Wps-2

[MX]

Got my WPS-2 hardware today. Here's a sneak preview. WPS-2 is in the middle. Original WPS (http://www.rcgroups.com/forums/showthread.php?t=515929) shown at bottom right for scale.

More to come as development progresses...

MX

[LukeZ]

Exciting times! Subscribed!

Let us know if you have any problems with the cheeseburgers making it through the 0xBEEF port again... ;)


Luke

[Crash Pilot]

MX

Awesome . Thanks for the update and keep them coming.

Do you want fries with that burger ?

Crash Pilot

[ThaiskyDigital]

Even it so spicy for you, here in Thailand I have only TomyomKung for you.

Test good, can be serve after your cheeseburgers.

Let me be your first customer MX.

[icebear]

MX,

Exciting news!.. Keep us posted!
Some Swedish beer perhaps?.. ;)

/Bjorn

[Gary Mortimer]

South African Biltong might not work but I'll try

G

[_helitron_]

Hi MX,

really good news and great looking hardware :) !

I can serve you "Wiener Schnitzel" and "Sacher Torte" or "Mozart Kugel" :D !

Greets,

Erwin

[MX]

Thanks for the virtual burgers and other international cuisine! :)

Here's the hardware features for WPS-2:


ARM7 32-bit main processor
512 KB flash
32 KB RAM
2 integrated serial ports - one with USB & RS232, other for GPS input
2 external expansion serial ports (one for OSD)
I2C ports (one for external LCD)
integrated ZLog hardware
second processor dedicated to RC I/O (4 in, 4 out)
microSD socket for waypoints and data logging, etc.
4 10-bit A/D inputs

[d_wheel]

Got my WPS-2 hardware today. Here's a sneak preview. WPS-2 is in the middle. Original WPS (http://www.rcgroups.com/forums/showthread.php?t=515929) shown at bottom right for scale.

More to come as development progresses...

MX

Can't wait to get my hands on one! Do you have any idea if it will work with the newer 5hz GPS receivers?

Later;

D.W.

[MX]

Can't wait to get my hands on one! Do you have any idea if it will work with the newer 5hz GPS receivers?

Later;

D.W.

I'm programming it, so we can do whatever we want. I can program baud rates up to 230kbps, and the processor runs at 60MHz, so it can handle 5Hz GPS data no problem.

MX

[HELModels]

I want one! :)

I like all the interfaces...and the...and the...ad infinitum. It looks pretty sophisticated, yet simple. I mean simple to use.

[_helitron_]

Hi MX,

I just started to play around with the open source autopilot Paparazzi

http://www.recherche.enac.fr/paparazzi/wiki/index.php/Main_Page

and so far I can see your new hardware is very similar to that of Paparazzi. Which ARM7 chip have you used for your board ? Paparazzi uses one (Tiny Board) or two (Classix Board) LPC2148 chips from Philips/NXP. If your chip is similar or identical it should be possible to load the Paparazzi firmware. The problem with Paparazzi is in the moment that nobody can deliver an assembled hardware.

Just a thought ...

Greets,

Erwin

[MX]

Hi MX,

I just started to play around with the open source autopilot Paparazzi

http://www.recherche.enac.fr/paparazzi/wiki/index.php/Main_Page

and so far I can see your new hardware is very similar to that of Paparazzi. Which ARM7 chip have you used for your board ? Paparazzi uses one (Tiny Board) or two (Classix Board) LPC2148 chips from Philips/NXP. If your chip is similar or identical it should be possible to load the Paparazzi firmware. The problem with Paparazzi is in the moment that nobody can deliver an assembled hardware.

Just a thought ...

Greets,

Erwin

I use a Philips/NXP LPC2138, which is very similar to the LPC2148. I think the 2148 adds built-in USB controller, an extra 8k RAM and DMA (for the USB).

MX

[_helitron_]

Thanks MX !

Erwin

[eladiomf]

Hi Mx

Great Job.

Are you going to implement some type of attitude stabilization?

Maybe you can add a conector for a FMA Copilot sensor and implement it in software.

Eladio

[Aeroflot]

MX
Nice work, makes the GPS look like it's been through the washer.....
Are you planning on making the LCD wireless?

[MX]

Hi Mx

Great Job.

Are you going to implement some type of attitude stabilization?

Maybe you can add a conector for a FMA Copilot sensor and implement it in software.

Eladio

I was just going to use the FMA Copilot, but being able to use the sensor directly is an interesting idea. Anyone know what the pinout for the Copilot sensor is?

MX

[MX]

MX
Nice work, makes the GPS look like it's been through the washer.....
Are you planning on making the LCD wireless?

The LCD uses a 2-wire interface (i2c) plus ground and 5v. It's mainly there for testing and debug. The board has an RS232 DB9 interface that I was planning to use with a pair of maxstream rf modems I have for data downlink. I have thought about using a pair of WPS-2 boards, one on the plane and one on the ground, with the LCD on the ground board. Different software running on each of course.

MX

[_helitron_]

Hi together,

it's not that difficult to build your own IR-sensors:

http://www.recherche.enac.fr/paparazzi/wiki/index.php/Sensors

Erwin

[Aeroflot]

MX and group
I have had a play with 433.97Mhz one way (ASK)TX only modules, I was using one on a WPS-2 connected straight on the data pin to watch the data stream, I was very surprised at just how hardy these little units are the 2 different samples I had would keep functioning to 13.5 volts giving them 500~700+m range (300m@5v). If the LCD is serial then it could be used just as an option. The modules are very cheap for TX and receiver, And you can literally solder it on across serial data lines with the receiver data output pin on a MAX232 they are 1/3 the size of a WPS-2 only 4 pins @ 0.1 spacing.

MX let me know if you want samples.

[MX]

MX and group
I have had a play with 433.97Mhz one way (ASK)TX only modules, I was using one on a WPS-2 connected straight on the data pin to watch the data stream, I was very surprised at just how hardy these little units are the 2 different samples I had would keep functioning to 13.5 volts giving them 500~700+m range (300m@5v). If the LCD is serial then it could be used just as an option. The modules are very cheap for TX and receiver, And you can literally solder it on across serial data lines with the receiver data output pin on a MAX232 they are 1/3 the size of a WPS-2 only 4 pins @ 0.1 spacing.

MX let me know if you want samples.

The LCD I'm using can be setup for either I2C or serial, so it would work on the receiving end:

http://www.acroname.com/robotics/parts/R272-LCD03.html

Those modules are one-way only? I had in mind using a bidirectional link so I could enter debug commands during testing. Do you have more info?

MX

[Aeroflot]

The LCD I'm using can be setup for either I2C or serial, so it would work on the receiving end:

http://www.acroname.com/robotics/parts/R272-LCD03.html

Those modules are one-way only? I had in mind using a bidirectional link so I could enter debug commands during testing. Do you have more info?

MX
Yes, they are just one way and from what i can tell only one channel, very easy to use. The ones I used were from Keymark in TW but web vanished last week. Sparkfun have something similar. I am getting in a few more samples next week. I Found that the performance in all in the receiver sensitivity and found that if error’s occurred slowing the board rate down fix the problem, in volume they come in at under $6.00 that’s cheaper than a MAX232, the reason why I mentioned it was that it might be useful as an option on a final product when dulpex is not required. The LCD looks great. Low cost I think, here is another LCD maker.

http://www.crystalfontz.com/products/index-ser.html LCD

http://www.sparkfun.com/commerce/categories.php?cPath=16_79 TX & RX

[MX]

Thanks Aeroflot.


Got the EM-406 GPS working with the board now. It's parsing the GPS data and displaying lat/lon/speed/heading/altitude on the LCD.

MX

[_helitron_]

Congrats MX :) !

Erwin

[MX]

Pressure altimeter working now.

Able to access 1GB microSD flash card.

[workshop]

This is one of my favorite of your new features. Having to drag that airframe over to the laptop or vice versa, is a real pain in the ass. To have different missions or variations on a single mission pre-loaded on microSD cards is REALLY going to improve mission flexability. Thanks!

That's why I bought extra WP1 cards; to load 'em up and head out.

Jeff

[ThaiskyDigital]

Sign me up for one at their earliest availability!

[MX]

This is one of my favorite of your new features. Having to drag that airframe over to the laptop or vice versa, is a real pain in the ass. To have different missions or variations on a single mission pre-loaded on microSD cards is REALLY going to improve mission flexability. Thanks!

That's why I bought extra WP1 cards; to load 'em up and head out.

Jeff

I've also been thinking about some method of selecting missions or flight patterns during flight.

For example, say I'm doing search and rescue. I might setup a flight pattern to fly a grid pretty fast. Then, if I see something of interest, I could flip a switch and go into a tight circle pattern to focus on that area. This also implies the ability to create a position independent pattern that gets waypoints calculated "on the fly" based on your current lat/lon.

MX

[josse]

MX!
Thanks for your work on this one!
I have been following the progress for a few weeks, things are sure developing fast here!
I am very impressed.
I would sure like to buy one as soon as it is available.
Since the RF modem is implemented, would it be possible to control the UAV over longer distances than the range of normal rc gear?
I see some of those low powered RF modem have greater range than 10 miles,
(line of sight more or less).

Thanks!

josse

[MX]

...Since the RF modem is implemented, would it be possible to control the UAV over longer distances than the range of normal rc gear?
I see some of those low powered RF modem have greater range than 10 miles,
(line of sight more or less).

Thanks!

josse

I haven't implemented an RF modem on the WPS-2. But it does have the RS-232 serial port that I can use with an RF modem. I have a pair of the Maxstream Xstream modems. They claim up to about 20 miles, I think. That's one mechanism I was thinking that might be used to change mission parameters inflight.

MX

[MX]

By the way, I'm planning to turn the hardware one more time, so keep the suggestions coming.

MX

[workshop]

Let's take a moment and flesh out the RS-232 / Maxstream options...

I see:
Downlink
GPS
Digital Status Indicators (probably handled by the OSD)
A/D Channels

Uplink
On the fly course selection
Gimbal Control
Servo Control
Manual Flight Override
Course Reprogramming (beyond scope)
Joystick

Just brainstormin'... Don't freak! :eek:

Jeff

[LukeZ]

I'm wondering since you have the A/D sitting there - the hardware to add an airspeed sensor is relatively minor. I have not done extensive testing but I wonder if it could be used to steady the altitude hold feature... just a thought, but in the end I'm not sure it would add enough to be worth it. Other than the cool factor... ;)

I'm not sure what you intend to do with the ADs, or how open-source your software will be. But if the user had some ability to add their own sensors and even just get raw readings piped out the serial port, to be done with what they will on the ground, that would be nice.

I do like your option for the LCD, it might make it handy for in-field programming or option-setting, for those that wanted to buy an LCD to go with it.

If people want to use the bidirectional-communication feature of the Maxstreams, it might also be nice to be able to control from the ground some on/off outputs - and I guess a servo or two, which it sounds like you will have.

I guess these aren't really hardware suggestions, huh? :rolleyes:


Luke

[Gary Mortimer]

Of all the commercial guys, these fellows http://www.procerusuav.com/gallery.php?textFile=txt.cockpit.txt

Seem to have all the right toys on their ground control system.

I especially like the idea of being able to put a target in the crosshairs and have the UAV follow it.

As Jeff says, just brainstorming ;-)

G

[MX]

Let's take a moment and flesh out the RS-232 / Maxstream options...

I see:
Downlink
GPS
Digital Status Indicators (probably handled by the OSD)
A/D Channels

Uplink
On the fly course selection
Gimbal Control
Servo Control
Manual Flight Override
Course Reprogramming (beyond scope)
Joystick

Just brainstormin'... Don't freak! :eek:

Jeff

Not freaking here. Pretty much all stuff I've thought of already. I've already got 4 R/C outputs (may add a couple more) on the board for controlling a pan/tilt from the ground through an RF modem. The outputs are for autopilot control and auxillary servo-type devices that don't require high speed response.

MX

[MX]

Of all the commercial guys, these fellows http://www.procerusuav.com/gallery.php?textFile=txt.cockpit.txt

Seem to have all the right toys on their ground control system.

I especially like the idea of being able to put a target in the crosshairs and have the UAV follow it.

As Jeff says, just brainstorming ;-)

G

That one may be a bit beyond the scope of what I'm building here. :)

MX

[MX]

I recorded GPS data on the SD flash card on my way to work and back today using the WPS-2. Anyone know how to import a GPS stream into something to view it? I have google earth, but it doesn't seem to take raw GPS data.

MX

[MX]

Ok, figured it out. With GPSBabel, I converted my NMEA data to a .gpx file, then opened that in Google Earth. Here's the plot of my ride to work, captured by WPS-2.

MX

[Gilrc]

MX, let me give you my congrats on your nice work,....., and let us know as soon as you have the WPS 2 available for delivery . ;)

Gilrc

[icebear]

Great MX!

You probably already thought about including this but it would be great to have the possibility to program altitude as well as waypoints...

/Icebear

[MX]

Great MX!

You probably already thought about including this but it would be great to have the possibility to program altitude as well as waypoints...

/Icebear

Yes, have that in mind. I live in a fairly mountainous area, so there's definitely a need to be able to add an altitude component to the waypoints.

MX

[Gary Mortimer]

Oh yes please, same here.

3D waypoints bring it on.

G

[ios]

Just a thought. How about "relative" waypoints. For example, when the system start it logs the GPS waypoint of the starting location, and the relative waypoint would be 'constructed' relative to the initial waypoint.

Could be useful if you know what "profile" you want to fly, or if you have a standard profile you want to fly ~ you wouldn't need to re-program all the waypoints, you'd simply load a flight profile relative to a starting waypoint.

Maybe this is a starting point for an intelligent/(graphical user interface) Waypoint Editor.

Ios

[MX]

Just a thought. How about "relative" waypoints. For example, when the system start it logs the GPS waypoint of the starting location, and the relative waypoint would be 'constructed' relative to the initial waypoint.

Could be useful if you know what "profile" you want to fly, or if you have a standard profile you want to fly ~ you wouldn't need to re-program all the waypoints, you'd simply load a flight profile relative to a starting waypoint.

Maybe this is a starting point for an intelligent/(graphical user interface) Waypoint Editor.

Ios

Yes, I mentioned that in post #28. First I will get it going with fixed waypoints, but eventually I want to be able to do an "on-the-fly" pattern.

MX

[MX]

Oh yes please, same here.

3D waypoints bring it on.

G

My thinking is to feed the waypoint altitude to the altitude hold function and let it make the transition. The gain would need to be dependent on the distance required to make the altitude.

MX

[awmeade]

Excellent work MX - I've held out on buying anything else in anticipation of this beauty. Keep up the good work, doesn't look like there are any more features required for me - everyone else has said so much!

The only other thing I'd need would be a video downlink, but that's do able as mentioned with other hardware.

[Aeroflot]

I haven't implemented an RF modem on the WPS-2. But it does have the RS-232 serial port that I can use with an RF modem. I have a pair of the Maxstream Xstream modems. They claim up to about 20 miles, I think. That's one mechanism I was thinking that might be used to change mission parameters inflight.

MX
MX I been playing around with the GPS TX Tracking stuff again. I don't want to overload you however is it possiable to update WPS1 or 2 dynamically?

GPS on ground TX (Follow Me) >>> WPS (Update RMB?) >>> Aircraft course correction to (Follow Me Location on the ground)

[MX]

MX I been playing around with the GPS TX Tracking stuff again. I don't want to overload you however is it possiable to update WPS1 or 2 dynamically?

GPS on ground TX (Follow Me) >>> WPS (Update RMB?) >>> Aircraft course correction to (Follow Me Location on the ground)

So you're saying you want it to follow a moving waypoint? Easy to implement - just update the current waypoint to go to with the uploaded one. Might make for an interesting flight path if the plane is flying faster than the item being followed. Probably would also have to have some sort of loiter mode when it was close to the item being followed.

MX

[Aeroflot]

So you're saying you want it to follow a moving waypoint? Easy to implement - just update the current waypoint to go to with the uploaded one. Might make for an interesting flight path if the plane is flying faster than the item being followed. Probably would also have to have some sort of loiter mode when it was close to the item being followed.

MX
Thanks,
Yes, I suppose the plane moving faster would overshoot a way point, turn and sort of loiter. I haven't had time or space to test any of this because the 46 size model I am using, needs a lot of space. I might try first in one of the kids toys.

[MX]

...I haven't had time or space to test any of this because the 46 size model I am using, needs a lot of space. I might try first in one of the kids toys.

Yes, my first autopilot tests of the WPS-2 will be on the ground, piggybacked on my electric RC truck.

MX

[sergey123]

Great work MX,
Looking forward to play with one of this !!!
If it is not too late could you add more A/Ds (with MAX1168 multiplexer for example), it will help adding more sensors in a future :) :)

sergey

[MX]

Great work MX,
Looking forward to play with one of this !!!
If it is not too late could you add more A/Ds (with MAX1168 multiplexer for example), it will help adding more sensors in a future :) :)

sergey

How many are needed? There's 8 10-bit A/Ds on the microcontroller. I'm using 1 to monitor input voltage and 1 to monitor R/C servo voltage. I bring 4 more out to header pins. I may bring the other 2 out as well.

MX

[sergey123]

MX,
bring as more A/D as you can :) :)
Lets count (ideal world):
for 2x ADXRS300 - 2 data + 2 temperature compensation
1x ADXRS300 - 1 data + 1 temperature compensation
and 3 data for accelerometer (or SPI or I2c for digital accelerometer LIS3LV02DQ)
3 data for magnetometer

Total A/D: 12 (with temp compensation and 3 for analog accelerometer) But if you can give SPI for digital accelerometer it will be total 9 A/Ds. Basically I want to add as more as possible sensors

Just thought – may be it will help you. Here is paparazzi IMU3 and IR boards schematic with. FMA copilot IR is almost the same as paparazzi…

Edit: with gyros and accelerometers we will able to record not only altitude
but all angles too - so it could be perfect flight recorder and UAV board for everyone !!!! Imagine playing your real flight in FlightGear :)

sergey

[DHDSP]

Hi MX,

I'm quite new in UAV/WPS/Aerialohotography - but would it be possible to trigger (servo) switches when reaching a WP ? This could then trigger a camere e.g.

Just like a poster a couple of messages ago, I'm also waiting (patiently) for the WPS-2. Or would you still recommend the wps-1 +rcap etc. ?

btw. I like the idea of the integrated IR auto-leveler as it means an even reduced box-count.

CU
Peter

[MX]

How many are needed? There's 8 10-bit A/Ds on the microcontroller. I'm using 1 to monitor input voltage and 1 to monitor R/C servo voltage. I bring 4 more out to header pins. I may bring the other 2 out as well.

MX

Correction, there are 2 A/Ds that multiplex 8 channels each for a total of 16 channels on the microcontroller. Not all are available though, because of pin multiplexing.

MX

[MX]

Hi MX,

I'm quite new in UAV/WPS/Aerialohotography - but would it be possible to trigger (servo) switches when reaching a WP ? This could then trigger a camere e.g.

Yes, had that in mind. Planning to plug a PRISM into one of the R/C outputs for camera triggering.


Just like a poster a couple of messages ago, I'm also waiting (patiently) for the WPS-2. Or would you still recommend the wps-1 +rcap etc. ?

I can't give a date for when WPS-2 will be ready. There's still a lot to do, including another hardware turn of the board.


btw. I like the idea of the integrated IR auto-leveler as it means an even reduced box-count.

CU
Peter

I still need to find out what the pinout/interface is for the FMA Copilot sensor. Anybody know where to get that information?

MX

[Mr.RC-CAM]

I still need to find out what the pinout/interface is for the FMA Copilot sensor. Anybody know where to get that information?If you don't mind wading through a long discussion, the info is in the MAHI artificial horizon thread found here: MAHI OSD (http://www.rc-cam.com/forum/index.php?showtopic=294&hl=MAHI)

[MX]

If you don't mind wading through a long discussion, the info is in the MAHI artificial horizon thread found here: MAHI OSD (http://www.rc-cam.com/forum/index.php?showtopic=294&hl=MAHI)

Thanks Mr. RC-CAM.

[sergey123]

I have copilot IR board at home,
will make picture in the evening and send to you

Thanks for A/D explanation,
Sergey

[MX]

I have copilot IR board at home,
will make picture in the evening and send to you

Thanks for A/D explanation,
Sergey

Actually, I already have a copilot, I was just hoping the reverse engineering had already been done or that even maybe the details were available somewhere from FMA. Is it just 4 analog signals, one from each sensor? Are the opposite pairs used to give a ratiometric output? I may just have to crack mine open and do some measurements.

MX

[Mr.RC-CAM]

Is it just 4 analog signals, one from each sensor? Are the opposite pairs used to give a ratiometric output?
It is ratiometric, but in a voltaic sort of way. Basically neutral is ~Vcc/2 and angular movement is delta'd from that point. The details are in the discussion I linked to.

[MX]

It is ratiometric, but in a voltaic sort of way. Basically neutral is ~Vcc/2 and angular movement is delta'd from that point. The details are in the discussion I linked to.

I'm still working through that thread.

Thanks,

MX

[josse]

I have heard about problems to calibrate and get the FMA co-pilot to work in cloudy weather. I don't have one myself, but I have read about it in other forums.
To have something more reliable, they suggested an inertial measurement unit.
Maybe some draw backs with this type of sensor as well?

Just a thought.

josse

[sergey123]

Agree with you josse, but it is upto MX :) :)

Co-pilot is amazing product if before you have not played with real IMU but as soon you will you will never what to use it. Sensors based IMU is much more difficult to build and much more expensive but my personal opinion why not to do this step by step sensor by sensor. MX is going to put lots of A/Ds and based on budget and necessity sensors with software support can be added after….

Sergey

[MX]

Basically, WPS-2 is supposed to be more of a low-end pilot assist. Essentially it's an integration of existing components: WPS + RCAP + ZLog + AltHold + SD flash. Although, I'm trying to make it flexible enough to experiment with additional features such as IMUs, gyros, etc, by bringing out A/D and other I/Os. Most people are already using the separate components along with a copilot, so it might be nice if I had a pinout on the board to read the copilot sensor, thus further integrating the parts and minimizing the amount of wiring between devices.

MX

[Gilrc]

Basically, WPS-2 is supposed to be more of a low-end pilot assist. Essentially it's an integration of existing components: WPS + RCAP + ZLog + AltHold + SD flash. Although, I'm trying to make it flexible enough to experiment with additional features such as IMUs, gyros, etc, by bringing out A/D and other I/Os. Most people are already using the separate components along with a copilot, so it might be nice if I had a pinout on the board to read the copilot sensor, thus further integrating the parts and minimizing the amount of wiring between devices.

MX

MX, what RCAP version are you using on your WPS-2 ?

Gilrc

[MX]

MX, what RCAP version are you using on your WPS-2 ?

Gilrc


The source code I have is for RCAP2. I'll get that going first, then add modifications as desired, e.g. convert to using cross-track error to set rudder.

MX

Edit: actually, after a quick look at the rcap source, I may just do my own implementation. I already have code for reading and parsing the GPS data and for inputting / outputting rudder pulses. All that's left is basically taking the bearing vs. heading and applying a gain factor to the rudder output.

[Gilrc]

Thanks MX, i´ll be waiting for news,..., i´ll drop a look at the Rcap2 version,...., unfortunatly thats the only one available. :rolleyes:

Gilrc

[MX]

Did another driving test. It's working great as a data logger now.

MX

[rcdoma]

I've had two crashes while landing with FMA, so I'd love some kind of support for an IMU :)

FMA moves my ailerons and elevator 1-2mm with the remote transmitter control turned fully counterclockwise, making me fight it while landing :confused: -is this normal?

[typicalaimster]

No you need to turn the sensitivity WAY down. You might want to put the FMA CoPilot on a toggle switch. Then set the sensitivity up about 1/4 turn from the lowest point. Take the plane up to a safe altitude and toggle the CoPilot on. If it puts you in a bad situation, turn the CoPilot off, land and readjust.

The best way I can describe it.. The CoPilot should act like dihedral on a 40 sized trainer. You shouldn't be fighting the CoPilot to make a turn. It should gently return you to 'level' flight. I spent a good 5 flights before I had mine dialed in where I wanted it.

I've done a few CoPilot only landings.. I still have to work the throttle but it is possible to do.

[rcdoma]

Thanks aimster! I will be following your advise during my test flights this weekend.

[workshop]

My 2 cents: IMU beyond scope for reasons MX described (it would be eaiser to buy a PicoPilot!)

I use the co-pilot without the enable function (always on) and with a VERY low setting. Good Co-Pilot advice there typicalaimster; the comment about dihedral really puts it into a pilots perspective.

Jeff

[wallaguest1]

that's pretty awesome, can't wait to see it finished.
what about adding support for PDA's ? so you can select the waypoint sequence you want plane do, without the need of a heavy laptop,

Finally it's possible to define the altitud plane should be at each waypoint?

Adding IMU is the best option, not just bcos don't fail like FMA in a cloudy day,
also bcos you can prgram it in order that plane do a self-landing using 2 sound sensors in the plane pointing the ground. (they will just work when plane is at 5 meters from ground).
http://www.superrobotica.com/images/S320110.JPG
With FMA that will not work bcos there are objects usually in the ground... that dont allow a clear read of FMA. (i think)

Well you can use zlog to know the altitud, but if you are planing that plane land in another site where you don't know altitud, it will crash.
(sorry my english level)

your next project ? an osd could be cool (but personalizeable)

rcdoma why u don't use a switch to disconnect the FMA when wyou are landing? (or it's not possble that? :-s )

[wallaguest1]

what about include in the hardware the prism photo maker too

maybe using Micro SD card could reduze much more better the size and weight

what about update parameters of waypoint thru SD card? so it can be done with a PDA, (like i said before)
Same thing to firmware,

Its already possible to switch with the transmitter from manual mode to "uav mode" and "back home mode" ?

It's possible that it come back home if fail safe come's enable?



http://img168.imageshack.us/img168/9976/sandisk20transflash202gly3.jpg

[typicalaimster]

Adding IMU is the best option, not just bcos don't fail like FMA in a cloudy day..... With FMA that will not work bcos there are objects usually in the ground... that dont allow a clear read of FMA. (i think)

....disconnect the FMA when wyou are landing? (or it's not possble that? :-s )

Wait wait wait? I'm confused. I've ran the FMA CoPilot since Dec 2005. You MUST set the sensitivity on the CoPilot. For proper operation you Must take time and set the CoPilot correctly. If you put garbage in, you're going to get garbage out..

I've flown the CoPilot on sunny and cloudy days. I have not noticed a difference between the two. My dad has flown the CoPilot in the bottom of an open pit mine. This is with 500' walls all around him. He didn't see any problems with it. I've flown around large ground clutter and haven't seen a problem.. Once again I spent about a week setting my CoPilot up.

The ONLY time that I have seen a problem with the CoPilot was after an ice / snow storm. This is a documented problem with the CoPilot. There was ice still in the trees and the CoPilot was seeing a huge difference in temperature.

I've quite a few 'auto landings' with the CoPilot since I've been using it. I just line the plane up and use the throttle to manage my decent. In fact a video that I shot a few days ago I performed landing using nothing but the CoPilot.

If there was a AutoPilot out there that could accept a decent rate and manage my throttle.. I'd be very confident allowing the AutoPilot and CoPilot land my plane.

If you check out... this video (http://video.google.com/videoplay?docid=6789696102438274721&hl=en)
it's my most recent FPV video. This is using the FMA CoPilot on a semi cloudy day. You can see me clearly below the tree level and holding just fine.

[wallaguest1]

ok maybe im wrong, don't know, i dont got the FMA.
(when u land FMA still got a clear view of sky and ground, so that's why it work)
if there where more obstacles and they were high, problebly will not work as well.


http://img507.imageshack.us/img507/3070/vruj6.jpg

[wallaguest1]

MX you travel about 4,6 milles, ( 7,5 km)
you didn't lost video image ??! ¿?

or maybe u just make it fly and wait it come back?

im looking images of Grass Valley, is so cute place, haha seems like the site where Edward Scissorhands lived :P

[wallaguest1]

you can add a interesting feauture:

Altitude Range,
i mean: i say "from 150 to 200 meters,
then when plane reach 200 meters, it cut motor, and it will not run it until 150 meter become reached, in order that a glider or plane can travel longuer distances with same battery.

it's possible you add in the same board PRISM and a nice OSD? or im asking too much ? ^;^

[MX]

that's pretty awesome, can't wait to see it finished.
what about adding support for PDA's ? so you can select the waypoint sequence you want plane do, without the need of a heavy laptop,

I'm planning on the config and waypoint files to be text based on the flash card, so if your PDA can take an SD card and has some sort of text file editor, then you could use it. I don't plan to create a custom PDA application right now.

Finally it's possible to define the altitud plane should be at each waypoint?

I'm planning to have that capability.

Adding IMU is the best option, not just bcos don't fail like FMA in a cloudy day,
also bcos you can prgram it in order that plane do a self-landing using 2 sound sensors in the plane pointing the ground. (they will just work when plane is at 5 meters from ground).
http://www.superrobotica.com/images/S320110.JPG
With FMA that will not work bcos there are objects usually in the ground... that dont allow a clear read of FMA. (i think)

Well you can use zlog to know the altitud, but if you are planing that plane land in another site where you don't know altitud, it will crash.
(sorry my english level)

your next project ? an osd could be cool (but personalizeable)

I added two additional serial ports so that it can interface with an external OSD. I don't have the expertise to build in a video overlay hardware.

rcdoma why u don't use a switch to disconnect the FMA when wyou are landing? (or it's not possble that? :-s )

Comments in blue above.

MX

[MX]

what about include in the hardware the prism photo maker too

I have multiple servo-type outputs, so either a PRISM could be plugged in, or maybe use an I/O pin to drive an external IR LED. I don't think I'd put the IR right on the WPS-2, since it probably won't be positioned where it can control the camera.

maybe using Micro SD card could reduze much more better the size and weight

I have already done that, see photo and list of features in the first few posts of this thread.

what about update parameters of waypoint thru SD card? so it can be done with a PDA, (like i said before)

See previous reply

Same thing to firmware,

Its already possible to switch with the transmitter from manual mode to "uav mode" and "back home mode" ?

It's possible that it come back home if fail safe come's enable?

I plan to allow for switching things, including waypoint sequencing and directional control using R/C channels. Also, it will allow for setting failsafe positions.



http://img168.imageshack.us/img168/9976/sandisk20transflash202gly3.jpg

More comments in blue.

MX

[MX]

MX you travel about 4,6 milles, ( 7,5 km)
you didn't lost video image ??! ¿?

or maybe u just make it fly and wait it come back?

im looking images of Grass Valley, is so cute place, haha seems like the site where Edward Scissorhands lived :P

That's not my video, it's from typicalaimster. Grass Valley is much hillier and forested with tall pines.

MX

[MX]

[QUOTE=wallaguest1]you can add a interesting feauture:

Altitude Range,
i mean: i say "from 150 to 200 meters,
then when plane reach 200 meters, it cut motor, and it will not run it until 150 meter become reached, in order that a glider or plane can travel longuer distances with same battery...QUOTE]

Which is more efficient - to maintain a small range or a larger range? I would probably make it configurable as far as a hysteresis band or PID coefficients for altitude hold.

MX

[wallaguest1]

thnks for your reply's

That's not my video, it's from typicalaimster. Grass Valley is much hillier and forested with tall pines.

MX

well my question was about the travel of 4,6 miles you done, not typicalaimster.

that one:

http://img47.imageshack.us/img47/7631/ridetoworkmd6.jpg

[MX]

ahh, ok. That's my daily commute, approximately 6.3 miles.

MX

[wallaguest1]

oh well hehe i just calc the distance in straight line

then, u didn' lost the video link at that distance?
wich plane did you use?

thnks

[MX]

oh well hehe i just calc the distance in straight line

then, didn' lost the video link at that distance?
wich plane did you use?

thnks

This was a driving test, not an FPV flight. I was just making sure it could handle GPS input and log to microSD flash card.

MX

[rcdoma]

rcdoma why u don't use a switch to disconnect the FMA when wyou are landing? (or it's not possble that? :-s )

Wallaguest, I was using the remote sensitivity channel on Co-Pilot to switch it on and off.

I did some test flights over the weekend with FMA which went very well with the sensitivity at 25, 75 and 100%. The only difference was that we reduced the throws on the elevator and ailerons to factory defaults. Now I don't feel like am fighting FMA, once I turn it off for landings.

Jeff, I knew you were using the Co-Pilot always on with low sensitivity. I just wanted to turn it off in case things went wrong :)

Typicalaimster, thanks for sharing the video. After reading what you wrote, am tempted to try some auto-landings :)

[wallaguest1]

Any news about your project dear MX? are you working hard? ^_^

http://www.sitiosargentina.com.ar/emoticones/emoticones-generales/SugarwareZ-196.gif


im so impatient XD :P

[MX]

Any news about your project dear MX? are you working hard? ^_^

http://www.sitiosargentina.com.ar/emoticones/emoticones-generales/SugarwareZ-196.gif


im so impatient XD :P

Not a whole lot of progress. I've been doing 10+ hour days at the day job. :(

Latest work has been on the RC interface. I have an 8-bit processor dedicated to pulse I/O. I've got the ARM processor talking to the 8-bit and reading pulse widths. Still fine-tuning the 8-bit processor's pulse measurement.

MX

[MX]

Took the WPS-2 for a little ride in the 6' Electro Telemaster. I also made a little current sensor using an Allegro ACS750-50 chip. Heres some of the data recorded from the flight using the microSD. No rudder or altitude control is enabled yet.

[Aeroflot]

MX that's a very nice current sensor, I have always had problems sourcing parts from Allegro micro and they never respond to email. Very nice thanks

[wallaguest1]

seems that GPS say 2200 meters, and zlog 1200,

gps is not precise at all, 100 m. of diference is a lot,

you fly up to 2300 feets ? not bad ^;^

[MX]

seems that GPS say 2200 meters, and zlog 1200,

gps is not precise at all, 100 m. of diference is a lot,

you fly up to 2300 feets ? not bad ^;^

The GPS altitude differs from the pressure altitude by about 150 feet. Well within variations due to atmospheric pressure.

MX

[Wmacky]

A couple of thoughts......

The code for the RCAP1/2 was found to only work with Garmin type units and not the popular EMXXX models. Our friend from spain had to modifiy it on the RCAP3 for EMXXX support.

Will wind correction be implemented, as was the case with the old PC10?


Good choice using the FMA Copilot. I don't want a $5,000 IMU!

I want to be on the Beta team!!!


Edit: I forgot about loss of GPS signal. What would the WPS do? Slow turn? Straight flight? Return to manual control possible? This is an issue with the RCAP2/3.

[typicalaimster]

The code for the RCAP1/2 was found to only work with Garmin type units and not the popular EMXXX models. Our friend from spain had to modifiy it on the RCAP3 for EMXXX support.

Actually when Walter did the RCAP2 we knew it would only work with Garmin GPS Units. Therefore MX came up with the WPS1 for the RCAP2 so we could use OEM GPS units to navigate. Someone else then took a Zlog with an RCAP2 (http://www.rcgroups.com/forums/showthread.php?t=494774) and modified the code a bit. This gave you your Alt+Hold that is part of the RCAP3. So pretty much RCAP3 is a slim line version of the RCAP2. The Zlog and WPS fit into properly aligned sockets, and the circuit board is the same width as the Zlog and WPS. I'm sure the underlying code is still the same.

[Wmacky]

Actually when Walter did the RCAP2 we knew it would only work with Garmin GPS Units. Therefore MX came up with the WPS1 for the RCAP2 so we could use OEM GPS units to navigate. Someone else then took a Zlog with an RCAP2 (http://www.rcgroups.com/forums/showthread.php?t=494774) and modified the code a bit. This gave you your Alt+Hold that is part of the RCAP3. So pretty much RCAP3 is a slim line version of the RCAP2. The Zlog and WPS fit into properly aligned sockets, and the circuit board is the same width as the Zlog and WPS. I'm sure the underlying code is still the same.


I'm not sure about that Typicalaimster. Here is his post from the RCAP3 thread....



"Hello

I have problems at the begining with EM406 because this GPS don't follow exactly the NMEA standar. I had to made some fix in the RCAP code to accept it.

I think that 401 would work OK too, with RCAP3, but I have not test.

I you can capture and send me some NMEA code of your GPS I will tell you if it's compatible.

Good about EM406 is that it only cost now 56$ at sparkfun.

Eladio"



It seems that the initial code fix allowed the other "Garmin" units such as the Geko, and the OEM unit to be used, BUT the code still was not compatible with EM XXX modules. Eladio seems to have discovered this and had to rework the software once again for the RCAP3. This is how I understand the progression after much reading.

If I remeber correctly, during the WPS developement. The entire setup was working for some and not others. Those having problems were using the EM xxx unit. They WOULD talk to the WPS, but not to the RCAP2. The revised code in the RCAP3 fixed the issue. I'll have to revisit that thread......

[DACeller]

What has happened to this exciting thread,, no activity for weeks? I had assumed this to become another offering after the chip integration, testing, etc. What did I miss?
Thanks.

[MX]

I'm still at it. I got busy with another batch of ZLogs, but am slowly working on the WPS-2. I'm working on the servo I/O code. Just need to finish up the outputs and hopefully that part will be ready.

MX

[Wmacky]

Please Be assured that interest in this product has not wained. I'm sure many as I scan the forum all the time looking for any updates on this project!

I can't wait to see a big beta testing thread. I've read up on some of the other big threads, "RCAP, and WPS" and find it great reading! I'm just sorry I wasn't around at that time. This forum really needs another big project with lots of people taking part, As I said, I find it better reading than a top 10 novel!!