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I will maintain the code for a while in a repository at http://code.google.com/p/ardu-imu-pilot/
If you try it out give me your feedback. It is similar to ArduPilot 2.4 but uses a different header file.
To interface ArduIMU to ArduPilot you connect the gps (ublox only) to ArduIMU, provide common power and ground to ArduPilot and ArduIMU, and connect the serial output pin of ArduIMU to the serial input pin of ArduPilot.
Big Breakthrough with HD Pan and Tilt! from Paul Thompson on Vimeo.
Bat-teK is a Carnegie Mellon + Lockheed Martin project that uses a lot of Surveyor's robotic technologies, including the YARB blimp, SVS stereo camera and SRV-1 robot, along with CMU's console and mapping applications. CMU gave us permission to post this video.