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First Tests of IMUNEXT v2 controller

Hi Guys,

I was design IMUNEXT v2 board on this March but i didn't find time for testing and working with it.
Now i have a time for this because my Quadrocopter, Camera mount and Plane waiting for stabilisation ;)


IMUNEXT v2 including 8 channel servo IN/OUT , Serial port for XBee modules or GPS, Serial PPM input for external controls.

I'm planning to share opensource codes and circuit schematic for designers. You can load your own code into ATMEGA328 core.

I will share Quadro and Plane tests when they are available.

Thanks
Melih
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ArmQuad stable mode first flight

Hi,

This is my experimental quadrorotor. In this flight I'm trying the stable mode with the accelerometer.

ARM 7 32bit LPC2103 a 60Mhz ( Coridium ARMmite PRO )
ITG-3200 Triple-Axis Digital-Output Gyro, 16bit, digitally-programmable low-pass filter
BMA180 Triple Axis Accelerometer, 14Bit, Programmable integrated digital filters
ESC: PWM at 495Hz
R/C RECEIVER: PPM composite signal, 8 Channel

Greetings, Danilo


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Cheap RC Helicopter Controlled via Motion Capture

Autonomous Helicopter from M W on Vimeo.


Recently we've seen a couple of really interesting university projects where quadcopters are controlled in motion capture stages. The video above demonstrates my progress while working at the USC Institute for Creative Technologies this summer over the course of about 2-3 weeks, to show that even cheap models can be controlled in motion capture stages, and some progress toward innovative control mechanisms (following a gloved hand).

Technical:

The model is a HorizonHobby: Blade CX2 RTF Electric Coaxial Micro Helicopter controlled via a Spektrum DX5e receiving servo signals through an Endurance RC PCTx from a PC computer. The software running on the computer consists of a VRPN (Virtual Reality Peripheral Network) middle wear program that takes data from a Phase Space Motion Capture Stage OWL Server and outputs clean model position data (x,y,z and heading) to a VR engine written to Dr. Evan Suma. The model is controlled by 4 PID loops, one each for the X,Y,Z, and heading variables and includes adjustable clamps, offsets, ramps, throws, trims, and other functionality to make it easier to tune and adjust the control loops. All of these values are adjusted easily by editing a text document that is read-in to the software every time it is executed, to prevent a recompilation whenever any values need to be adjusted (Often when manually tuning a PID loop!). Also, included in the control code is a trapezoidal function that smooths
deltas to the PID loops to prevent shocks to the control system (thanks to Marc Bolas for that suggestion!).

The PID outputs are then sent over a USB Human Interface Device to the PCTx, converted to PWM and PPM signals, sent to the TX, through the RX and eventually arrive at the servos and motor controller and make the helicopter move as desired.

The oscillations you will see in the video footage indicate that the PID loops are NOT critically damped (ie they need to be better tuned). But I believe that for two weeks of work that's pretty good performance for an inexpensive single rotor helicopter.

Hope you enjoy!

P.S. With luck code and a build log may be released soon, stay tuned!
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Developer

ArduPilot Mega v1.0 Alpha 1 release

The ArduPilot Mega development team is pleased to announce the public release of ArduPilot Mega v1.0 Alpha 1 test firmware. It is located here


If you are ready please feel free to test the code. The best place to start is with the manual which is located here

Please note
  1. There are libraries that you will need to install in your Arduino IDE for this firmware to work.
  2. This code is under development so there are lots of holes. Currently it supports MANUAL, STABILIZE, FLY_BY_WIRE_A, AUTO, RTL, and LOITER flight modes, a small number of a larger set of commands that will be implemented, and on board data logging. Currently it does not support any gps other than ublox, absolute or differential (airspeed) pressure sensors, magnetometer, battery voltage measurement, telemetry or uplink (some downlink available through Serial0), take-off or landing, and a bunch of other stuff
  3. The code is not compatible with the ArduPilot configuration tool. There is a waypoint (command) writer tool available in the tools directory of the repository, but no documentation available yet.
  4. The code is not currently compatible with the ground station.
We have successfully tested all flight modes. However this is an alpha release of code still under development. If you are expecting to just download it and have everything work, you are jumping on board too early. If you want to start learning about setting a UAV up with this system and learning about the features and options of the code then give it a go!
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Developer
This a long, long story but let's go to the point: We are now offering FedEx again and they offered us unbelievable "negotiated rates" compared with UPS. Thanks to Chris Anderson and Fred Smith! (And Paul the octopus!)

This what one our loyal development member said:
"Fedex is much more interesting for me here (Brazil). Awesome news!
I simulate here to see the difference on buying an ArduIMU V2 board:
FedEx International Priority $26.06
UPS Wordwide Expedited $54.93 (more than double)
Thank you for change it, man!"

Asian country's including Australia and Europe will be also affected (in a good way!). This will allow us to dramatically expand our boundaries and we are now more capable to compete in term of low prices!

Also domestic shipments will have a good discount, maybe no so noticeable but now you can even have Next-Day for just $15 in some areas ($9 for 2nd day), and we are considering using the new "FedEx Smart Post" that will costs around $4.95 to ship all over the country and is a combination of FedEX and USPS, is really cheap, you can fully track you package and takes from 2 to 8 days to arrive, check more here:
http://www.fedex.com/us/smartpostguide/tutorials/1_Intro.html

Also "FedEx Home Delivery" and "SmartPost" have free Saturday delivery!!! That's totally awesome for me. ;-)

This is one of the main reasons why UPS is doing this :
http://www.brownbailout.com/videos/?fbid=9pU_I5v3xuT#yqqTKQhBsSs

Other news:
-A new design for the store front is under development, just to look more "professional".
-We dropped PayPal Merchant solutions and now we are using a proper Gateway system to accept VISA,MasterCard, AMEX and Discover. (We still continue accepting normal PayPal payments). The difference is that I can capture after I prepare a shipment, so I can do last minute order changes without problems.
-We are now moving to a dedicated server cluster because we exceed our shared server by 5gb!! ;-)
-I bought QuickBooks and I don't know how to use it. LOL.

I been really busy on the store and I been unable to continue making posts and other development stuff (sorry!). We are not a garage company anymore. I'm looking to move into a big office with the proper utilities and hire more people to improve our services (maybe get a second pick and place machine). ;-)

If you want to know little details and changes on the store please fallow us on twitter:
http://twitter.com/storediydrones

Thank you guys for all your support!
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3D Robotics
I was part of the Open Source Hardware committee that drafted this definition and code of conduct. What do you think? (And come to the Open Hardware Summit in NYC on September 23rd. I'll be there!)

Introduction

Open Source Hardware (OSHW) is a term for tangible artifacts -- machines, devices, or other physical things -- whose design has been released to the public in such a way that anyone can make, modify,
distribute, and use those things. This definition is intended to help
provide guidelines for the development and evaluation of licenses for
Open Source Hardware.

It is important to note that hardware is different from software in that physical resources must always be committed for the creation of physical goods. Accordingly, persons or companies producing items
("products") under an OSHW license have an obligation not to imply that
such products are manufactured, sold, warrantied, or otherwise
sanctioned by the original designer and also not to make use of any
trademarks owned by the original designer.

The distribution terms of Open Source Hardware must comply with the following criteria:

1. Documentation

The hardware must be released with documentation including design files, and must allow modification and distribution of the design files. Where documentation is not furnished with the physical product,
there must be a well-publicized means of obtaining this documentation
for no more than a reasonable reproduction cost preferably, downloading
via the Internet without charge. The documentation must include design
files in the preferred form for which a hardware developer would modify
the design. Deliberately obfuscated design files are not allowed.
Intermediate forms analogous to compiled computer code -- such as
printer-ready copper artwork from a CAD program -- are not allowed as
substitutes.

2. Necessary Software

If the hardware requires software, embedded or otherwise, to operate properly and fulfill its essential functions, then the documentation requirement must also include at least one of the
following: The necessary software, released under an OSI-approved open
source license, or other sufficient documentation such that it could
reasonably be considered straightforward to write open source software
that allows the device to operate properly and fulfill its essential
functions.

3. Derived Works

The license must allow modifications and derived works, and must allow them to be distributed under the same terms as the license of the original hardware. The license must allow for the manufacture, sale,
distribution, and use of products created from the design files or
derivatives of the design files.

4. Free redistribution

The license shall not restrict any party from selling or giving away the project documentation as a component of an aggregate distribution containing designs from several different sources. The
license shall not require a royalty or other fee for such sale. The
license shall not require any royalty or fee related to the sale of
derived works.

5. Attribution

The license may require derived works to provide attribution to the original designer when distributing design files, manufactured products, and/or derivatives thereof. The license may also require
derived works to carry a different name or version number from the
original design.

6. No Discrimination Against Persons or Groups

The license must not discriminate against any person or group of persons.

7. No Discrimination Against Fields of Endeavor

The license must not restrict anyone from making use of the hardware in a specific field of endeavor. For example, it may not restrict the hardware from being used in a business, or from being used
in nuclear research.

8. Distribution of License

The rights attached to the hardware must apply to all to whom the product or documentation is redistributed without the need for execution of an additional license by those parties.

9. License Must Not Be Specific to a Product

The rights attached to the hardware must not depend on the hardware being part of a particular larger product. If the hardware is extracted from that product and used or distributed within the terms of
the hardware license, all parties to whom the hardware is redistributed
should have the same rights as those that are granted in conjunction
with the original distribution.

10. License Must Not Restrict Other Hardware or Software

The license must not place restrictions on other hardware or software that may be distributed or used with the licensed hardware. For example, the license must not insist that all other hardware sold at
the same time be open source, nor that only open source software be used
in conjunction with the hardware.

11. License Must Be Technology-Neutral

No provision of the license may be predicated on any individual technology or style of interface.


Afterword

The signatories of this Open Source Hardware definition recognize that the open source movement represents only one way of sharing information. We encourage and support all forms of openness and
collaboration, whether or not they fit this definition.


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Propeller with propellers

Here's a video of the most recent flight of my custom quad rotor. It's built and programmed from scratch, and uses a Parallax Propeller chip for processing and an ITG-3200 3-axis gyro for stability.



I still have a bit of oscillation, but it's intermittent. If anyone recognizes the behavior exhibited at ~0:45 I'd be happy to hear suggestions on how to correct it. I'm using proportional and derivative (no integral) to keep the integrated gyro values in line with the integrated results from my remote control input.

The crash was all me, but thankfully it was fixed in about 2 minutes. :-)

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Moderator
Dear Friends,
we're a little crazy so we would test the Ardupilot Mega on this frame. This is a best Italian Composite Fiber Frame for Electric Jet , But our friends TAMACO put a Kolibri Turbine on it (more info available at: www.virtualrobotix.com ) ... in this video you can see how fast is that BaioJet Kolibry by TAMACO , the maximum speed test is around 300 km/h . We would test on this kind of frame the functionality of new ArduPilot Mega Board ... we hope don't crash your board Chris ;)

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ArduPilot and Jasons Sim. Realtime 3D

It was exciting for me to see Jasons Sim working in 3D, so I thought I would share a pic

>> With the minor modification shown below which adjusts the climbrates

// guess the climb rate

// --------------------

if(pitch_sensor >= 0){

climb_rate = (pitch_sensor * (CLIMBRATE_UP/100) * (long)dTnav) / 90000L;

}else{

climb_rate = (pitch_sensor * (CLIMBRATE_DOWN/100) * (long)dTnav) / 90000L;

}

current_loc.alt += climb_rate;

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3D Robotics

Badass British stealth drone


We don't cover military UAVs here, but I'll make an exception on design grounds for this one. Just look at it!


From BoingBoing:


"British empire presents new kite to Lord Vader


Britain's Ministry of Defense announced this unmanned fighter jet today, the Tiranus. Named for the Celtic god of bad-assery, it looks markedly more sinister than America's one, itself revealed in May. There's something about that blue-gray hangar ... it reminds me of something.

Photo: Sienar Fleet Systems.

MoD lifts lid on unmanned combat plane prototype [BBC]"

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3D Robotics

RC control via WiFi (and iPhone)


From MakeZine: "From the MAKE Forums:

If you've been looking for a way to control your robotic project over a WiFi, then you might want to take a look at the Remote Control Over IP (RCOIP) project by Mike McCauley. He uses a lot of complicated words, but it's basically a communication protocol to do RC-style control over an Internet connection.

Of course, you can't connect directly to a traditional RC device using your laptop, so you will need to substitute your radio receiver for an Arduino with a WiFi shield, and put the RCKit library on it. For the controller end, you could use another Arduino or a computer. He's also got a (nonfree) iPhone control app, which allows you to control your creation using a simulated touchscreen RC controller.

There are probably a bunch of different protocols that people use for this, such as Open Sound Controller- do you have a favorite?"

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Boeing taps hydrogen for Phantom Eye UAV

Boeing on Monday unveiled a potential new eye in the sky, this one powered by hydrogen fuel.

The Phantom Eye, an unmanned aerial vehicle from the company's Phantom Works division, is expected to make its first flight early next year. Boeing is pitching the demonstrator UAV as a "first of its kind" aircraft that "could open up a whole new market in collecting data and communications."

A decade into the 21st century, surveillance drones are nothing new considering the now long-running successes of aircraft such as the Predator and the Global Hawk. What sets the Phantom Eye apart is the hydrogen propulsion system. Although hydrogen has been bandied about for some time as an alternative energy source, it has yet to progress much beyond the novelty stage.

http://news.cnet.com/8301-11386_3-20010294-76.html?tag=newsEditorsPicksArea.0

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T3

Ardupilot 2.6 Autolaunch tested

Tested the autolaunch function this weekend.

Launch altitude was set to 25 meters so it went almost instantly to WP1 after launch.

Next time I will try a higher launch altitude.



This was the last flight of the day the lipo was empty as can been seen at the end of the video the plane could not hold altitude.

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Android GCS/PFD (proof of concept)


I played with an Android phone and UAV Playground and ported some of my GCS/PFD code.

Setup
- FlightGear flight simulator is controlled by UAVsim
- UAVsim receives FlightGear telemetry data and sends it to an Android device via Bluetooth
- Android device graphically displays the telemetry data
- Android device uses text to speech to announce telemetry data

What's it good for?
It's a proof of concept that should demonstrate what an Android phone is capable of.
It's not a ready to use GCS or PFD and I haven't planned to include the code into a next release of UAV Playground.

My opinion
- The Eclipse Android IDE makes programming an Android device supersimple
- Once you've got the concept behind Android then it's more or less just Java and OpenGL programming
- The performance of the Samsung I5700 (800 MHz + GPU) is surprisingly good at a cost of only $300

What's next?
I'll connect a Bluetooth adapter to an XBee to receive live telemetry data on the Android phone.

Update 08/14/10
Yesterday I made some successful test flights with Intermezzo 100. In the setup I used an ArduPilot, two XBee Pro modules and a BlueSMiRF Gold Bluetooth module from Sparkfun. As this is just a serial connection from the plane to the Android device, I used my SimpleSerialization library for the Arduino to serialize and deserialize the telemetry data.

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