Supermiss + Picopilot updated w. new firmware

[icebear]

I just got my Picopilot back from UNAV and it has been updated with the latest firmware.

The new firmware ( verison 1.14) should enable shorter route legs which suits me fine since I am using a small airframe (the Scorpio Supermiss with 54" wingspan).

I decided to test the unit as soon as I got it back so I installed it in my Supermiss and strapped the Garmin Geko to the wing to record the flight.

Even though I haven't fine-tuned anything the change was quite noticable. I loaded the Picopilot with my standard 32 WP, 3 mile route and even if this already is a very short legged route (1/10 mile per leg approx.) the Picopilot tracked very well.

I did all 32 WP's in 10 minutes and here are some statistics;

32 Waypoints
10:25 minutes flight (
4,4 miles travelled (track 3 miles)
Avg speed 21 MPH (35 km/h)
Mileage: 1Ah used => 4.4 miles/Ah (!)

I will test the unit with the new firmware more, but the first impression is that it works great. Look at the enclosed track from the Geko and you can see how close it navigates even though route legs are really short!

/Icebear

[workshop]

Nice work Bear! I see you have a coastline too. Seems a shame to fly over dirt. :D

I look forward to hear more on the new firmware. I'm sticking with what I have since it seems to fit the airframe well.

Jeff

[icebear]

Thanks Jeff! Flying over water sure looks tempting, but I guess I have to wait until I have a nice downlink like you have before I can enjoy it...

OK, today I did another test and this time with a new 'square' track with 32 WP's.

I decided to leave the Picopilot gain untouched (about 25%) since the plane seems responsive enough but not overly so. There is a SLIGHT slow wing oscillation - about 1 Hz - but I guess that is normal. How about your setup Jeff?

I trimmed the rudder since I can see that left turns are slower than right turns (prop effect?) but otherwise just full servo travel and mechanical throw on rudder and no other modifications.

The Geko was strapped to the wing again and I think the reults are REALLY good. At the end of the flight I throttled back a bit and that made the plane make a circle when trying to hit the downwind WP's. I think the new firware really suits smaller airframes that flies shorter tracks.

I tested the same route with my other setup - Super Impress with Intellect 1200 mAh NiMH cells. It flew well too and the 'milage' is just stunning - 6 miles on a 1200 mAh pack in 12 minutes (about 30 mph)...

Here are some of the tracks recorded;

/Icebear

[sodman12]

Do you have any video of it?

[workshop]

First, let me say that that is some "first class" data collection; your efforts are really going to help the class. :D Those guys at U-Nav are going to sell more product now! I'm really impressed with that a difference 10 degrees per second makes! This really opens up "small planes, complicated routes" type flight.

My set-up bobs in pitch occasionally. Usually on more windy days. I'm going to add more mechanical resolution and raise the gain if needed to get more pitch control. My turns are really sweet most of the time (50% aileron differential and 20% rudder mix) and I don't seem to have any roll oscillation.

I posted new video on the GPG-58 thread that shows all the good and bad (gimbal shake from stripped servos and heat exhausted gyros)

Jeff

[icebear]

Thanks Jeff! That's another nice video - I wish I could do that with my setup... I'll watch your modifications closely :)

Video still to come, sodman..

Fall has arrived in Sweden with rain, wind and more rain, but every now and then I have been able to sneak away to my field inbetween showers and thunderstorms..

Today I had another go with the same square 7 km (4 mile) track with the gain somewhat reduced. In spite of the winds all waypoints were hit without any 'go arounds' and the slow wing rocking was reduced. Look at the very nice tracking!

I managed to shot a short video when the plane passed me a few times with my Nikon 7900, but the files are to large to post here. I'll post more video when we have processed the proper camcorder files.

Conclusions so far;

- The new firmware proves to be very effective for close waypoints - U-Nav informed me they had succeded with WP's as close as 200 ft!

- Altitude hold works well (Picopilot ALT3T) - see attched picture of the Geko recording

- Wing oscillation was reduced with a lower gain setting (about 20%) and I will also move CG a bit forward

- I get a constant avg speed of 32-35 km/h (20-22 mph) and milage of 9 km's/Ah (5.5 miles/Ah).

Modifications for next trial;

- Exchange motor to slightly larger MEGA 16/25/4 - better efficiency and will move CG forward a little which is needed

- Reduce mechanical throw a little but maintain current gain setting of the Pico NAV2

- Include the CVS camcorder for some in flight video

/Icebear

[jparisse]

Those tracks are truly amazing! I wonder if the firmware has been tweaked in other ways than the turn radius?... I wonder, too, if a larger plane could take advantage of the new firmware or would it make the plane too "tweaky"...

Jeff

GPS-58 will have data downlink soon and I'll be able to record the track of every flight. It might make for a nice track on track comparason of the new firmware.

[reznikvova]

:D :D

..Vova

[workshop]

:eek: :rolleyes: :D :cool:

[icebear]

Jeff,

Dave at U-Nav informed me that not only did they increase the turn rate from 10 deg/sec to 20 deg/sec in the v1.14 firmware, but they also managed to decrease the 'sequencer arming distance' in order to fly tighter courses.
I guess it all depends on how your course look. With tight courses the new firmware really shines in my opinion, but if you have more than 0.1 mile inbetween WP's, maybe you might as well use your current setup.

I'll look forward to seeing your recorded tracks!

Bjorn

[icebear]

I just posted an in-flight video of a short UAV flight by the beach with the Supermiss this weekend. I shot it with my Pentax Optio S6 which takes pretty good video, but unfortunately I had to compress it quite a lot here..

Here's the link;

http://www.rcgroups.com/forums/showthread.php?t=578610#post6170295

/Icebear

[philthyy]

That is so awesome! Would you say it it would be possible for me to duplicate your setup? I have dreamed of using the Pico Pilot and a (relatively)small plane for some time now. How difficult is it to set up the Pico Pilot and plane? I have a decent working knowledge of electronics and am always willing to learn.

[icebear]

Thanks philthyy!

I am sure it would be possible to duplicate..

As with everything you do there is always a learning curve, but if you follow the user manual and maybe read through what has been said here (see 'workshops' thread about Telemaster Sr. for instance) it's a pretty smooth and easy process.

To summarize here are a few things to think about;

- choice of airframe; use a relatively stable airplane - U-Nav recommends motor-gliders and the Supermiss flies just like one. Use a stable rudder-only plane and it will be more forgiving before you have fine-tuned everything

- Test the airframe (without autopilot) and make sure that it flies straight and level when you have trimmed it correctly

- Limit mechanical throw so that the plane is setup for a quite slow turning rate

- Test ONE thing at a time. First the airframe itself, then just the navigation unit (for example just return-home=no waypoints loaded), then the ALT unit, and finally everything together

- Adjust GAIN on the NAV unit by starting at a low gain setting and try increasing until you are happy with performance (the higher GAIN you can set, the better it is)

Testing is half the fun and if you do it in steps it will be a quicker process and more rewarding too!

Good luck!

/Icebear

[philthyy]

Thanks Icebear! I am thinking of using the Supermiss also, since you've had good luck with it. I especially like the data you've posted about effeciency and watts per mile. I love that kind of stuff. I guess I'm a numbers/results kinda guy. I love improving a project and testing it and then seeing the improvements in detail. I am looking forward to every step of building and testing this setup. Its the sort of thing that I'll definitely have to keep a running journel going while I'm at it, for looking over years later and getting a kick out of all the learning and fun I had.

[icebear]

No problems Philthyy!

I know excatly what you mean about results and numbers. Look at the chart I started filling in this August. Too bad I didnt do that from the beginning but fun anyhow.

Regarding the Supermiss I think it's a good choice. Please note though that I have the Miss2 wing instead of the aileron Supermiss wing. You could get the Miss2 instead since the only difference is that the tailplane is slightly smaller.
And its all yellow instead of red/yellow. I would recommend starting with the polyhedral wing instead of the aileron wing.

Good luck!

/Bjorn

[philthyy]

Which motor and prop and battery config do you recommend for the Miss2? I am using LiPo's almsost exclusively on my airplanes but do have a six cell IB 1200mah NiMh pack that I could use.

[kd7ost]

:eek: :rolleyes: :D :cool:

Bill Strong at BWAV actually did it some time back. He used the larger and more antiquated PDC-10 with a naked Garmin geko.

Dan

http://yb2normal.com/UAV_SlowStick.html

[philthyy]

Yeah, I originally planned on using a Slow Stick as my platform for my UAV project, but decided to go with the Miss2 or maybe the Easy Star. Still, I love his SS, and really wonder how well it worked. Anybody know of any video taken from it, or a write up on it?

[kd7ost]

I'm not aware of any write ups. I would imagine it had problems but only due to lots of rudder coupling with a slow refresh rate in the Garmin geko. (2 seconds) It probably did a lot of overshooting to target unless he really adjusted out the mechanical linkage, set the throws to minimum and flew in very calm wind conditions.

The upgraded UNAV unit addresses some of those early issues and makes for a more "small plane" friendly product. I would get rid of a lot of rudder area in a SS to give that a try.

Dan

[philthyy]

I might still someday try to use a SS as a UAV platform, but currently am working on my next setup. I like the Easy Star because it is durable, cheap, and cuts through the wind quite well. I like the Miss2 because its a floater and is extremely effecient, and because I'm really excited about the results Icebear posted with his plane with UNAV's Pico Pilot and the WPS. I think its a good idea for me to try to follow somebody elses successful setup for my first UAV, and then go from there with my own ideas after I learn more about it all.

[kd7ost]

That's a good idea. Bjorn has paved the way and quite far I might add. ;)

Dan

[icebear]

:)

Regarding the motor, I used a MEGA 16/25/4 and a 2000 mAh KOKAM LiPO.
I would go for a 70-80 W/lb setup even if I only use around 20 W/lb during "cruise" (Only 4A!). Just to make take-offs and climbouts easier :)
The NiMH pack you mention might be marginal even if I from the start flew using a GP1100 pack (but with no extra load like camera or secondary GPS).

My full setup with the Geko (recording GPS) and the camera (Pentax S6) now weighs around 42 oz

I totally agree on Dan's comments re the SS. You would need to reduce rudder a fair bit. I would however love to see a setup using the Easy Star...

Good luck!

/Bjorn

[philthyy]

How many mega pixels is the Pentax S6? Do you like it for AP?

[icebear]

Hi again,

The S6 is 6MP but there is something wrong with the frimware. About 1/3 of the photos come out underexposed during AP and I haven't figured out why yet.
Many other reported the same.

The shots that do come out well are on the pother hand quite good. And otherwise it's a very nice little camera. Video is good so that's what I use it for (640x480 @ 30 fps).
I would recommend the Optio s5i or s5z which still are available on Ebay. I got my s5 that way recently!

/Bjorn

[philthyy]

Thanks Icebear. Two days ago I put my Fuji 4.3 megapixel digital camera on my SS along with my video gear and went out and snapped some pictures. I love it! I've never tried AP before, and its really fun! The pictures turned out really sweet, considering the camera is at least five years old.

[icebear]

After a winter break of 4 months I took out my Supermiss UAV for the first time this year today.

The gear including the Kokam LiPO pack had apparently survived the winter well. I used up 1,4 Ah of the 2 Ah pack in 20 minutes. A good milage of 4,5 miles/Ah!

My standard 32 WP route of 5 miles was completed in 15 minutes at an average speed of 20 mph. The wind was only 6 mph, all the waypoints were made and the tracking in spite of short route legs of only 200 m's is extremely good.

Now it's time to try out the Mini Telemaster, so as soon as the Hobby Lobby shipment arrives I will switch to a new smaller airframe just for the fun of it...

/Icebear

[workshop]

It is nice to see that you are out of hibernation Icebear! :cool:

I noticed at DA018 a characteristic flight behavior that I see with the Catalina Project (relatively same firmware on a Telemaster 40).

The SuperMiss seemed to miss waypoint DA018, wait a second and then hard correct towards the next waypoint in sequence. I finally captured video of my UAV and will post it soon to the Catalina Project thread. The video will essentially show a waypoint that was missed in similar fashion and the bank angle used to correct the error.

Even with my gains set to reasonable levels, the new firmware seems to be “soft in the center” of the sticks (i.e. exponential) because the turn rate can be quite… um… high during a hard course correction under autopilot. :rolleyes:

Jeff

[icebear]

Thanks Jeff, it's good to be back in 'action' again... :)

I have been following your project with great interest, so I'll look forward to the video!

The WP DA018 is interesting. I thought that it had to do with the wind and the short route leg, since it was blowing from 330 degrees (my arrow is pointing against the wind in my picture - my mistake!).
Some laps were perfect - see enclosed picture and some were like the DA018, but only at that point. Will be interesting to see what you find.

Like I think I said in a previous reply, I will try to make a trip across the water and take pictures of our lighthouse - see attached picture. A lot less ambitious than your project but fun anyway! :)

I have yet to decide if it'll be the Mini TM or the Supermiss - it depends on the performance, but I am hoping the Mini TM will work out well.

/Bjorn