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It seems this is the quadrocopter week , another tricopter is name Shrediquette.

Posted by Oguz Dogansoy on January 13, 2010 at 11:35am
Web page ishttp://shrediquette.blogspot.com/And videoshttp://vimeo.com/6766174http://vimeo.com/7420635Back motor tilt by servo and looks very stable and also good 3d capable.You can find in construction and setup manual , detail the tail mechanism. I start to build this tricopter , but hard to find i2c driven esc's and expensive German made.Oguz Dogansoy
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Video of Houston Police secret aerial drones

Posted by Toby on January 13, 2010 at 2:46am
Not sure about the reporting style.http://www.boingboing.net/2010/01/12/video-of-houston-pol.html?utm_source=feedburner&utm_medium=feed&utm_campaign=Feed%3A+boingboing%2FiBag+%28Boing+Boing%29Public safety application include:• Mobility• Evacuation• Home land security• Search and rescue• TacticalAre the above applications listed in order of priority?

I wish I had a ground station like this.

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3D Robotics

Parrot AR.Drone unpacking

Posted by Chris Anderson on January 12, 2010 at 10:30pm

Super excited...the Parrot team sent me two AR.Drones as development kits! (One is for me and the other for a famous game designer friend). They just arrived, and here are some first impressions and closeups. First, I haven't flown it at home yet because you've got to compile the source code with the iPhone SDK and then load it in ad-hoc distribution mode, and I'm not a iPhone developer (yet). But I did get to fly it at CES and it was just as awesome as you've heard. The coolest thing is that when you get in trouble you just take your finger off the iPhone screen and it snaps into hover mode exactly where it is and just stays there, totally locked. Amazing... Here are some photos from the unboxing (these photos are all on Flickr, where you can mouse over them for notes. Just click on the photo and you'll be taken there): IMG_4658 This is the main board, with the Arm9 core in custom Parrot DSP silicon, the downward-facing camera for optical flow, the ultrasonic sensor and the WiFi radio. IMG_4657 This is a closeup of one of the brushless motors and ESC (the quad comes in either brushed or brushless models). This ESC runs at 200Hz. IMG_4660 It comes with a 1000mAh LiPo and charger. IMG_4661 You can see the carbon fiber rods through the battery compartment IMG_4659 Green LEDs in the front; red LEDs in the back IMG_4662 A USB-to-serial cable for hardware interfacing
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Developer

ArduIMU Quadcopter

Posted by Jose Julio on January 12, 2010 at 2:28pm
Is this the quadrotor week? :-)Hi all, on Christmas holidays I have started my DIY project to construct a cheap (but good performance) quadcopter based on ArduIMU hardware only.

I have used standard props (NO counter rotating) that are easy to get and if we want construct the quad on other size you have no problems finding the right prop. To compensate for torque I mount front and rear motor with a small angle (about 6º, see Photos). I first use this concept on this project (http://www.rcgroups.com/forums/showthread.php?t=297067) six years ago!!...Size: 64cm (motor to motor). We can dissasembly front and rear arms with one screw (easy transport)Weigth: 850gComponents:4x TowerPro2410-9T+ESC18A+Prop1047 combo 4x$15 = $603S2200 Lipo Batt = $13Aluminium and building materials = $12ArduIMU = $99--------------Full: $185

Note how small seems the ArduIMU PCB on this quad! and how clean is this setup. We can construct really tiny quads this way and if we use standard props we have a wide range of motors and props to choose...Development:The first test I did on this project was the vibration test of the ArduIMU with motors running and with the new firmware (I use r20) there are no problems with this. Because we have 4 motors running there are more noise on accelerometers (it´s normal) so I added a new low pass filter on the accels and also adjust the gains for drift corrections...The main loop with IMU code and PID controls for roll, pitch and yaw runs at 70Hz and the PWM outputs for ESC´s have a 125Hz rate. As always, adjust the PID gains is a very important task . D term is really important for a quad and I am using directly the raw gyro readings (bias corrected) to feed the D term in order to make it more responsive.The most difficult part was the developing of the function to generate the PWM pulses for the ESC´s because we need 4 PWM servo outputs with very good precision (1-2us) and at a high rate (now is 125Hz).This code generate more than 10,000 interrupts per second (only ADC generates more than 8,800) so in this enviroment is difficult to generate precise pulses.The solution was to use the Timer2 overflow interrupt and a "trick" based on Timer 1 counter readings to achieve this high precision. I have also one (or two) more standard servo output for future applications (camera stabilization?)The radio input is done via the ICP pin and interrupts so high precision is achieved (1us). We need to feed a PPM signal (directly from Rx or via the new Jordi´s PPM encoder...)On the future we can use the magnetometer of ArduIMU, but now the yaw is like having a Heading hold gyro (note that quads have slower yaw response than helis)This is the first stage on the development process of this project but I have made some tests with good results.

Future:-More tests, outdoor tests...-Add ArduIMU magnetometer to correct yaw drift-Add GPS for position control...-Add Ultrasonic rangefinger for automatic take-off / landing...-Add camera with stabilization...-Find time to all this projects... :-)Here is the code and some notes: Quad1_15.zipSome link to photos: Photo1,Photo2,Photo3,Photo4Jose Julio.
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Snellflight 'jumpjet' quadrotor

Posted by Pig Pilot on January 12, 2010 at 11:54am
To add to the subject of quadrotors, there has been a very inexpensive item available here in the UK for the last couple of years. It's called the 'jumpjet' due to it being supplied with a stealth bomber body and this was later augmented with a 'Harrier Jump Jet' body as an accessory. The basic model is about £60 in the UK which roughly equates to about 100 USD. The model is for indoor use as it comes out of the box and can be converted to radio control by and add-on circuit. The basic quadrotor model can be readily flown without the aircraft bodies being fitted.This item was designed in the UK by 'Snellflight' who are a small model design business noted for innovative helicopter designs. The parts are made in China.Here is the website; http://www.snelflight.co.uk/index.htmThere are several videos on the site including an outside flight carrying a video camera and transmitter.
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3D Robotics

Another toy quadcopter from CES, begging to be made autonomous

Posted by Chris Anderson on January 12, 2010 at 9:08am

The Parrot AR.Drone was not the only quadcopter at CES. From ArsTechnica, a report on a toy quad with impressive-sounding specs ($299 show price; $399 MSRP). Gyro stabilization and some sort of altitude control (ultrasound). Sounds like it will quickly be sued into extinction by Lucas, but the trend here is clear. The era of cheap and capable quads is upon us. We'll be modding these things for full autonomy and good cameras in no time. What does this mean for the expensive (multi thousand $s) quadcopters from the semi-pro world, such as the Draganfly and Mikrocopter? I know they're more capable, but is it enough to justify the price difference?
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3D Robotics

Multiplex vs HobbyKing Shootout!

Posted by Chris Anderson on January 11, 2010 at 11:30pm

I'm always looking for cheaper Chinese alternatives to our standard aircraft platforms, which is why I'm a fan of the Hawk Sky (EasyStar clone) and Busy Bee (good aerial photography platform). Most of them come really ready to fly these days, with pre-installed brushless motors and ESCs, servos and sometimes even decent LiPo batteries and chargers. Since many of these aim to offer cheaper alternatives to the excellent but expensive Multiplex line that are a favorite for UAV makers, I thought I'd check out two HobbyKing clones of our tried and true Multiplex Easy Glider Pro and Funjet: the Easy Fly and the Sky Fun. They've now arrived and the jury is in: the SkyFun is great and the Easy Fly is crap. At first glance, they both look very attractive. The HobbyKing SkyFun, at $63 with servos and brushless motor included and installed, costs less than a third of what the Multiplex FunJet and power pack costs. And the HobbyKing Easy Fly, at $70 with installed brushless motor, folding prop and servos, likewise costs less than a third of the Multiplex EasyGlider Pro and power pack. But are they really such a good deal? The answer is that the HobbyKing foam RTF kit quality varies pretty widely. The right kit is as good or better than the name-brand equivalent. And the wrong kit is no bargain at any price. First the good news: the SkyFun is a terrific replacement for the FunJet. As you can see from the photo above (the SkyFun is on the right), it's a bit bigger than the Funjet, but otherwise very similar. It comes with a smaller motor, which the commentators on the product listing say leads to pretty tame stock performance, but it has a very wide flight envelope, from slow to very fast (with a bigger motor). Most importantly for UAV uses, it has a HUGE equipment area. As you can see in the picture below, it has more than twice as much interior room as the FunJet, and the FunJet is known for having a lot of interior room. You could put an autopilot, a camera, a range of sensors, and all sorts of wireless video gear in there and still have room for loads of foam padding and movement to get the Center of Gravity right.

I haven't flown the SkyFun yet, but I'm pretty sure that this one will get a lot of UAV use, and possibly a motor upgrade if I get very confident in its flight characteristics.

Now for the bad news: the EasyFly. It's a joke, at least for UAV use. The quality of the model is far below Multiplex standards, and the cockpit area is a mystifying failure of design. Although the EasyFly is bigger than the Multiplex Easy Glider Pro, it's got only half as much interior space, due to some poorly placed servos, way too much useless foam and a ridiculously thick and deep canopy. Just look at it, compared to the Easy Glider Pro (the EasyFly is on the left):

You can see even more clearly from this angle that the EasyFly doesn't even have enough room for a decent-sized battery, much less an autopilot and other electronics:

Then there is the quality of the model. The folding prop and spinner don't fit the body, so they look bad and the prop blades hit the side. The motor is tiny compared to the Easy Glider Pro (which is, to be fair, pretty overpowered). And rather than proper horns on the ailerons and rudder, the EasyFly has these ridiculous lever things (I imagine that they're designed to lower air resistance, but they just have the effect of less solid control):

The comments suggest other problems, such as an unreliable wing mounting, but I think the cramped cockpit is simply disqualifying. I may end up using it to learn slope soaring (if I crash/lose it I won't be too sorry) but I can't see ever turning it into a UAV. Where would I put the gear?
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Chad Frost shares stories from NASA's autonomous systems and robotics department and his thoughts on civilian usage of UAVs.

Posted by Tim Trueman on January 11, 2010 at 10:30pm
iTunes linksAAC: http://itunes.apple.com/WebObjects/MZStore.woa/wa/viewPodcast?id=330632997MP3: http://itunes.apple.com/WebObjects/MZStore.woa/wa/viewPodcast?id=330633212RSS feedAAC: http://feeds.feedburner.com/diydronesMP3: http://feeds.feedburner.com/diydronesmp3It's been three weeks but we're back in this action-packed hour-long episode!
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3D Robotics

Who should we invite to be a DIY Drones podcast guest?

Posted by Chris Anderson on January 10, 2010 at 11:26pm
We're starting another year of weekly DIY Drones podcasts, and we need your help in choosing guests. Who should we invite to join us for a half-hour Q&A, to be recorded for the podcast audience? Anybody who is doing something cool is a good candidate, professional or amateur--we've had everyone from NASA scientists to other hobbyists. Please give us suggestions in the comments below. Who would you like to hear from?
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3D Robotics

DIY Drones live chat/podcast with NASA's Chad Frost tonight at 9:00pm PST

Posted by Chris Anderson on January 10, 2010 at 7:42pm
Free video streaming by Ustream Tonight (Sunday) we'll do podcast #13, which everyone here is welcome to participate in by listening to the chat live above and commenting and asking questions via the DIY Drones chat function. We'll be starting at 9:00 PM PST and will probably go about 40 minutes. This week we'll by joined by Chad Frost, manager of the NASA Autonomous Systems and Robotics department at the Ames research center. We'll be talking about civilian applications of UAVs. As always you can subscribe to the podcast here. Tonight's livecast will be recorded and available as a podcast on Monday.
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3-axis Geomagnetic Sensor with Angular Velocity Detection

Posted by Matt on January 10, 2010 at 4:18pm
Here is a new sensor which could improve stabilisation of our drones.It is purely a Geomagnetic Sensor however it can output rotation rate just like a gyro. It might even be possible to create an IMU type module using only this sensor and an accelerometer. That would be economical!

HSCD.jpg

Features- Angular velocity detection and electronic compass functions in a single component made compatible by utilizing ALPS’s proprietary software.- Achieves high resistance to external interference with its proprietary shield structure."By processing data detected on three-directional geomagnetic axes using proprietary software developed by ALPS, the HSCD Series realizes an angular velocity detection function through triangulation, namely a gyro function. Combining these angular velocity detection and electronic compass functions in a single package reduces the size of the mounting area, as fewer components need to be installed "" resistance to external interference has been improved by building ALPS’ proprietary shield structure into its sensor element. As the number of functioning components increases in such products as mobile phones, and as progress continues in making circuit boards more compact, it is becoming easier for geomagnetic sensors to be affected by parts that generate magnetic fields, such as speakers. The proprietary shield, however, minimizes the effects of the magnetic fields emanating from other components."
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3D Robotics

Paparazzi-based Quadcopter/Biplane hybrid transitions to and from horizontal flight

Posted by Chris Anderson on January 9, 2010 at 10:30pm
This awesome display of VTOL --> horizontal flight -> vertical landing is accomplished by the Booz Paparazzi-based quad project. Although many people have tried VTOL aircraft that are meant to transition to wing-based horizontal flight, it's very hard to accomplish the transition, especially the transition from horizontal flight back to vertical. This one does it very naturally. Impressive!
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Features you would like to see in ArduPilot GCS

Posted by automatik on January 9, 2010 at 2:00pm
I am pleased to report that ArduPilot ground station ( LabVIEW ) team is getting up and going.Our first objective is to clean-up the code a bit, make it more robust, and easier to add new functionality.Over time request for ground station features have been mentioned in few threads, and I would like to consolidate them in one place.What ground station features would you like to see or change?For example:1. kml logging : log lat, lon, alt2. voice synthesis : periodically announce status (way point, alt, speed); announce status through selected flight levels3. A choice of different graphic layouts, specially for the Horizon Indicator, something that would resemble more real aircraft instruments4. Change colors to get more contrast on sunny days5. Label baud rate settings for different GPSs so you don't have to remember (uBlox=38k; EM406 = 57k)6. Distribute the executable as a .app (not just .exe) so that Mac users can try it.7. Object tracking - once we have video support8. Show a 3d model representation of the plane9. online & offline maps support (google maps, OziExplorer,...)10. Data logging - preferably user selectable parameters- add your request
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Arduino/AutoPilot based on UB32

Posted by Tim Michals on January 9, 2010 at 11:02am
Goals for this projectHave UBW32 on order, the next version has 128K of RAM so... that will be nice1) UBW32 Software porting- Use open source 4.4.x gcc compiler http://www.codesourcery.com/- Gives better code generation then current 3.3.x- Follow the general setup an ARM process has... (more on this later)- Support C++, in order to support Wiring as is the AVR supports basic C++, so need to do this...- FreeRTOS port (This is done, but, using newer gcc- USB Host support- Support wifi USB dongle ( ordered dongle, it is a 1000mw 802.11b/g)- Support Ad-doc and infrastructure mode)- Video (USB) using off the self web camera- Support of Wiring- New boot loader based on LUFA (http://www.fourwalledcubicle.com/LUFA.php also with mass storage device)- similar to mbed.org, allows users to update firmware via mass storage...- once mode USB is working... need a way to switch between the two... OTG?- SPI SD flash support.2) Simple controller (more to follow)3) Lua scripting support (allows setting simple scripting without writing a bunch of c++/c code
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3D Robotics

AeroQuad--an Arduino-powered Quadcopter

Posted by Chris Anderson on January 8, 2010 at 9:30pm
I don't know how I missed this before, but there is a pretty mature project for a Arduino-powered quadcopter, called AeroQuad (also known in RC Groups as Quadrino, which is a much better name IMO!). Rather than using a custom board, they use a standard Arduino devboard and off-the-shelf Sparkfun sensors (although they did make a custom Arduino shield to solder them on to, although that doesn't seem to be available anymore)
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Goals and First Start

Posted by Jason Lyons on January 8, 2010 at 5:30pm
I thought I'd start out by outlining the goals of this project. Several years ago, I bought a remote control helicopter from Hong Kong, it's a Walkera Dragonfly fixed pitch helicopter (pretty much identical to the E-Sky Honey Bee Micro, or the Twister). It was pretty difficult to fly, and almost impossible if there was any wind. After I started getting into microcontrollers and control systems at uni (I'm now in the final year of an Elec engineering and Comp Science double degree), I started playing around with an Arduino and after awhile decided that I'd like to build a PID (or LQR) stabilization controller for my helicopter to make it easier to fly if I ever had the time (and then evolve into full automation if I can). This was a year ago, and in the mean time I haven't really had time to do much about it. Now it seems I finally have time (or, at least, the willpower to make time for it).I already had an Arduino Duemilanove, so I bought my first sensors a couple of months ago when I was all cashed up. I got these:ArduIMU Main board (4 DOF with room for 2 more gyros)http://www.sparkfun.com/commerce/product_info.php?products_id=93722x ArduIMU Daughter boardshttp://www.sparkfun.com/commerce/product_info.php?products_id=9373I got these about a week later, and assembled them no problems. I was surprised just how small the unit was. I managed to do some basic coding (getting the values from the Arduino to serial) but decided to save the rest for the summer uni break.Fastforward to now: I started working on it again about a week ago, and due to full-time work experience I only really have evenings with which to chip away at this project. I've got the sensors connected to the Arduino and I'm scaling the ADC values to units of gravity and degrees/sec, then calculating the gyro angle (in radians) through integration and acceleration angle using arctan2.Here's the setup:

Then I recorded a sample, rolling right & left then pitching down and up and yawing right then left. The X-axis is time in seconds.

As you can see, there is quite a bit of drift on the gyros, so I'm going to implement a Kalman filter to hopefully eliminate this.
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$69 1000mW FHSS Transceiver (900MHz)

Posted by Faisal Shah on January 8, 2010 at 1:29pm

* 900 MHz Frequency Hopping Spread Spectrum Transceiver* Point-to-Point and Point-to-Multipoint Network Topologies* Transmitter Power Configurable from 1 mW to 1 W* RF Data Rate Configurable from 38.4 to 500 kb/s* Serial Port Rate up to 460.8 kb/s for Streaming Applications* 128-Bit AES Encryption* Separate Serial Port for Diagnostics* Analog and Digital I/O for Sensor Applications* FCC and Canadian IC Certified for Unlicensed Operationhttp://www.rfm.com/products/dnt900.shtmlIs this too good to be true? Anyone try this out yet?How does it compare to the Digi Xtend module (1W as well): http://www.digi.com/products/wireless/long-range-multipoint/xtend-module.jsp
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