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The FAA, UAV's & Part 101

Posted by NSS on May 13, 2009 at 2:38pm
It is quite amazing the mindset of the FAA when it comes to UAV operations. There is something desperately wrong here. I fully understand the need for air safety. And have absolutely no problems with that of course. But what i fail to see the logic is the more or less total BAN on amateur UAV development. Or should I say High Altitude UAV development. I guess if you stay below 400 feet you are Ok. But this is the part i do not understand.I can launch, and do all the time already totally legally by the way with the blessings of the FAA. Balloons that carry payloads up to 6 pounds each, and up to 12 pounds if multiple payloads. And use balloons that are anywhere from only a pound or two to balloons that weigh hundreds of pounds even!I can do this, and as I stated already do legally.But to do a UAV at altitudes we do with the balloons up to 120,000 feet we can not do. Of course above 60,000 is un controlled airspace. And you should be able to do anything you want. But you need to travel through 0 to 60,000 first.But the part the FAA has NOT given us an explanation to is this. two examples,Example 1We fly our 4 pound experimental payload via a balloon, It rises at a speed of anywhere between 500 to 1500 feet per minute, exatly how fast the rise not too controllable, all depends on the lift placed in the balloon. The flight path is totally determined by the winds aloft. Whatever way the wind is blowing is the direction the balloon will go we have absolutely no control over this. The balloon reaches max altitude, and either pops or is terminated, (depends on the type of the balloon) and the payload starts to come down via a parachute. again totally un controllable, where it falls is totally dependent of fall rate and the winds aloft again. eventually landing wherever it lands,,This is ABSOLUTELY LEGALExample 2Using the EXACT same guidelines as the example for payload weight , weight densities, etc, it falls easily into the legal definition of the above balloon flight in every way. But with one change, After seperation from the balloon we are able to steer the payload. Be it a standard payload with a parafoil type of parachute where we can steer it to directions we want. Or taking it one step further a true UAV glider where it still meets all the spec's needed to be legal,, but now is in the shape of the airplane glider. So again it's steerable!Example is absolutely ILLEGAL and FORBIDDEN!!!WTF?Ok we are thinking of safety,, which would you rather have,1- a 4 pound box falling via a parachute to wherever it falls no matter where it is..and they do! we have had them land on tollways,, we have had them lane between taxi ways at OHARE international airport, we had them land at Nuke plants where they called out the bomb squads to check it out. But this is all fine and OK and no one has a problem with BUT........2- take a 4 pound glider, and as it's coming down if it looks like it might be going somewhae not safe,, an airport, or major approach or departure lane,, or ny other not too safe situatiion so you deciode to steer it so it does NOT go there. Sounds great huh? But IN THE FAA'S EYES THIS IS TOTTALLY ILLEGAL. CCan anyone at all see any logic in this?Maybe I see we haul the glider up to 100 K drop it, fly it wherever we wish until it gets to 60 K then let go of the controls, and let it go wherever it does, then once it's below 400 feet then control it again and land it he he heDrop me a note with a copy of what you reply to this please. send it to,nss@mwt.netThe total logic just escapes me.Joe
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Testing inertial attitude estimation in my hardware

Posted by jlcortex on May 13, 2009 at 1:38pm
I am testing DCM update with PI drift tracking. I am using one closed loop with gravity vector and other for magnetic field vector (3 axis vector), i am comparing measured vector with my local magnetic field vector. it works ok!i have read than magnetometers can not be used with electric motors, but i have tested this board over a electric plane, and i can see noise due electric motor is very very small, it is dificult to see any effect in algorithm result.Thanks to Bill Premerlani and Paul Bizard for his DCM method description.jlcortexnmine.com
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Project PropFIT

Posted by JC on May 13, 2009 at 11:30am
Propeller Flying Inertial TestbedGoal:To develop and refine software that will read sensor values and perform the necessary calculations to produce a stable and accurate IMU (inertial measurement unit).Performance:The quality of the code will be evaluated on how well a simulated horizon aligns with the actual horizon. Using the Propellers video drivers, an artificial horizon will be displayed over a real world view to see how well they align.Features:The Parallax Propeller’s architecture allows it to run multiple IMU routines simultaneously (true parallel processing) so software refinements can be compared to a baseline routine. For example a floating point kalman filter can be directly compared to an integer kalman filter to see which performs better. Or the same filter can be run at higher frequencies to see if performance improves.Hardware:Airframe – HobbyLobby Wingo Had one too many crashesAirftame - Easy StarMicroprocessor – Parallax PropellerIMU – Sparkfun 5DoFCamera – Inteligent Flight KX171Here is a partially assembled board used during testing. There were a few layout problems that have been fixed.

Board_Pics_3-09%20010_web.JPG

The underside of the board with the 5DoF IMU. The camrea is only mounted to the board for testing.

Board_Pics_3-09%20011_web.JPG

The project home is herehttp://code.google.com/p/propfit/

here is a picture of the boardPropFIT1.1.brd and the eagle file.
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3D Robotics

A Quick Start Guide to loading code on the UAV DevBoard

Posted by Chris Anderson on May 11, 2009 at 7:30pm
Good news for those of you with Bill Premerlani's UAV DevBoard who have been reading about his impressive new DCM code and other software but are a little fuzzy about loading it on the board. Bill has just released a tutorial on programming the board with a PIC programmer. For us ArduPilot users who have been spoiled by Arduino's easy to use IDE and cheap FTDI programming cable, PIC programming can be daunting indeed. But this tutorial is clear and will walk you through every step. Highly recommended--Bill writes great documentation that's a model of the form.
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My project started

Posted by Sarel P. Wagner on May 11, 2009 at 12:31pm
Well today placed the order for a few bits n bobs with a widget or two thrown in :) the Ardupilot and accessories was ordered. This includes the 900Mhz Xbee Pro, only the FMA sensors to order still as they are back in stock on the 15th :DThe new DSX9 2.4Ghz and the EasyStar with brushless upgrade can now be put to good use, well as soon as the thing is built....
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3D Robotics

Slightly modified ArduPilot 2.1 uploaded

Posted by Chris Anderson on May 10, 2009 at 8:00pm
Just a small bug fix: the previous 2.1 code set the altitude for all waypoints at 75 meters and ignored the altitudes set in the configuration utility (this was a safety measure we were using at the Sparkfun contest and we forgot to switch it back). Jordi has just uploaded ArduPilot 2.1.1 which reads the altitude settings for each waypoint correctly. Thanks to Bryan Cuervo for catching the bug!
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3D Robotics

Blimpduino ready to ship

Posted by Chris Anderson on May 10, 2009 at 11:00am

Here's a stack of Blimpduino boards being programmed in preparation for being sent off to the distributor. We're going to start selling the full kits, blimp, senors, beacons and all) through the Make Magazine store and they'll be available at Maker Faire on the 31st (and in the online store around the same time). Price not yet set, but under $100.
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Admin

The FAA and UAV Certificate

Posted by Thomas J Coyle III on May 10, 2009 at 10:00am
Chris, I saw that you chimed in on this thread on RCGroups: http://www.rcgroups.com/forums/showthread.php?t=1046195 What are your plans in relation to the UAV Certificate issue? It really sounds like it is the responsibility of the end user to get a certificate for their UAV, if they are using it for commerical purposes like AP for hire, and not the manufacturer of the autopilot product. Comments? Regards, TCIII
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New navigation module with GPS, compass, 3-axis tilt, and 8-channel 12-bit analog

Posted by Howard Gordon on May 9, 2009 at 8:00am
bfin-gps-v1a.jpg
We just received the prototypes of a new sensor board we developed for outdoor navigation. This navigation module includes a Honeywell HMC6352 compass, ST LISLV02DQ 3-axis tilt sensor, Analog Devices AD7998 8-channel A/D, and interface to GPS (we're using the Locosys LS20031). The board measures 31mm x 38mm (1.25" x 1.5"), and weighs around 5gm without GPS (18gm with GPS).

Though designed for the Surveyor SRV-1 Blackfin camera and SVS, we are using I2C interfaces to the compass, tilt sensor and A/D and UART interface to the GPS, with everything running at 3.3V, so the module is not specific to Surveyor. The 8-channel A/D enables interface to other navigations sensors such as gyros, barometric pressure, thermopiles, infrared range sensors, etc, supporting the development of a complete IMU solution. The prototype module, as seen above with the Locosys GPS, has an unfinished appearance without solder mask or silk screen, but these features will be present in the production version. We will likely ship the board without headers, but the prototype is functioning properly and is already supported in Surveyor firmware.

The schematic is found here.. Component placement is shown here:
bfin-gps-v1.gif

Bottom view (no solder mask):
bfin-gps-v1c.jpg

The navigation module is expected to be priced at $150 including Locosys LS20031 5Hz GPS, and we should have production quantities available in 30 days. If interested, please send an email to support@surveyor.com
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Long Range Radio Questions

Posted by Robert Drone on May 8, 2009 at 3:30pm
Does anybody know what wattage [how powerfully] I can legally transmit without any sort of liscence?On what Channels?btw, a radio works by grounding the antenna to the middle wire on a pnp transistor correct?So I could use two transitors to build a simple amp?Like this?:_______New ant.______________________I_______________________+ --[I]-- - GND________________ ^__________________________ ^ <---------------WIRE____________ ^___________________________ ^_______________+Volts + --[I}--^ -______________________I_______________________RC ant.___________-The underlines are used to hold the spaces.Thanks-R.Drone ;)
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Moderator

Airframe 3

Posted by Gary Mortimer on May 7, 2009 at 9:52am
Well finally its nearly ready to fly Just waiting for the wind to drop for a test flight.Its a modular thing, with stacks of room for gear in the front a work in progress of course. Hopefully of course it will provide a steady platform for an Attopilot which should be released from its shackles before too long. Dean has another one of the smaller ones which he should be test flying, thats Airframe 2. Airframe 1 is being flown to bits in order to see how well the EPP performs after lots of UV on it. Hopefully in the end we will have a useful platform at FlyingScotsCam for doing the work of the Twinstar and flying wing.
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Moderator

Pan and tilt for video link

Posted by Robert Krogh (hooks) on May 6, 2009 at 12:30pm
Because of bad weather her in Denmark I had the time to make a pan and tilt system for my Seagull 2200 inspired by the pan and tilt system from Range video. (DIY is much cheaper). I have ordered a 1 Watt 2,4 Ghz Video TX and RX from Range video so now the Seagull will soon be ready for a FPV flying.Still wayting for better weather before I can start testing Ardupilot again.
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Radio

Posted by Sarel P. Wagner on May 6, 2009 at 11:59am
Today was radio day :) JR DSX9 it was, easy to change modes, easy to program and 2.4Ghz. More than enough radio to grow into over time, good local support and the price was reasonable.Now the build can start, well that is after the hobby room is prepared :)Later...
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