: ~1us 
CommandSet: [Servo Number]+[position_us]+[chr 13]  
[Servo Number] = 1-6 (string)  
[Position_us] = 500-2500 (string)  (the range depends servo)
for example:
"11500"+chr(13)  mean "center position for first servo".
Here is the product page of 6ch serial servo driver
PS: You can order the gimbal (that show on the video) from ServoCity.com, it is very tough an very good engineered product.
Thanks for reading
Melih
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3D Robotics

New fiberglass UAV airframe coming to HobbyKing

3689384475?profile=originalNo product listing yet, but will be on HobbyKing.com later this week according to HobbyKing. Will be intersting to compare with the EPP foam one that I just got (see below), which seems perfect. Smaller than a Skywalker, but still plenty of room for UAV gear. The fuselage is a bit thin, but it fits APM perfectly!

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Some more pics of the new fiberglass one:

 

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Antenna Tracking in HappyKillmore's GCS

FPV antenna tracking is now working in HappyKillmore's GCS v1.1.32 and newer.
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Are you looking for something to do with your original ArduPilot now that you've got the new ArduPilot Mega? Why not put it to good use! Diego Colonnello and I have come up with an antenna tracker for my GCS. It uses the original ArduPilot, a couple servos and a FTDI cable. Building the actual mechanism to move your patch antenna is up to you...but the code is in there to make it work. You can also use your ArduStation! Simply select the ArduStation output type and the data will flow out in the right format regardless of GPS or Auto-pilot brand.


Here's a Wiki page trying to explain how it works: http://code.google.com/p/happykillmore-gcs/wiki/Tracking

To download the ArduTracker 1.0 source and 1.1.32 of my GCS: http://code.google.com/p/happykillmore-gcs/downloads/list

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Developer

Quad Rotor Observer v5 tests flights with the KKmulticopter blue board

I have just tested the latest flight controller board from Minsoo Kim (the Blue board version).
This new board uses an ATMEGA 168 and a new firmware with lot of new features.
Here a video of the first tests flights of the Quad Rotor Observer (QRO) v5 with this new KKmulticopter BLUE board from Minsoo Kim.
As you will observe in the video, the hoovering of the QRO is very stable (hands off test). The model is also able to do a high speed manoeuvering and high speed turns due to the high performance of this new flight controller board (Woow... this is really fun and I enjoy a lot...)

 

Flight controller hardware:
KKmulticontroller "BlueBoard" from Minsoo Kim's
http://kkmulticopter.kr ) and based on the board of Rolf R Bakke

 

Flight controller firmware:
XXcontroller_KR_v1_0 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) 2500 mAh
- receiver Corona CR6D 2.4 Ghz

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

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Cheap CNC opportunity

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I just wanted to post this here to let the DIY Drones community aware of this limited time opportunity to procure a complete small scale CNC kit for $390 or an assembled version for $520 on kickstarter.com. This opportunity ends MONDAY JAN 10, 11:59PM EST. I am not associated with this project but I think it is pretty neat what the MyDIYcnc.com owner Stephen McGloughlin is trying to do with it. Check out his kickstarter page for more information.

https://www.kickstarter.com/projects/421256045/diy-desktop-cnc-machine
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Arduino Pro Mini optical flow sensor

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This is a follow-on to an earlier post about an Arduino-based optical flow sensor prototype. Here I actually constructed a complete sensor that could actually be integrated into a robotic platform. To achieve a smaller size, I used an Arduino Pro Mini board from Sparkfun, and added a "shield" to interface that with a Centeye image sensor and optics. The breakout of parts is shown above- The complete sensor is shown next to a US Quarter. You can also see the individual blue Arduino board and the green "shield" board. On the right are individual "sensor heads" which are basically small PCBs holding the image sensor chip (here the "FireflySmall"), optional optics, and two capacitors. The sensor head plugs into the green shield board via a Hirose DF30 board to board connector. Three sensor heads are shown- on top is a sensor head with optics, in the middle the board-to-board connector side, and on the bottom the image sensor chip side.

 

I wrote a simple Arduino script to grab pixels from the vision chip (configuring it to grab rectangular pixels), compute 1D optical flow using a variation of Srinivasan's "image interpolation algorithm", and dump a display of the optical flow to the serial monitor. (Some of you may know Professor Mandyam Srinivasan as the Australian biologist who has studied honey bee navigation, in particular how honey bees use optical flow to close control loops using simple but elegant heuristics.) A simple video of the sensor is shown below. I've also attached the Arduino script code, in case anyone is interested.

 

 

PIO12Firefly_ProMini_LinearOF.pde

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