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Re: [Paparazzi-devel] New Autopilot - Tiny v3


From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] New Autopilot - Tiny v3
Date: Sun, 16 Aug 2009 11:00:06 +0200
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)

Hello,
you can download the kalman filter code to calculate the exact  attitude. We use them to fly quadrocopters.
To implement them for normal plane configuration you have to exchange  the angles calculation with the IR
sensors with the code to calculate with acceleration and rate sensors signals as we do.
We want to implement to fly normal planes  with MEMS-sensors,  but we need a documentation (formulas, variables, algorithms) 
of  the current  paparazzi code in a form of an technical report.

We want to fly with MEMS-sensors since we want to fly in clouds, with inversion weather conditions in frog and so on.
Since low cost rate sensors like the lisy300al cost only about 45$  it may be cheaper then the use of the IR sensors  (about  90 $).
Also with high end sensors like the adxrs610 the cost are about  102$.  The acelleraton sensor ADX330 cost 8$. 
I  and other worked on a overwiey for the sensors: http://openmulticopter.org/wiki/Documentation/Hardware_Selection
With a new tiny with added MES Sensors on the pcb it
 is  more easy to fit the autopilot in very small MAVs. I want to have one  with  a 250mm span and 130g mass.
Currently a club menber has one with 290mm span and 87g mass with  RC.


Best reagrds

Heinrich Warmers


address@hidden schrieb:
Just a note for everyone reading.

The IMU would only be useful if code existed to calculate the euler angles for a fixed wing vehicle type.  At present the code doesnt exist(to my knowledge anyways). 

AJ

-------- Original Message --------
Subject: Re: [Paparazzi-devel] New Autopilot - Tiny v3
From: Rui Costa <address@hidden>
Date: Fri, August 14, 2009 7:27 am
To: address@hidden

Hello,
 
Thank you for the reply. I'm studing the HB-Autopilot to make the base for the tiny v3. I have a lot of things to ask. Have the e-mail contact of Andreas Dei?
 
 
Best regards
Rui Costa
On Fri, Aug 14, 2009 at 2:13 PM, Prof. Dr.-Ing. Heinrich Warmers <address@hidden> wrote:
Hello,
you can use the IMU form the HB-Autopilot and the HB-Autopilot MCU for most of the points.
http://www.akaflieg.hs-bremen.de/trac/akaflieg/wiki/airborne/hw/autopilot
It is also possible to use the booz2_IMU_HB witch was made by pione and John. We added  a pressure
sensor and a connection for a difference  pressure sensor.
Al the IMUs are  use the spi bus and the eagle files are free to use (GPL3).
Since there is a new  magnetic sensor the HMC5843 this sensor may spend a lot of money
(17$ to 60$).
Best regards

Heinrich Warmers 

HMC5843




Rui Costa schrieb:
Hello all,
 
 
Let's talk about possible new features for the new Tiny. I think it's time to make a new autopilot based on experience acumulated from the others Tiny boards.
We can discuss this new features by here, wiki, IRC channel or fórum.
 

I will need some help with some new components and the implementation of the software part.
 

Best regards
Rui Costa

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--
Rui Costa
www.azoreanuav.com

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