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Unmanned Technologies for Public Safety—2010

Started Nov 29

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automatik left a comment for Curt Olson

yesterday

automatik left a comment for Curt Olson

yesterday

automatik commented on Chris Anderson's blog post 'Real Time Operating Systems for autopilots'

I also agree that this is just 'different' approach with benefits and shortcomings - depending what one wants to accomplish. David A.'s comments about scheduling in this context reminds me of famous RTOS 'mishap' with task scheduling (priority inver…

on Tuesday

automatik replied to Anthony Bee's discussion 'Whats a UART? or UARTS?'

wiki link: UART without being too blunt - do at least some basic attempt / search to find information...it will go a long way when others decide should they answer your question(s)

on Saturday

automatik commented on Chris Anderson's blog post 'MIT's Eric von Hippel on open innovation models'

There is a nice list of papers pointed by Chris's link, however I think that post refers to "Modeling a Paradigm Shift:From Producer Innovation to User and Open Collaborative Innovation" direct link to PDF paper: http://papers.ssrn.com/sol3/Delivery…

December 15

automatik commented on Chris Anderson's blog post 'MIT's Eric von Hippel on open innovation models'

What's the title of the paper?

December 14

automatik commented on Chris Anderson's blog post 'ArduPilot main page'

I took a look at ArduPilot code v2.4 and in examining some roll stuff I cam across following calculations for PID error. Looking at Integrator part of calculation- see first bold line - I can see how error is calculated. Also, note that derivative i…

December 13

automatik left a comment for Tim Trueman

December 12

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Gyro and accelerometer vibration tests

I pe… Continue

Posted on November 16, 2009 at 1:00am — 2 Comments

Razor 6DOF IMU + Arduino + DCM

I recently got SparkFun's 6 IMU board and played with it a bit. Basically I connected Arduino and Razor 6DOF board and ported DCM code. Code is ArduIMU v13 but just made to work with Razor board. I am not sure what to think about gyros on that board as it takes them a while to "warm-up". Below you can see run from cold start for over an hour and "zoom' on first minute or so (just raw ADC values). On the link referenced above, you c… Continue

Posted on November 5, 2009 at 1:00am — 30 Comments

UAS in the NAS

Link to "report" [PDF]:
http://www.auvsi.org/unmannedscience/newsletter/attachments/140/Barnhard_D.pdf

Quote:
"In the near future we will see unmanned aircraft systems (UAS) operating in the National Airspace System (NAS) seamlessly with manned aircraft in all classes of airspace. To achieve this airspace integration issues must be solved in a safe expeditious manner. There is much to do… Continue

Posted on October 27, 2009 at 9:00pm — 4 Comments

6DOF IMU from Nunchuck and Wii Motion Plus

This is somewhat OT, but it could help someone just starting out...

Nunchuck controller has three accelerometers and Wii Motion Plus has three gyros which makes a nice combination for 6 DOF IMU platform. People have been able to communicate with these devices before, but in order to talk to both of them you had to make an additional board ( it's slick solution though). I played with it while back, and figured out a way to… Continue

Posted on September 6, 2009 at 5:48pm — 4 Comments

Comment Wall (6 comments)

At 4:37am on April 16, 2009, Michael said…: Hi automatik,

I am trying to find your post on making the executable from labview. I am keen to either make my own executable of the GCS or get my hands on one to test it.

Michael

At 3:10pm on August 7, 2009, Reto said…: Hi automatik. I just came back from a 2 week vacation in Spain and Southern France, so I had no opportunity to follow DIYdrones. For the Xbees 868 the data flow stops when the 10% duty cycle threshold is reached or when the chip gets too warm (60 and something degrees celcius if I remember well). You may try to limit the data flow even more, or you may try to cool the thing down someway. I tried to limit the data flow, and it is effective to some extent. But I think we can forget using the 868 for the ArduStation telemetry for now because there's much too much data in the ArduPilot standard data stream for that RF modem. In the meantime I switched to the Pro 60mW and to the Pro 900. They both work flawlessly. Hope this helps. But of course, report back any test result you got with the 868 in the appropriate post. It could help us find a way using them.

At 4:38am on October 4, 2009, William Premerlani said…: automatik,

You are correct. There is a typo in equation 20 of the paper on the DCM algorithm. Thank you very much for finding it.

Best regards,
Bill Premerlani

At 7:16pm on October 7, 2009, William Premerlani said…: automatik,

In the DCM paper, we used the standard aviation axis conventions, shown in Figure 3 on page 9. These conventions were used to derive equation 17 on page 15.

The X axis runs through the nose of the plane. Vector values are positive toward the nose. The X gyro produces a positive signal when the left wing raises and the right wing lowers.

The Y axis runs through the wings. Vector values are positive toward the right wing. The Y gyro produces a positive signal when the nose pitches upward.

In the implementation of the DCM algorithm in the released firmware, the X and Y axis are rotated 90 degrees. In that case, the X axis points to the left wing, the Y axis points to the nose.

Best regards,
Bill

At 6:37pm on October 9, 2009, Joe Conner said…: I see that you've built an automomus RC truck around the Arduino autopilot and GPS sensors. I was wondering if you could help me out with a few pointers and answer the following:
1. Which version of the code did you use?
2. What did you set your gains to and did you use the full PI controller or just P?
3. Did you set the heading_limits to 25degs or less?

I've been trying to use the 2.3 ver in walkaround mode and have had problems getting the gains tuned in right. Currently I'm using only the P term and it is set to 0.3 with a limit of 15degs on the heading errors. Any help you can give would be greatful.

At 6:38pm on November 8, 2009, William Premerlani said…: Hi automatik,
Thank you very much for the information about the Xbee and the gyros. I will use 9" separation as a rule of thumb.
Bill