UAVDevBoard now a full-fledged autopilot

[zlite]

Just a quick note with the news the Bill Premerlani's UAVDevBoard (http://diydrones.com/page/uav-devboard) now has full waypoint support and qualifies as fully-fledged autopilot. It currently supports about 1,000 waypoints.

It's the cheapest IMU-based autopilot on the market ($149 plus a required $60 GPS module and PIC programmer) and has now been flight tested for more than six months on aircraft from gliders to helis. Bill (a GE Labs scientist) did a great job on both the board and code. His DCM is a processor-friendly alternative to the Kahlman filter, and is what we use with the ArduIMU and forthcoming IMU-based ArduPilot.

Bill implemented waypoints in a really interesting way, which is based on relative rather than absolute postition (absolute is coming in the next rev, too). Here are two ways to enter them, in meters relative to launch position:


They are in the form:

"const struct relative3D waypoints[] = {
{ 0 , 0 , 100 } ,
{ 100 , 173 , 100 } ,
} ;"

Or, even cooler:

#define CROSSTRACKING
#define CORNER 100
#define CLEARANCE 25
const struct relative3D waypoints[] = {
{ CORNER , CORNER , CLEARANCE + 100 } ,
{ CORNER , - CORNER , CLEARANCE + 75 } ,
{ - CORNER , CORNER , CLEARANCE + 50 } ,

[jglenn]

Does it have 3 gyros and 3 accel? I don't see an airspeed pressure sensor,

or baro sensor, no need? What GPS unit is used? Looks pretty cost effective,

what framework of software is provided, and does it need additional work to fly? Can I
use with rudder/elevator, or do I need ailerons?

[zlite]

Yes, three gyros and three accelerometers. No airspeed sensor. It gets altitude from the EM406 GPS.

Can fly with rudder/elevator or aileron; your choice. All details on the code are on the project's home page linked to above.

[bcuervo]

>jglenn
Bill has a fantastastic amount of information on his DevBoard including theory and implementation. Per Chris' comment, everything you want to know can be found @ the DIYDrones site.
I'm in the process of trying his hardware and latest code in my tailless plane. I bought a separate digimixer to handle the elevons.

[bmw330i]

...

Bill implemented waypoints in a really interesting way, which is based on relative rather than absolute postition (absolute is coming in the next rev, too). Here are two ways to enter them, in meters relative to launch position:


They are in the form:

"const struct relative3D waypoints[] = {
{ 0 , 0 , 100 } ,
{ 100 , 173 , 100 } ,
} ;"

Or, even cooler:

#define CROSSTRACKING
#define CORNER 100
#define CLEARANCE 25
const struct relative3D waypoints[] = {
{ CORNER , CORNER , CLEARANCE + 100 } ,
{ CORNER , - CORNER , CLEARANCE + 75 } ,
{ - CORNER , CORNER , CLEARANCE + 50 } ,

Not so unique, Paparazzi has always done it relative to the "home" position.
Congrats on the status change to "full-fledged autopilot"!

[jglenn]

bc: would like to hear how that works. Reading about this unit, seems like
the best so far. Wondering about the software, if it is complete enough to
run on a basic plane without being a guru of code. On the weekend will have
the time to get into it.

[FrankC]

Is there any listing of the airframes this board has been tested with?

[Paul_BB]

Is there any listing of the airframes this board has been tested with?

I own one. I know it has been tested at least on B. Premerlani's
Goldberg Endurance
Multiplex EasyStar
Gentle Lady
On someone's Multiplex TwinStar.
On my Graupner Elektro Junior and soon on my Scorpio Miss.
On many other airplanes.

It will stabilize any neutrally stable plane with ailerons or work with stable rudder only airframes.

There is a UAVDevBoard goup on Googles for those willing to develop new features or help Bill.

[FrankC]

Thanks Paul. That is a decent list as a starting point. Helicopters were mentioned, does anyone know which ones?

[zlite]

Thanks Paul. That is a decent list as a starting point. Helicopters were mentioned, does anyone know which ones?

Here's (http://www.diydrones.com/forum/topics/progress-report-on-uav) the thread on helis. Short form, they work better with the green board than the red board. I don't think Bill is a RC Groups member, so you'll probably want to go over to DIY Drones for follow-up questions.

[docphi]

Here's my FPV platform with the devboard. Rock-solid performance. Truly plug-and-play. Only had a slight hiccup getting the mplab software installed. You can see the Remzibi OSD integrated, an Iftrontech Mondo 5.8 transmitter, and a stripped down JDX990 PVR for on-board recording.

[tty044]

Does anyone know if it is possible to use other-budgrt oriented programmer than "MPLAB Compatible ICD2 with USB and RS232" (106USD) with UAVDevBoard? I am not a programmer so I would use basic software update and upload options for UAVDB.
Regards
Michal

[13brv3]

The PICkit2 works just fine, and probably better than the ICD2 for simply programming the software. Don't be tempted to "upgrade" to the PICkit3, because I believe the PICkit2 is actually better for our needs, and cheaper too.

http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=PG164120-ND

To use the PICkit2, you'll have to make a very minor mod to make it physically plug in. Either you can remove the polarizing tab on the UDB (UavDevBoard) connector, trim the case of the PICkit2, or make a cable to connect them.

Rusty

[tty044]

Thank you Rusty