Comments

• 

  Anwar Ali Khan July 16, 2012 at 1:15am

  By using EM406 with the "Google Maps with GPS Tracker" in NMEA mode I have come to the conclusion that there is nothing wrong with the GPS. Using in a car with laptop it properly follows the streets with an error of just 9-11 meter. But using it with the AP, response of the servos to the GPS is very low (or not at all at some turns).

  There could be something wrong with my AP (328) or the code (2.7.1). Probably I have not been able to properly activate the EM406 in the file GPS_NMEA.pde. I am pasting it hereunder what I have done at the very begining of that file (I have also put GPS baud rate 9600 for NMEA GPS in the defines.h file). 

  Please someone let me know if it is correct or I need to modiby it, thanks.

   

  #if GPS_PROTOCOL == 0

  /****************************************************************  

  Parsing stuff for NMEA  

  ****************************************************************/

  #define BUF_LEN 200

  // GPS Pointers

  char *token;

  char *search = ",";

  char *brkb, *pEnd;

  char gps_buffer[BUF_LEN]; //The traditional buffer.

  void init_gps(void)

  {

  /* Serial.begin(9600);  

  delay(1000);  

  Serial.print(LOCOSYS_BAUD_RATE_38400);  

  Serial.begin(NMEA_GPS);  

  delay(500);  

  Serial.print(LOCOSYS_REFRESH_RATE_250);  

  delay(500);  

  Serial.print(NMEA_OUTPUT_4HZ);  

  delay(500);  

  Serial.print(SBAS_OFF);

  //#if REMZIBI == 1

  //  init_remzibi_GPS();  

  //#endif

  /* EM406 example init*/  

  Serial.begin(4800); //Universal Sincronus Asyncronus Receiveing Transmiting

  delay(1000);  

  Serial.print(SIRF_BAUD_RATE_9600);    

   

  Serial.begin(9600);  

  delay(1000);    

  Serial.print(GSV_OFF);  

  Serial.print(GSA_OFF);  

   

   #if USE_WAAS == 1  

  Serial.print(WAAS_ON);  

  #else  

  Serial.print(WAAS_OFF);  

  #endif  

   

  }
• Moderator

  Brian July 15, 2012 at 4:22pm

  Dr. Mike, didyou get any work done on the X10? Got any photos?
• 

  Anwar Ali Khan July 15, 2012 at 2:57am

  I have found at least one good use of the EM406 GPS. It is the "Google Maps with GPS Tracker", freely available on the net. So having it on the laptop with EM406 via serial input makes an excellent navigator. In addition, the associated window displays the functioning of the NMEA GPS.

  @Mike, thanks for answering my questions. I am waiting for the MTK GPS that a friend has promised to send from US. Those pictures you have shared are  amazing.
• Harry July 13, 2012 at 8:26am

  You do some good work there, Doc.  That latest rendering is very global hawkish in some ways and very different in others.

  As for coupling the Ardupilot with this TrIMUpter, I'm thinking take the PWM that the IMU now outputs and send that to Ardupilot.  This leads to the holdup.  Somewhere I have absorbed the understanding that multicopter navigation is different than airplane with whole different approach.  I'll keep pecking away. 

  I still have a regular old airplane which is waitng for me to wind a new motor and finish the wing mount.  With that done, I'll be ready to learn PID tuning.

   

   
• 

  Dr Mike Black July 13, 2012 at 12:12am

  Sorry not been around this week (proper work taknig my time :( )

  @ Brian, board on its way now!

  @ Harry, Congrats!! nice one....hmm coupling the AP to the IMU, i think would need a serious re-work as the AP woul dhave to control it, but takle it inputd from teh IMU, im sure doable, but the road is a little longer perhaps!

  none the less! well done!

  Anwar, in the code you need to go to (in defines) and set the output to  Labview GCS from binary to STD.....then you will see the information you are looking for.

  Anwar, you really need a better GPS, i will have a look around at work see if i have any spare ublox's for you! it would simplify this no end for you.

  Also thank you for yoru kind words!

  _________________________________

  Also on the same note.....been desiging a new UAV based on the Sky-Y so its also ready for manufacturing now. Pic posted below.

  On the X-10, fuse now manufactured so work will start on monday on putting it together., will post as i go.

  X-20 Venom-pics...

  Anwar, i will attempt to answer your previous questions..

  1: if you lose lock in mode switching, then there is a protocol issue there.

  2: refere to needing a better GPS, as the 406 was not developed after about V2.3 fof the code (as far as i know) I dont fully understand why it would change, but...

  
  3: nudging, have you checked the min max of the servos in defines# ?or have you calibrated the max movements on set up by changing the defines again to 1.

  4: rudder, unless you have done the extra wiring on the back of the AP board, the rudder wont ever do anything, need to check the manual fro the wiring.

  5: no idea....been so many years since i personally have tried..( i did however find mty EM406 the other day, so will hook it to the serial port see what it outputs.

  Kind regards,

  Mike.
• 

  Anwar Ali Khan July 11, 2012 at 4:34am

  Hi all, in continuation of my previous post (I am still waiting for the answers), here I am adding some more questions:

  6. The GPS gets quite hot during operation.

  7. The battery consumption is quite high (I am using batteries of the glow engine plane)

  8. I don't get any info about the recorded GPS points (coordinates) on the serial monitor of the arduino with this 2.7.1 code while it is possible with some previous codes.

  @Mike, the pictures are amazing.

  @Harry, hope you will succeed in modifying the code for your need.
• Harry July 10, 2012 at 10:48am

  I can now say that I adapted the IMU V3 to JL's TrIMUpter code.  It would be nice to connect it to Ardupilot and get it to navigate.  For now I'll settle for a stabilized Tricopter, but I need a PPM out Rx.  Anyway, here's the link to the working code.  I got magnetometer Heading lock to work, but the attached code doesnt have that correction.

   

  http://diydrones.com/forum/topics/trying-to-adapt-jean-louis-tricop...
• Moderator

  Brian July 8, 2012 at 7:10pm

  Mike,  That's a cool looking Delta.  Size sounds good and I like the fins.  I kind of think that the middle fins could be used as air-breaks instead of doing a flap configuration like others do to complete a final slow-down prior to landing.

  I don't know about specific payloads but I know I'd want to be able to have a real nice SLR and/or video recorder (not small ones like the go pro and like) but something bigger perhaps thermal or IR.

  Another structure that would be good is a super strong battery securing system. Actually same goes for the heavier cameras but I've had batteries shift and through off CG.

  PM sent.
• Harry July 8, 2012 at 6:50am

  I'm having some problems with the JL tricopter code.  It compiled once after I replaced the APM_Compass library file with JL's library.  It's named the same, but something is different.  Now It wont compile and all errors point to APM_Compass.  This library is for the older IMU, so not a big deal if I get it working with the new IMU.  The biggest difference between what he wrote and what I want is the version of the IMU.  That's a big difference though. 

   

  For kicks, I took my tricopter with the HK board out yesterday and that was a scary experience.  I got it to hover about 4 feet off the ground and then I gave it more power and next thing I know it's about 60 feet up and not going where I wanted.  I brought it down, but it was carrying a lot of speed and momentum.  I thought I had it under control about 10 feet up and then bam, it crashed and broke two props and bent the yaw mechanism.  The kids in the neighborhood thought it was cool and couldnt understand why I had to pack it in.  

   

  Crashing is why I want to adapt JL's code.  His videos show it flying completely stable and autonomously. 
• 

  Dr Mike Black July 8, 2012 at 6:34am

  Hi guys,

  Ok, our wing is ready....

  You're gonna love this...we have dubbed this the Viper X-10..(but please jump in with another name as this is somewhat pretentious! :)  )

  Also your thoughts on fin configurations would be good, (I personally like all 4 fins on it..but...what do you think?)

  I will also need what you guys think it should be carrying, and where to make the appropriate recesses and structures (obviously this is the first renderings, so need tweeking a fair amount, and no structures shown for internals yet)

  @ Anwar i will reply fully in the next post, so as not to x-post on subjects.

  Kind regards,

  Mike.