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Google Earth Live FPV & Cellular Telemetry

Posted by John Gantner on June 10, 2009 at 11:20pm
This post is about a live (simulated) FPV system using Google Earth, relaying data over a cellular GPRS/3G network. A while ago I saw a commercial OSD setup that used Google Earth to simulate an FPV display. Needless to say, I was immediately smitten. However, video TX gear is expensive and a hassle, so Google Earth here serves as a simulated FPV. Hopefully this will eventually mature into a Google Earth HUD (like the Flight Sim easter egg already in it, but real-life!) Comments/Questions/Suggestions welcome. This is just a proof of concept for now, so it is really just an experiment to help me learn KML.

Basically, it is:[Controller]--Serial-->[Bluetooth module]--Bluetooth-->[Cellphone]--GPRS/3G-->[Server]<--GPRS/3G/Wifi/Wired-->[Ground Station]The server, and the roundabout, non-streaming nature of the system, is required because of NATing, and carrier APNs generally not allowing anything but straight HTTP and outgoing connections (and generally being terribly unreliable).So here's some simple PHP scripts. PHP was used because I found a free host that offered it. These have very little error-checking and are generally hacky. There isn't really anything written up about how to use them yet. Caveat emptor.kmlupdate.php - Called by the UAV. Takes any POST/GET data and appends it to a csv file on the server.loadkml.php - Generates a KML file for GE that has 2 NetworkLinks in it. The ground station calls this page once at the beginning of the flight to setup for live telemetry.lightkml.php - This one is called by GE via the KML NetworkLinks that loadkml generated. It dynamically returns (only) the latest data in a 3D point form and in a simulated FPV form. It's called lightkml because it is designed to use only a small amount of bandwidth, useful if the ground station is on costly GPRS/3G. I could really cut it down by building the file locally, but I can't really be bothered to do it right now.heavykml.php - Still working on this one. It has a rollercoaster-like animated FPV tour and 2D/3D line tracks. It returns the entire flight each time it is called, not just the last point, so it is only suitable for post-flight review.I don't actually have the Bluetooth module yet (or the actual controller for that matter, but I do have a program spitting out simulated datapoints for testing), so I won't upload the J2ME stuff until I get a chance to test it. Right now I am only simulating the Bluetooth and the UAV data on a J2ME emulator. Theoretically, it should work on any Bluetooth J2ME phone that properly implements JSR-82 with RFCOMM and has HTTP available.To try it out you can load the scripts somewhere then do something like://Some simulated data stored at "test". Google Earth's camera roll/pitch/yaw is not like a plane. Altitude is absolute.http://127.0.0.1/kml/kmlupdate.php?filename=test&latitude=37.796037&longitude=-122.390736&altitude=200&roll=-40&pitch=82&yaw=178//Generate the KML file. Save this and rename it to a .kmlhttp://127.0.0.1/kml/loadkml.php?filename=test//Start Google Earth and load the "loadkml.kml" file//Select one of the 2 types of views, static view 3D point or animated FPV. The annoying "bouncy" effect on FPV will be removed soon. It will autoupdate every second, so try entering new data in kmlupdate and watch the results. It only displays the last point to (eventually) save on bandwidth. To stop the bouncing or to stop updating uncheck the boxes.Files: phpkml.zip
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Developer

New Portable Open-Source ArduPilot Ground Station (Arduino and Xbee Based)

Posted by Jordi Muñoz on June 10, 2009 at 11:30am
I been working on this project for about a year, but i never had the time to finish it. Is very difficult go to the field with your bulky laptop all the time, not to mention that you can damage it and the battery life is to short (the sun on the screen don't let you see anything). So i spent some time using Olimex development board with the Atmega128, but i want it to make it simpler, open-source, bigger screen (with back light) and Xbee compatible. So i come to this:

-Atmega328 at 16Mhz with Arduino Bootloader.-XBee Socket and 3.3V powered (I've included some holes near to the antenna so you can hold it with a strap) .-Can be powered with 2 and 3 cell LIPOS (diode protected and regulated).-Huge 4 line screen with backlight, very clear under the sun! (2 pots to control the backlight and contrast).-FTDI port to upload code, also the boards is ready to be programmed with XBee (using this trick).-Six button to navigate and change screen and options.-Very noisy buzzer that can be used to alert you when it has low battery or low altitude.-6 I/O analog pins available, including the I2C port.-2 powered SERVO OUTPUTS (Tilt & Pan) than can be used to control a directional antenna (NICEE!).-Extra 3.3V and 5V volts outputs.-Status LED's.-The software is ArduPilot compatible and Open Source (out of the box).

What you can do:-Portable Telemetry.-Send commands (Ardupilot mega).-Robotics.-Remote control robots, can be used with Wii NunChuck to send commands.-Smart toaster's and dishwashers. (I use it to control my reflow oven).

The cost would be around $57dlls. 17 units will be ready in the next 10 days. Any orders?Has no official name, but for now is ArduStation (Later i will release the ArduToilet, LOL). The pictures only show the first prototype, that have some minor mistakes like the holes to close to the edges, i didn't include the reset button and the 5V power regulator get pretty hot (when 3 cell lipo is attached), so i change it to the big ventilated version. All this is fixed in the release version. I still working on the software.

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Atmel v Microchip v Freescale

Posted by bGatti on June 10, 2009 at 10:11am
Having now worked with all three uControllers and their respective IDEs, I thought it would be beneficial to start a milestone summary of my observations.To begin, I recently went back to the Microchip PIC family on account of their superior battery life (ultra low watt sleep) - which it seems is a full order of magnitude better than freescale or atmel. I note that microchip has recently? added a C compiler to the free IDE, in addition the PICs now come with a matrix multiplier which increases the speed of multiplication to a single cycle, this they say is on par with DSP speeds, and I think quite relevant to the UAV community as these applications are multiplication-intensive, and often cpu bound.IDEFreescale - nice processor wizard makes setting up peripherals easy - step-through debugging. Supports real USB devices.Atmel (Arduino) IDE sucks frankly, no step-through debugging, 2 processor selection. - Arduino is stuck in FTDI-landMicrochip - now supports step through debug on all modern flash uControllers from C source. Supports real USBCyprus Psoc. Frankly I wet my pants. PSoC has cool features like a programmable gain Op Amp, and now some higher current outputs and HighSide drivers integrated? - but the complexity and learning curve look steep, in addition to which the noise aspects of the PGA seem unusable for a wheatstone bridge for example. It's more of a Machine descriptor IDE, than a sequential language. Reminds me of the Parallax Propeller, but the Cogs are analog.ADCFreescale 12 bitsAtmel / Microchip 10 bitsCyprus - Include signal conditioning onboard, (ie gain and filters)?Propeller fuggetabouditUSBMicrochip will sublet it's USB Id'sFreescale, good USB Support, USB ID's are prohibitively expensive.Atmel/Arduino (fuggetaboudit)Learning CurveArduino is far and away the winner here.Next are the PIC Basics - which are easy but expensive.Freescale in C is not bad - free with excellent entry level packages (ie Spyder).Microchip recently bought Hi-Tech (pdfsucks) so I expect the PIC in C to improve. It's already free and usable, though installation requires it's own webinar.I'd like to hear how these observations may compare to others out there who have used multiple toolchains for entry-level ucontroller projects.
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Moderator

Reply from Multiplex on a request for a bigger "easystar" model.

Posted by Robert Krogh (hooks) on June 9, 2009 at 11:16am
Here is the answer from multiplex on a request for a bigger model like Easystar.Hello,we got similar requests from several other pilots as well.First of all, the Easy-Glider was made in some view to get a bigger plane with adequate flying caracteristics than EasyStar.We know, that with the prop in front it is not that easy to convert, but some people did this with good success.On the other hand it is not possible to make the same model simply bigger.The demanding on stuctural strength is dramatically increasing, especially, when the wight is increasing by additional payload.The molding costs are much higher and usually the bigger the model the smaller the qty which means highly increasing costs per pcs.From our point of view, at this stage the group of people, who areusing cameras and/or GPS-System in the EasyStar is kind of piggybacking on the succes of a model designed to learn to fly.And this is still by far the majority of EasyStar-customers.From our point of view it take a while till this specific demand justifies a specialized model, made of moulded foam. Other manufacturing technics, which does not require such a big investment suits better at this time.But we have several models which probably could be adapted, e.g. the Twinstar, which we in our house are using to make fotos with a standard digital camera.Another model with high capability of payload is the Mentor, which we are using as carrier for rc-parachuters with a wight of 600 to 800 g.Or on a slightly smaller scale the EasyCup works very well to carry camaras.Best regardsMULTIPLEX Modellsport GmbH & Co. KGGerhard GreinerMarketingleiterHmmmm....
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3D Robotics

New products in the DIY Drones store, including FMA sensor-to-ArduPilot cable!

Posted by Chris Anderson on June 8, 2009 at 11:25pm

Jordi was able to source some fantastic cables to connect the FMA sensors to the ArduPilot shield, which make the whole autopilot integration process MUCH easier and more reliable. The connector is designed to solder right into the ArduPilot shield (see above) and plugs right into the FMA (or AttoPilot) XY and Z sensors. Highly recommended and just $7.50. You can see the full connector below:

Pitot tube and silicon tubing for airspeed sensor. Just $4.90!

Finally, a little thing that can make life a bit easier. It's a "bind plug" and you can use it instead of a jumper when you're setting up ArduPilot the first time each day at the field (recording the home position). Just solder a female servo cable's black and white wires to the two holes where the jumper goes and then string the servo connector outside your plane. Then you can just insert the bind plug and it will work like the jumper, without having to get inside the cockpit and mess about with the autopilot itself. Just $1.25!
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3D Robotics

New UAV company

Posted by Chris Anderson on June 7, 2009 at 10:30pm


I've been hearing about a new UAV company called Whisper Aerospace that's focused on the low end of the nascent domestic commercial sector. Founders include our own Patrick Egen and Lucien Miller, the electrical engineer who does the terrific Power Systems Corner on the All Things That Fly podcast and runs Inno8tiveDesigns.

The company is still in stealth mode, but here's what they are saying about their plans:

"Whisper Aerospace is a new company founded by a group of individuals with a very diverse range of technical skills, all working to create and bring to market the first Commercial/Civilian UAVs that will be able to fly in the NAS (National Airspace System). Our UAVs will feature reasonable payload capacity and operational performance, thereby offering clients considerable flexibility in solving their needs for an airborne platform that is not hampered by the relatively low performance and restricted operational capabilities of current systems. Multiple communications protocols and power sources will be available inside our standardized payload modules in order to make it easier to integrate client hardware. Our ground control systems will be very user-friendly and offer a wide range of options and customizable features."
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3D Robotics

Correct Blimpduino LED/motor/servo behavior

Posted by Chris Anderson on June 7, 2009 at 10:00pm

The correct Blimpduino behavior modes are as follows. First power-up of board, straight from the factory:
Red Power LED: On
Four green LEDs Flashing in sequence, then altogether, then in sequence again:
Blimpduino code loaded, RC receiver plugged in. Power on/calibration sequence:
Red Power LED: On
Four green LEDs 1st: flashing in sequence. Then: North LED only while reading RC. Then: alternate N&S, E&W to signal RC control
Vectoring servo: Responds to RC stick control
Motors: Speed up when channel 2 stick is pushed up, slow down when pushed down. Channel 1 stick controls which motor spins faster
Autonomous mode (RC not connected) startup:
Red Power LED: On
Four green LEDs Flashing in sequence
Vectoring servo: Moves up, level and then down while calibrating US sensor. Then tilting up or down for altitude hold depending on whether the board is above or below initial height
Motors: Should spin. Direction/speed depends on what the sensors are seeing
Autonomous mode (RC not connected); beacon present and visible to board:
Red Power LED: On
Four green LEDs Light up in direction of beacon
Vectoring servo: Then tilting up or down for altitude hold depending on whether the board is above or below initial height
Motors: Should spin. Direction/speed depends on what the sensors are seeing
Autonomous mode (RC not connected); beacon not present and or not seen by board:
Red Power LED: On
Four green LEDs Off
Vectoring servo: Stationary, usually titled down
Motors: Should spin. Direction/speed depends on altitude
Battery low:
Red Power LED: On
Four green LEDs All flashing
Vectoring servo: Stationary
Motors: Off
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near miss between model plane and Pacific Blue 737-800 at perth Airport

Posted by ionut on June 6, 2009 at 12:33pm
On the 20th April it was revealed that a Pacific Blue 737-800 had been involved in a near miss with a model aircraft whilst on final approach to Perth International airport's runway 03. It was alleged that the owner and operator of the model aircraft had took off from a park nearby and delibretly flown the model aircraft with in 30 metres of the 737-800, this has since sparked a CASA (civil aviation safety authority) investigation into the incident. Police and CASA are continuing with their investigations. Fortunately the model aircraft intercepted the 737's jetwash (or more commonly known as wake turbulence) which in turn caused it to spiral towards the ground.Video:https://www.youtube.com/watch?v=4u7sXslgo8gI hope nobody will try to hit the Space Station with a RC Rocket :)
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Low cost ($60) 2.4 G Computer Transmitter with Dual Receiver antenna question...

Posted by Tom in NOVA on June 6, 2009 at 12:00am

6ch24gradiomanualen.pdfI just purchased this low cost 2.4 G Computer Trasmitter/Dual Receiver that is cheap because it does not have the LCD, etc. adjustments built in, but uses your computer to set up and change the settings. It's seems similar to the FASST or Spektrum. (Here is another place to get it from)Of course I promptly broke off the small (about 2 inches) antenna wire on the receiver. My question, before I solder it back: can I add a longer length antenna to replace the broken one (since I will need to take it apart anyway) so I can potentially increase range? If yes, it would increase range, how long of an antenna should I make (between 5-12 inches)?Thank you,Tom
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SimpleSerialization - serial communication for the Arduino/ArduPilot

Posted by jaron on June 5, 2009 at 1:30pm
I was searching for a way to exchange data between an Arduino/ArduPilot and a Java application. There are already several solutions to do this but none of them really met my requirements. So I decided to write a library that implements a mechanism called serialization/deserialization. The now called SimpleSerialization library allows you to define a data structure (or object) that will be converted into a stream which then can be sent via a serial connection.DownloadsThe distribution: SimpleSerialization-1.0.zipThe project page: code.google.com/p/simpleserialization.What you can do with it- debug an Arduino application in a very convenient way- remote control an Arduino- setup a hardware-in-the-loop simulation- and moreAn example SimpleSerialization application could be to feed an Arduino with GPS data at 5Hz and attitude data at 30Hz. In return the Arduino would send the calculated actuator commands back at a rate of 10Hz. All this data would be exchanged via a single serial connection.Requirements- an Arduino or ArduPilot- a serial connection from a PC to the Arduino- and additional 2KB of flash memory when used with the ArduPilot- the Arduino IDE- a Java IDE (e.g. Processing or Eclipse)


The SimpleSerialization library is part of my UAV Playground project where I explore various aspects of UAVs like microcontrollers, simulators and remote controlled model airplanes.
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AludrACopter!!! or something like that...

Posted by AludrA_55 on June 5, 2009 at 2:00am
AludrACopter Project:I started my analog 5-DOF modular IMU research and testing in January of 2009. I don't know much about electronics. I researched on op-amps and how to use it to create an analog computing device to do calculus integration of gyro signal then combine it with accelerometer signal. I also incorporated a multi-turn potentiometer to enable adjustable mixing of gyro and accelerometer.Then from February until April, I researched on a heli platform and assembled it. I chose a Furion 450 and some handpicked electronics accessories (I still don't know how to fly it but I could hover a little). My previous microcontroller at the time was a ZBasic but it only has 2 PWM pins (however, capable of several multi-tasking). To control a helicopter I need 4 servo signals. So I decided to change to Arduino for its multiple PWM. However, I didn't know how to program in C and Arduino cannot really do software multi-tasking.In May, I finished creating a digital version of the analog modular IMU. The device spits out tilt angle via serial communication. That means that it could send it to any device that could communicate serially. That makes it really easy to transfer it to any vehicle platform like airplane, car, heli, balancing robot, etc.June 5, 2009:I connected the Ardupilot board to the RC receiver and servos. Then I connected the 5-DOF modular IMU that I made to communicate serially with the Ardupilot. I didn't do a flight test yet because it's already 2am and I don't want to fly it inside my bedroom... =)It's capable of compensating for tilt so far but I still haven't written the code for the PID...Actually I'm thinking of creating a "learning" PID... I still have to sort out the theory in my head...Check out the pics and video in my profile.June 6, 2009:Flight test! The code is from scratch except the hardware PWM that I copied from Ardupilot code. The loop samples aileron (right servo) and pitch (left servo) signal from the transmitter. 5-DOF IMU module sends serial tilt angle to the Ardupilot board. Proportional control in respect to tilt from the IMU and controls the servo to change cylic head of the heli to align itself. I was not able to lift the heli off the ground because the heli started jittering left and right as I increase the throttle. I think that the gain for the control is too high.I reduced the gain and tried it again but the left servo kept on twitching therefore making the heli jump an inch or so erratically. I checked the code and found out that the pulseIn is not capturing an accurate signal from the receiver. I am very disappointed because the resolution of pulseIn is not enough.June 7, 2009:To see if it's going to be able to leave the ground, I remove the pulseIn command line and permanently set both left and right servo to a decent collective pitch to give the blades enough lift. The heli was able to lift off the ground about two inches or so for few seconds. However it kept on circling (about 1 foot radius). I think that it has something to do with the IMU's "center" calibration. The IMU's center is not aligned with the heli's vertical center of gravity. I think I could fix this issue by hanging the heli by its rotor head and calibrate the IMU from that position. Or I could connect a switch to one of the channel to trigger the IMU to calibrate when the heli is in perfect hover during manual control. I will probably do the "hanging" technique first.June 10, 2009:Considering pulseIn wouldn't work in capturing the pulse signal from the receiver, I've been reading Atmega datasheets on how to use hardware timer1's higher resolution to measure the throttle's signal.The throttle signal tells me where to set the starting point for both servos. So far the datasheets and instructions on how to use the timers are so cryptic and stressing me out! These past few days I've been studying how to do bit math as well considering I would like to tweak the microchip's registers.

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