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Two things, time in the air and low light

Posted by Polymath on November 6, 2008 at 7:31pm
First off I want to say that I am very impressed with the work that is being done through this group. I was going to use a gumstix computer but the idea of using a cell phone was genius. Anyway, getting to the point. I was curious to know if anyone could suggest a platform that was battery powered and had a 30 minute flight endurance. My second question is a bit more specific. Has any one done work with low light, night vision, thermal or IR cameras?Infra red cameras can be made small and light weight but require reflected infra red light from an a second source like an LED bank and on top of that its relatively short range, less than 50ft. Night vision is same but not as bad, unfortunately its heavy, even the gen 3 stuff. Thermal would be optimal but I haven't used a thermal camera that weighed less than 5lbs.
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Starting out..

Posted by RaginBajin on November 3, 2008 at 2:06pm
This is my first blog post. I plan on updating my blog as I go through the process of starting from scratch learning to build an autonomous aircraft. My goals are to learn and build a fixed wing aircraft that will be able to take off, land, record, interpret, and steam back its information to a command post.To start my adventure, I purchased the Arduino Starter Kit. You can find it here: MakerShed.com. It was recommended on Chris Anderson's Blog. I also got 10% off by using "MAKER84". It is good till December 31st.So, here goes nothing..
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T3

NXT goes airborne (again)

Posted by Sami Finnila on November 2, 2008 at 10:00am
I made my first test flight today with my Lego NXT AutoPilot (all the needed parts are already commercially available!!).The test flight was a success when it comes to AutoPilot but in the middle of the flight my EasyGlider suffered an elevator servo failure. NXT, however, managed to make something like a landing and nothing was broken.Here are some specs of my NXT AutoPilot:Hardware:-Mindsensors Accelerometer-Mindsensors Servo Controller-Mindsensors Compass Sensor (on the same input port as accelerometer)-2x HiTechnic rate gyros-(Homebrewed pressure-sensor for altitude control but this is not really neccessary (on the same input port as servo controller))Software:-Full NXT based stabilisation with PID (uses integrated gyro outputs as input and accelerometer data to set gyro bias)-GPS navigation with the help of the compass sensor-All coding made with RobotC-What would you like? :)I'm really amazed how well this assembly works. Gyro integration - and how well it works - is what amazed me most: The gyro drift is generally less than 5deg/min which accelerometer can easily compensate (I didn't even use Kalman Filter and the AutoPilot flies the EasyGlider better than I do!). As for NXT's CPU speed: only about 50-60% of CPU time is being used while all the functions of the AutoPilot are on.Just like Chris said: "It's so cool--". ..and now you can finally make this yourself! I'll publish the source code (?) when I have translated all the commentations to english....More to come soon! (Videos, photos and so on...)Sami F.
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Getting Started With Paparazzi

Posted by Cory on October 31, 2008 at 11:30am

I think for the hobbyist, the only real choice is an open source autopilot. Unfortunately with a closed source solution, you are stuck with the feature set that the developer wants you to have. Another major advantage of open source autopilots is that reading the source code is a valuable learning, and troubleshooting tool. Even if you never intend to modify the code, just being able to look at it can be enough to resolve a problem.In my personal opinion, the Paparazzi project is the best hobby autopilot. At the hobby level, no closed source(or open source) project can match the coding resources the Paparazzi project has. The Paparazzi project has a long list of features which are only matched by expensive proprietary autopilots. Want a camera, multiple UAVs, video, full featured ground station(with integrated real time video if you want), telemetry, powerful flight plans, to control a quadcopter? You can do all of this and more with Paparazzi.What are the technical requirements?I added a technical requirements post for UAVs in general here. The only thing you need to add to that list is some decent Ubuntu Linux ability. If you are halfway competent with windows you will be just fine. My father has been using Ubuntu exclusively for months now, and he is doing fine. He can barely even delete folders, and his first successful download in the short time he had Vista was spyware pretending to be antivirus.How long does it typically take to get it working?It took me a few months working off and on. It takes a while to fully get a handle on all the parts. You ARE going to bang your head on the wall a bit. I also spent about two days building the wiring harness. The molex picoblade connectors are a pain. Tip from me: buy the precrimped wires.What are the real costs, all included?Expect to spend around $600 for autopilot with telemetry. excluding RC Plane and laptopYou will need:The autopilot: Tiny V2.11 Comes with integratedGPS(Get the LEA-4P model, since the GPS is easier to deal with)Vertical IR SensorHorizontal IR SensorSee the Get Hardware page on the wiki for parts sources. Do not buy any parts from Halfbase.com, or you will most likely lose your money.I recommend using the Xbee Pro modems, it is pretty easy to get them working.For airborne, part number: XBP24-AWI-001 ← OEM module with whip antennaFor ground, part number: XBP24-PKC-001-UA ← This one has a nice aluminum enclosure for your ground station which will keep your modem alive longer.These are the 2.4ghz modems, if you have 2.4ghz video on your plane you can get xbee in 900mhz.Start with a slow and stable plane, and you will have an easier time and will not need to add a rate gyro on the roll axis.Where's the best place to get started?The best place to get started is on the Paparazzi wiki. The wiki can be hard to understand at times, but bear with it. If you find a problem, make some edits please.Go to the site map link on the wiki, and read EVERY page on the site map. It is a pain to read the whole thing, but it will help you a lot.Next download and install the paparazzi software, and simulate some flights, and play with the flight plans.Once you have done that, then I would purchase the hardware.What's the best place to turn to for help?1.The wiki2.The mailing list (don't forget to search the list archives)3.This big nasty thread on rcgroups (don't forget the thread search tool)The normal rules for getting help online apply: Show what you have tried to solve your problem, and use a descriptive title.Whew! You still with me? Paparazzi is not easy, but it is rewarding. Anyhow if you wanted easy, you would not be wanting to build your own UAV. It is a lot of hard work no matter what autopilot you choose, but it is extremely rewarding when you are standing in a field watching your plane fly around with no input from you.
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VicaCopter 2.0 4 U

Posted by Jack Crossfire on October 31, 2008 at 12:30am
Decided to put VicaCopter 2.0 on vicacopter.com. This is the last version for single rotor copters. It's mainly a reference, since no-one will probably ever replicate it.This version uses ground based autopilot & has the most detailed schematics of them all. Embedded computers were never cheap & never provided enough computing power. The high cost of sub micro servos, rapid servo wear, difficult payload mounting, & tail rotor effects were counting down the T-Rex clock. A steep drop in brushless motor prices & a servo death & it's quad rotors over T-Rexes.

neural_feedback01.jpg

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List of suggested skills for someone who wants to DIY a DRONE

Posted by Cory on October 29, 2008 at 7:46pm
I made this non exhaustive list of skills which are nice to have if you want to build your own UAV.I think a basic handle on all of these skills will greatly help anyone who wants to build a UAV. If you want to build a UAV, and lack a lot of these skills, don't take this to mean you cannot do it, just understand the magnitude of the difficulty, and be prepared to press on in the face of adversity and to teach yourself a lot. When I decided to build a UAV, I had never even flown an RC plane or even been to a flying field. I had to learn all of the RC skills first. So, you can do it too, if you don't give up.Programming>Experience with C>Able to compile software>Can program embedded systems>Know how to find the appropriate resources for support (forums, mailing lists, wikis, etc.)Radio Control Aircraft>Be able to take off and land with confidence>Be able to fly simple patterns>Understand model aircraft setup>Be able to make simple repairs to model aircraft>Be familiar with tools and techniques used for model aircraft>Understand the care and usage of lithium polymer batteries>Be a member of the Academy of Model Aeronautics (For access to certain flying fields)Electronic>Familiar with embedded systems>Know how to interface electronic components to micro controllers>Be able to locate, read, and understand data sheets>Know how to troubleshoot electronic systems>Understand signal timing>Be able to solder small components and wires>Be able to fabricate wiring harness>Be able to read schematicsControl Theory>Understand PID controlGeneral>Able to learn without guidance>Strong ability to troubleshoot systems
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Hello from Ireland

Posted by Huey on October 29, 2008 at 6:46am
Hi FolksA quick note to introduce myself, I have been RC flying since I was a kid, recently I made the jump into electrics after years of tinkering with IC engines. I like designing and flying (sometimes!) my own SPAD planes also. I have been playing around with Spad FPV and camera platforms. Mainly building the plane around the camera.I am trying to understand the technical and electronic aspects of DIY Uav’s. I found this site very useful in getting to grips in what’s involved. Hope to have my DIY drone up and running shortly when time permits.I’ll keep in touch.RegardsHuey.
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3D Robotics

New: BlimpDuino board version 5

Posted by Chris Anderson on October 28, 2008 at 12:30pm

BlimpDuino is in the hands of beta testers, so we're doing some last minute tweaks. The current code works on boards version 431 and up (don't ask about the numbering schemes--they're based on internal versions. When we release the commercial board, it will be called V1.0 as usual) . The newest internal version of the board is now V5.1. If you want to order and assemble your own boards before the commerical release, you're welcome to! Order the boards here. ($10 + $10 handling) The Eagle files (PCB and schematics) are here. Once you've built it, instructions for loading the firmware are here. Here are the SMD parts, with their PCB labels, values and Digikey part numbers (see below for direct links and prices)

Remember to watch the polarity of the LEDs ("+"s are marked on the board) and capacitors C1 and C4, which are also marked on the board. Here are the components you'll need (Digikey part numbers unless otherwise stated--prices given were correct at the time of this writing and represent total costs in the case of multiple units):

Total, including PCB: $94.56 (not accounting for any volume discounts you may achieve with multiple units)

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AUTOPILOT + STABILIZER + KALMAN + IMU + QUADROCOPTER + GCS + IMAGEPROCESSING

Posted by Geetesh Dubey on October 27, 2008 at 3:13pm
Yes..thats right. I have eventually developed all the above said techies in a past few months...A very thanks to DIY for the help i've found in posts and digging stuff sround on the site.So, inow finally have a EM-406 based Autopilot.Gps runs in NMEA but now i've hooked up to Binary(WOW i dint beliv its gonna be that straight....beliv me guys binary is far simpler as much we thot its difficult).It sends data to Autopilot (self made) which uses AVR atmega16I used the draganflyer to try my skills and i was able to autonomously takeoff and navigate(think so, i actually never let it go all by itself but it did make manouvrs to goto reqd heading)

I was usiing a micromag compass(guys its a hell experience with mags..im quitting to use mags unless they r 3-axis and magnetically shielded)Now i thinkGPS shud be used ....now that im gonna run it in binary so i expect a 5hz response...(make sure the vehicle moves abt 3m/s "In INDIA" to detect heading)..FInally im developing a QUAD with hitec outrunners

...i have alrdy workedTHE KALMAN FILTER out

the yellow line --> Actual Gyro angle in degrees(oops they do drift...look below)BLACK line --> Kalman+gyro+acceleroREd--> accelro degrees(oops it jitters)

im usin IMU v2 6DOF by sparkfun...im using the IMU in BINARY(wowee binary is fun)THE GCS i have made in VS C# has 3 displays1) Telemetry2)Real Time Vehicle Tracker(a Google map backgorund scaled to gps pts)3)Live Video Relay (video can be processed for objects as small as human ,mines, its can detect patterns if sign is give...have also developed a damn good image processing using SIFT(oops it gives 0.25 FPS hehe..but other r really fast))...all developed in MATLAB.

this 1 gives 0.25 FPS....but its good (ref. Dr. Lowe)...any suggestions...most welcome...
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Reading XRX PCAS

Posted by Carlos Mojarro on October 27, 2008 at 11:31am
Hi, everyone.Im trying to read the information from a XRX trough the rs 232 connector. Does anybody know how is that information arranged, or baud rate used. I just couldnt figure out the signal that the XRX is transmitting.
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3D Robotics

Finally! BlimpDuino code now in beta!

Posted by Chris Anderson on October 26, 2008 at 10:00am

Jordi's done some heroic work squeezing the maximum out of the Arduino platform (with some help from Arduino co-founder Massimo Banzi. We finally have a code base that does everything it's supposed to. Here's the code. It works with any version of the board from 431 up.
(Note that we've also changed the voltage regulator to this through-hole one, which has a more linear response curve for when battery voltage is dropping. As you can see above, we just soldered it on to the same SMD traces on the old board, but the new version of the board--V432--is designed for this new voltage regulator.) Jordi explains what's new in the code: "Now you can read two channels from the receiver.. Blimpduino will detect when you have the receiver connected and will run in manual mode... If not, autonomous... You have to connect the vectoring servo directly to the receiver in order to fly in manual mode.. The two RC input channels control the motors for; forward, back, left and right... The problem was: I can't use pulseIn function because is not supported in the pins PB6 and 7.. so i have to use the timer1 to count the pulse length... The Atmega168 only has 3 timers. The timer 0 is for millis() counter, the timer1 is for pulsing the vector servo in automode and reading the RC inputs in manual mode, they can't be used at the same time... and the timer 2 is to control the PWM of the motors... I also solved an small bug in the anti static friction module of the motors... I love to fly in manual mode, Oliver [Jordi's baby] was scared, hehehe... Blimpduino is a very funny toy.... =)" Guys, this is world-class Arduino coding. Read it and learn ;-) Congrats, Jordi! Here's a pic of it all taped to the bottom of a blimp--not pretty, but it works!

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Where'd I Go...

Posted by Genesis Factor on October 21, 2008 at 2:00am
okay, i suddenly had a burst of energy towards this project, and then SUDDENLY, i disappear for a few weeks. What the hell right?For those of you who haven't been paying attention to Hard forums deals, or wanted ot build a new computer, two things arose that grabbed my attention, and my bank account. For those of you building a computer, listen up, because the price keeps going up...MS cashback is giving 30% off of any BIN ebay items. this is great.We found some hellishly expensive processors for DIRT CHEAP...BIN. Anyways, a few people, wh weren't affected by the market crashing as much as the rest of the world, went crazy. Quad core is all the craze for some people...but we have EIGHT CORES MINIMUM IN OUR MACHINESThis is my build thread.http://www.hardforum.com/showthread.php?t=1356818Why did i do this? I needed a good base station.But, while things were going fun, i didn't forget about my UAV. After losing sight of a pinnacle video transfer module, i picked up a serial GPS. Yay! My mini UAV knows where it is going now. 1Hz.though. yes, i know, i suck. I am waiting for a lynxmotion serial thing to pop up on ebay BIN. If its not done by the time weekend rolls arund, i'm picking it up myself. Then, when my build is finished, the real fun begins....Shout out to criag and chris!!!! criag, i need your addy to send you the stuff. I didn't forget ;).
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3D Robotics

New 4Hz GPS receiver from SparkFun

Posted by Chris Anderson on October 19, 2008 at 7:11pm

If you've been wanting to move to a >1Hz GPS receiver but were holding out until a retail version of the awesome U-blox chipset was available, today's your lucky day. Sparkfun has just started selling the 4Hz GS406, which uses a helical antenna, which in our experience beats the usual ceramic patch. Note that it's 3.3 v, not 5v like the 1Hz EM406 that we're currently using for ArduPilot, so if we go with this we'll mount it on a voltage-converting daughterboard. Specs follow: * Sarantel omni-directional Geo-helix S-type active antenna * 4Hz Update rate * Fifty satellite tracking channels for fast acquisition * Supports UBX data protocol at 9600bps * Filtering effect of the antenna gives high immunity to RF interference * Wide antenna Beam width * Low power: 3.3V @ 75mA * Time to fix: o Hot start: <1 second o Warm start: 29 o Cold start: 29 Dimensions: * Length (with antenna) 54.5mm * Width: 22.9mm * Weight: 16g
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3D Robotics

New BlimpDuino code--much more efficient!

Posted by Chris Anderson on October 18, 2008 at 4:30pm
Jordi's been hard at work on the BlimpDuino code. Here's the latest version, which he describes as follows: "Wow, a lot to explain! I added a lot of interesting functions, it will blow your mind ;-) First I added a smart delay system. If you need to delay() something you can use the smart_delay(1000) function, and it will delay the value between the () and spend the time capturing IR packets rather than doing nothing. This code improved the performance in the navigation routine 100%.. I also added an 'anti static' function for the motor, at the beginning you need to apply more force to the motors in order to move it, well this "dead zone" was screwing my system, so i modified the motor functions, to pulse the motors for 10 milliseconds with a higher power (like 80%), and then back quickly to the desired speed, so now the blimp is more reliable than ever... I also added two autopilot state modes, hold altitude only and hold altitude and navigate mode... Blimpduino will enter to hold altitude only mode, when the IR beacon is not preset (does not detect any IR packets), it will use only motor power (vectoring thrusters pointing down always) to maintain altitude, which is like stand by.. If there any IR packets in the air, it will enter to hold altitude and navigation mode, using the vectoring to hold altitude... I improved the battery protection system, now with the new power regulator is working better than ever... it can read the real voltage of the LIPO... amazing... " Also added is a very efficient hardware PWM to drive the servos. Note that in doing this he discovered a serious bug in the standard Arduino servoTimer1.h library. Somehow the upgrade from Arduino 11 to Arduino 12 broke this servo pulsing library, so after lots of time wasted debugging this, he wrote his own library, which is included in the above code. (It only works for Pins 9 and 10). You can see his video of the blimp in action here. Note that the code now lights up a blue LED in the direction that it sees the IR beacon, so you can see the navigation routines working in real time.
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How to make gps data unbreakable? ( maybe a tip?)

Posted by MrKiss on October 18, 2008 at 12:00am
I was wondering why chris and jordy use binary gps format, because I didn't know the instability of getting gps data then.I'm using gps module that has MTK chipset so I can't use arduipilot binary gps parser.There has been periodic breaking of gps data. But I can't get rid of it for a whileToday I realize the problem comes from the speed difference between gps module and arduino.Periodic breaking of gps data arises only when arduino do the other hard work beside gps parsing.So I come to think it's arduino serial port buffer overflows problem.then, my solution is repeat parsing until $GPRMC sentence comes and then go to calculate distance and bearing lolP.S. I'm making USV(unmanned sea vehicle?) ArduPilot and BlimpDuino codes are very good reference for meActually my code is mashup of ArduPilot and BlimpDuino and Maarten Lamers's NMEA library and ladyada's gps test program and a lot of my bugsThank you very much Chris and Jordy and everyone above.OSP robot test bed vehicleIs this a sea vehicle? On not yet. It is test bed for it
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3D Robotics

New Arduino starter kit

Posted by Chris Anderson on October 16, 2008 at 1:27pm

For those of you interested in learning about embedded computing with a modern, open source platform, the new Arduino Starter Kit from O'Reilly looks great. $89 buys a lot of useful stuff. OReilly's also releasing a new book by Arduino co-founder Massimo Banzi that looks great for learning. Arduino Starter Kit Features * 1x Arduino Diecimila * 1x Mini Breadboard * 1x 3 ft. USB Cable * 10x 1K Resistors * 2x 10k Resistors * 3x Red LEDs * 2x Green LEDs * 1X Superbright Blue LED * 1x Momentary Tactile Switch * 2x Interlink Force Sensing Resistors * 1x Protoshield Kit (unassembled) * Making Things Talk by Tom Igoe * 24" each of Red, Blue & Black AWG jumper wire * 9V Battery Case w/DC Plug (some assembly required) * Yes, even a 9V battery
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