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Waypoint editor?

Posted by Pedro on March 16, 2009 at 7:16pm

I am interested in using the Ardupilot for a ground vehicle application, and I need to enter a large number of waypoints for many different parts of the country. Saving and retrieving the waypoints is a must. I will also need to use an external EEPROM, but that is a different story. I wrote a waypoint editor that can help users manage a large number of files, and, also, save *.KML files for display on Google Earth. I will be very glad to share the editor with anybody, and, if enough people have interest, I'll post both the executable and the source here. It also allows you to create a track with the shape of a regular polygon. Here is a screen dump of a track at the Boulder , CO Model Airplane field on Google Earth.

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3D Robotics

Switching between Waypoint and RTL modes in ArduPilot 2.0

Posted by Chris Anderson on March 15, 2009 at 11:43pm
One of the cool things about ArduPilot 2.0 is that it supports three in-flight modes: manual, autonomous (waypoint) and autonomous (return-to-launch/RTL). These are selected with your autopilot-enable toggle switch on your transmitter. If you have a three-position switch the middle position defaults to waypoint mode. The up position is RTL mode. You can also use a proportional dial for this channel; half-way turned is the middle position. Or, if you have a mixing Tx, you can mix two toggles switches to create an in-between state on the enable channel. When the autopilot is in waypoint mode, the yellow Mode LED will be on. It is off in manual and RTL modes. If you want to modify these defaults, you can change them in the software. I've posted on how to do that here.
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T3

Roll-pitch-yaw demo of the direction cosine matrix is complete.

Posted by William Premerlani on March 15, 2009 at 4:21pm

RollPitchYawDemo.JPG

Implementation of the direction cosine matrix is complete. Firmware and documentation are available. Those of you who have purchased a UAV development board are definitely going to want to try the demo to gauge the possibilities for IMU based flight control. Performance is impressive.The picture above is the setup that I used to test the firmware. There are 3 servos, a GPS, the board, and a battery that are attached with velcro to stiff cardboard. I used it to walk the board around the neighborhood. I also attached the whole thing to my car dashboard with velcro, and went around a local traffic circle as fast as I could.Best regards,Bill Premerlani
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Developer

2.4ghz: How to read 7 channels with one wire (NOT PPM) with Spektrum modules...

Posted by Jordi Muñoz on March 15, 2009 at 12:00pm
Since i got my new 2.4ghz spektrum radio (I FALL IN LOVE) i always wonder how the daughter receiver send data to the mother, maybe PPM? mmhh not! With a little help of an oscilloscope i started to reverse engineer the protocol used, well i saw only steady digital signal with lows of 8.6 useconds, that responded to the movements of my radio, so i quickly realize that is some kind of serial communication, and i did the calculations (1000000us/8.6us=116279bps) and i thought that maybe the serial speed was 115200bps. So i attached my FTDI cable and start analyzing the data, and i got this:Spektrum daughter board is sending 16 bytes of information using a serial com. running at 115200bps. As you see in the picture above, the two first bytes are the preamble or sync bytes (0x03, 0x01). The data comes in integers that response precisely in the order is labeled in the picture...So Paparazzi users this is a way to switch 2.4ghz (only in American), the back of my Specktrum radio says: "NOT FOR USE IN EU", uuh!I hope somebody can do something usefully with it, enjoy!
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How to make a more stable UAV plane platform.

Posted by Pekka Ahola on March 14, 2009 at 4:57pm
Ever heard of "Moment of Inertia"? Neither had I, but it's quite simple really.Object with the most of it's weight at the center of it's gravity is easier to rotate than one with the weight on the outer edges. So why put all the electronics and batteries in the center under the wing. By distributing the weight to the wings, should create a platform that has steadier flight characteristics.More on this and a few pictures in my personal UAV blog.
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YARB robotic blimp now available for purchase

Posted by Howard Gordon on March 14, 2009 at 1:30pm
Since posting our Google Android G1 control console for the YARB robotic blimp, there has been a fair amount of interest in an assembled version of the 66" blimp, so we have decided to make YARB available for purchase.Cost is $875, which is $200+ more than the cost of buying the various kit components, or equivalent to the cost of approx 8 BlimpDuinos , but some users are less DIY, and it is somewhat easier for us to support a fully assembled version.The YARB controller includes a 500MHz (1000MIPS) Blackfin processor, 1.3 megapixel camera with 3.6mm or 2.2mm lens, 802.11bg Wifi radio, motor and servo controllers for vectored thrust, and 800mAh battery + charger. Firmware is open source, and includes support for 4 Maxbotics EZ1 sonar modules and the Honeywell HMC6352 compass.For more information, visit -http://www.surveyor.com/YARB.htmlhttp://www.surveyor.com/blackfin/http://surveyor-corporation.stores.yahoo.net/yarobl.html
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3D Robotics

New EagleTree OSD Pro with return-to-home

Posted by Chris Anderson on March 14, 2009 at 11:29am

We like the EagleTree gear a lot, so we were pleased to see that they've just announced an upgrade of their OSD to OSD Pro. Along with a bunch of cool features, such as an on-screen map and voice status reports, it includes what appears to be a rudimentary GPS-only autopilot that can return home in the case of radio failure. The pricing seems pretty reasonable, too: around $300 for the device, or as little as $20 to upgrade if you have the current OSD and send it back. I was interested to see that EagleTree hasn't figured out the universal failsafe problem yet, either. The OSD Pro description says that the failsafe is intended for RC gear that doesn't have a built-in failsafe. For most modern RC systems, which only allow you to program channel 3 (throttle) actions in the case of radio failure, we're still looking for a good way for autopilots to recognize the difference between failsafe and manual signals.
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New FPV / UAV startup.

Posted by John M. Smith on March 13, 2009 at 9:30pm
We are embarking upon a new type of "All Encompassing" sort of offering that accomodates the public, private and commercial sectors for the UAV, FPV, RPV needs and appetties. Our products can make huge life savings difference's and save hundreds of thousands of dollars over current operations. Ultimately we are looking to attrack Homeland Security, Borber Patrol, Police, Fire depts. County DA's, Search and rescue, etc.However our Number 1 goal is for the weekend FPV flier that wants to take things to the next level.Ardupilot is a great start off point. It however is far from where we want to end up at.Interested parties apply.Thanks,John M Smith
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Prototype what?!?!?!?!?!?

Posted by rad man on March 13, 2009 at 3:49pm
I just recently got done watching "Prototype This!", they finished making a UAV that drops a life preserver within swimming distance of the victim! The victim wore a device that transmitted its location to a base station. This could be used as a valuable tracking device for police work because the UAV creates its own way points in order to follow and observe a suspect. The top programmers name is Joe Grand, his website is Grand Idea Studio (for those who are interested). If this is a double post I will remove it! (i seem to be beat to the punch when it comes to this stuff!)
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Bidirectional RC transmitter with ARM7, Xbee PRO, Bluetooth and a PDA (2)

Posted by jlcortex on March 12, 2009 at 12:37pm

I am working in my bidirectional transmitter. i has built parts in plastic with my hobby cnc machine. it looks very technical device!!!i have not received PCB yet.i post some pictures of not finished assembly.We are testing XBee Pro Series 2 with ZB firmware now, it seems than 5 Kbytes/sec is possible. We publish transfer rate speed as soon as we finish testings.jlcortexnmine.com

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Burning Arduino Bootloader without external AVR-Writer

Posted by Roberto on March 12, 2009 at 2:38am
Hello,I write this post for who like me have an Arduino Mini USB Adapter and want to upload code (or burn bootloader) by ISP on ATMEGA168 or Attiny45.This is the connection schema from Mini USB (or any FTDI cable based on FT232RL chip, you can also use an Ardunio Diecimila) to Ardupilot ISP port:

You must also connect power source to Ardupilot (BEC, Mini USB or what u like).For programming Attiny45 you must use the Attiny45 ISP port.Here the complete guide to burn the bootloader.In this way i've readed the fuse from Attiny45 and I find that my ATMEGA168 is probabily dead (when i try to read fuses i have the error message "signature error").
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FLIGHT CONTROL

Posted by Sesan FESOBI on March 11, 2009 at 12:52pm
Hi everyone,I am new to DIY Drones. I am trying to develop the FCS for a small model aircraft. I want it to be able to perform flight control and navigation functions. Could you tell me what hardware components I can choose (with moderate cost) that can effectively perform these functions?Regards
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3D Robotics

Canadian police testing Dragan X6 multirotor

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

Calgary Police are testing the Dragan X6 multirotor. Excerpt from the article: "The key in expanding the service's use of the technology is going to be proving the images hold up in court, Engele said. The X6 was used previously by the Ontario Provincial Police to photograph a homicide scene in rural Ontario and could be used in tactical or surveillance operations, he said."
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3D Robotics

Using ArduPilot 2.x in the field

Posted by Chris Anderson on March 10, 2009 at 8:30pm

Instructions for using ArduPilot 2.x in the field:

ArduPilot 2.1 and above (with Z sensor). This version of the software auto-calibrates the IR sensors. The only thing you need to do at the field is to record the "home" GPS position in EEPROM memory, which will not be erased when you reset or power down the board. To do so, follow these instructions:
  1. Ensure that the autopilot is in manual mode (channel five toggle off) and GPS is connected
  2. Place a jumper cap on pins D6 and D7 (you can also connect a regular RC power switch to those pins if you want to control the autopilot from outside of the aircraft). Ensure that your aileron and elevator sticks are in the center position, and power on the board.
  3. The yellow status LED will blink for a few seconds as the autopilot programs the GPS for binary mode. Then the blue lock GPS will blink rapidly, which means the autopilot is waiting for GPS lock. You can now remove the jumper (or return the switch to the normal position)
  4. When the autopilot has established a GPS lock it will move the rudder. Note that ArduPilot puts the EM406 into binary mode, which disables the red LED on that module, so it will not blink.
  5. You’re now ready to fly! Press the reset button on the ArduPilot board to restart it (your calibration settings are saved in permanent memory and will not be erased).
  6. ArduPilot 2.0 supports two autonomous modes: waypoint and return-to-launch (RTL). If you have a three-position toggle switch or a proportional dial on your RC transmitter, the middle position is Waypoint Mode and the up (or full clockwise) position is RTL Mode. These can be changed in the software if desired. The Mode LED on the ArduPilot board will light up with it is in Waypoint Mode.
  7. To use fly-by-wire mode (just stabilization, like the FMA Co-Pilot), simply disconnect the GPS. ArduPilot also automatically switches into stabilazation mode if it ever loses GPS lock.
ArduPilot 2.0 (no Z sensor): This version requires that the IR sensor be calibrated in the field, on arriving and if the weather conditions change significantly:
  1. Ensure that the autopilot is in manual mode (channel five toggle off) and GPS is connected
  2. Place a jumper cap on pins D6 and D7 (you can also connect a regular RC power switch to those pins if you want to control the autopilot from outside of the aircraft). Ensure that your aileron and elevator sticks are in the center position, and power on the board.
  3. The yellow status LED will blink for a few seconds as the autopilot programs the GPS for binary mode. Then the blue lock GPS will blink rapidly, which means the autopilot is waiting for GPS lock. You can now remove the jumper (or return the switch to the normal position)
  4. When the autopilot has established a GPS lock it will move the rudder. Note that ArduPilot puts the EM406 into binary mode, which disables the red LED on that module, so it will not blink.
  5. Holding the aircraft without obscuring the thermopile sensor, point the nose at the ground. Switch the autopilot on with your RC toggle switch. The elevator will move, signaling that the sensor has been calibrated.
  6. You’re now ready to fly! Switch the aircraft back into manual mode for launch, and press the reset button on the ArduPilot board to restart it (your calibration settings are saved in permanent memory and will not be erased).
  7. ArduPilot 2.0 supports two autonomous modes: waypoint and return-to-launch (RTL). If you have a three-position toggle switch or a proportional dial on your RC transmitter, the middle position is Waypoint Mode and the up (or full clockwise) position is RTL Mode. These can be changed in the software if desired. The Mode LED on the ArduPilot board will light up with it is in Waypoint Mode.
  8. To use fly-by-wire mode (just stabilization, like the FMA Co-Pilot), simply disconnect the GPS. ArduPilot also automatically switches into stabilazation mode if it ever loses GPS lock.
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3D Robotics

ArduPilot 2.0 Beta Code Released!

Posted by Chris Anderson on March 10, 2009 at 8:30pm

I'm delighted to announce the release of the ArduPilot 2.0 software, now in public beta. This software uses the current ArduPilot hardware but handles the FMA Co-Pilot stabilization function itself, without the need for a separate stabilization unit. It is, in short, a complete integrated autopilot. That little ArduPilot board can do a lot! 2.0 Features:
  • All the ArduPilot 1.0 functions: programmable 3D waypoints; return-to-launch mode, in-flight reset ability, fully programmable actions at waypoint and totally expandable board.
  • Now integrates the stabilization and navigation functions, eliminating the need for a FMA Co-Pilot and vastly improving waypoint tracking
  • Controls elevator and ailerons/rudder. Throttle control coming in 2.1
  • "Fly-by-wire" mode stabilizes the aircraft in RC mode, duplicating the function of the FMA Co-Pilot
  • Stores home waypoints and sensor calibration in EEPROM, so they are retained even in the case of a system restart
  • Controls altitude with the elevator, vastly improving performance in wind
  • Currently optimized for the three-channel EasyStar. Versions have also been tested on Funjet and four-channel Superstar (code coming soon)
  • Simple in-field calibration process
  • Can use any thermopile XY sensors (default settings are for the FMA sensor, but Paparazzi, AttoPilot and custom sensors can also be used)
  • Currently supports the EM406 GPS. Support for Locosys and Ublox GPS modules coming soon
  • Uses "chained PID loops" to combine the stabilization and navigation functions seamlessly
What you need (if you already have an ArduPilot and FMA Co-Pilot you don't need anything else): Instructions for modifying the FMA sensor cable to use it with ArduPilot are here. Instructions for in-field calibration and setup of ArduPilot 2.0 are here. (Note: ArduPilot 2.0 put the EM406 GPS module into binary mode, which disables its onboard LED. That means that if you try to use the same GPS module with ArduPilot 1.0, it won't work (unless you program back into NMEA mode with a utility such as this one). However, if you let it sit for a few days without power, the onboard capacitor will run out and it will return to its default NMEA mode and will work with ArduPilot 1.0 again) The next version, 2.1, is now in private alpha. It will include the following:
  • Uses Z sensor for self-calibration in the field
  • Uses small desktop app to load ArduPilot settings and waypoints, without having to work with code
  • Adds throttle to altitude control, improving accuracy and wind performance
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OpenWrt UAV platform

Posted by Pekka Ahola on March 9, 2009 at 8:48pm
My idea is to use OpenWrt + Arduino for a futureproof/scalable UAV patform. I'm planning to do some testing in the spring with the basic Fonera router flashed with OpenWrt Kamikaze 8.09.This setup however doesn't have USB-ports that would enable live streaming webcam, 3G modems and in-flight high quality images through gphoto2 and a digital camera. I'm waiting to see how much the just finalized Fonera 2.0 with USB costs, but I'll still probably go with the Ubiquiti RouterStation (only about 60$).Additionally I just have to build a plane following servo mount for my cantenna wlan antenna to be used in the basestation :) Share your thoughts, and other possibilities (ie. VIA pico-ITX etc.)
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