The Kodel, an RC airplane autopilot for aerial photography

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  • + kodel kodel 8 months ago
    You forgot to tell me how I will get rich by helping you transfer your money to your bank account in Nigeria via Western Union.
    Thanks for the interest!
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The Kodel, an RC airplane autopilot for aerial photography - Presentation Transcript

  1. My DIY RC autopilot
  2. First try on aerial photography
  3.  
  4.  
  5.  
  6.  
  7.  
  8.  
  9.  
  10.  
    • Conclusion:
    • it’s difficult
    • without an
    • Autopilot
    • to hold it steady
    • to aim the camera
  11. Autopilot design goals
    • User selects object on Google Maps
    • Plane flies to location and starts circling
    • Camera takes pictures always pointed to target
    • Pictures can be “glued together” in viewer
    • (Not: ortho pictures to add on google maps)
    • Goal: easy photography of buildings / landscapes
  12. PRINCIPLES
  13. Forces on an airplane Thrust: Controls heigth Elevator: Controls speed Rudder: Controls direction Ailerons: Control roll
  14. What is a servo, how does it work ?
  15.  
  16. Pitch / roll sensing IR sensors (thermophiles)
    • GPS navigation
    • Yaw/height:
    • calculated
    • Waypoints:
    • straight
    • circular
    • Failsafe
    $gprmc,114019.489,A,5048.9524,N,00511.8268,E,0.00,130.10,190907,,,A*60 $gpgga,114019.489,5048.9524,N,00511.8268,E,1,08,01.4,57.9,M,45.6,M,,*52 gga = time,latitude,ns,longitude,ew,posfix,sats,precision,altitude latitude=xxx.zzzz to xxxxx.zzzz (degrees*100+minutes=deel voor komma) longitude=xxx.zzzz to xxxxx.zzzz (degrees*100+minutes=deel voor komma)
  17. Microcontroller: a computer on a chip (but no OS) RAM + FLASH EPROM Timers Interrupts I/O ports (digital) Analog ports Serial interface (usb, bluetooth) Bus (I2C, SPI, CAN)
  18. HARDWARE COMPONENTS
  19. KISS : just plug board between servo’s and receiver (dsPIC30F4012 from Microchip)
  20. Paper adhesive tape provides intended point of failure upon impact (crash tested)
  21. Only 3 things to connect and install IR sensor Autopilot CPU GPS module
  22. CODE SAMPLES
  23. Input pulse collection: Interrupt on change
  24. Output pulse generation: Interrupt on timer
  25. Flight logic: Continious loop
  26. Calculation of stabilisation: Use of floating point Watch out for the math Error TRAP (code stops)
  27. TOOLS
  28. PIC Programmer: Velleman K8048 (15€)
  29. Programmer software: Freeware WIN PIC
  30. IDE: free MPLAB available from Microchip
  31. Alternative microcontrollers
    • Good:
    • AVR: very powerfull, more expensive/compex
    • Arduino: pre-integrated, less effort
    • Ti
    • Bad:
    • BASIC stamp: ripoff with lousy programming
    • LEGO Mindstorms: expensive plastic
    • PIC16, PIC18: voorbijgestreefd
    • I stick with dsPIC since the learning curve was not too steep
  32. OTHER AUTOPILOTS
  33. Tompycke.be : a Belgian, 10x better then I am at this stuff
  34. Paparazzi: Very comprehensive, open source, starts to get a bit long in the tooth
  35. Attopilot: The best, very recent effort by a dedicated ex-intel engineer
  36. ArduPilot: Arduino based and open source, recent but very basic SW, From Chris “The Long Tail” Anderson (& others)
  37. Let’s go fly!

+ kodelkodel, 8 months ago

custom

3826 views, 6 favs, 3 embeds more stats

My efforts to build an autopilot for RC airplanes b more

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