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Old Aug 02, 2009, 04:52 PM
Shrediquetter
Willa1980's Avatar
Bremen, Germany
Joined Apr 2007
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My tricopter design (autonomous indoor hover etc.) - Atmega32

EDIT:
some thread-shortcuts
All information about this tricopter can be found in my blog:
http://shrediquette.blogspot.com


An article on my tricopter on tomsguide.com: http://www.tomsguide.com/us/tricopte...view-1552.html

Most of the time I have some PCBs/ TriGUIDE kits and ready-to-use I²C->PWM converters at home, email me if you're interested.

-----------------------------------------------

Hello there!
I just finished my "weekend Matlab project". A webcam is filming my tricopter from below, recording the position of three LEDs. With this technique, I can make the copter hover in place, in the centre of the field of view of the camera and at a "constant" height. If you'd like more infos, watch the video (I put some comments in there) or just ask.

The video can be found here:
Postion-hold for my Tricopter via webcam + markers (1 min 51 sec)


Cheers,
William
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Last edited by Willa1980; Jun 23, 2010 at 03:10 AM. Reason: contents changed quite a bit...
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Old Aug 03, 2009, 12:36 AM
Droner
SebastianJ's Avatar
Denmark, Capital Region of Denmark, CPH
Joined Mar 2006
2,410 Posts
Welcome to RCG William,

It's about time

Very cool project, show us more please.




Sebastian.
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Old Aug 05, 2009, 06:12 PM
Shrediquetter
Willa1980's Avatar
Bremen, Germany
Joined Apr 2007
250 Posts
I uploaded an additional video:
Autonomous hover with a tricopter via tracking IR LEDs (5 min 22 sec)

I am now tracking IR Leds und using an IR filter with my webcam. My control loop runs with 15Hz by now, which seems to be enough for a relatively stable hover.
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Old Aug 06, 2009, 12:06 PM
Wow That's Cool!
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Bay Area, CA
Joined Nov 2004
2,431 Posts
Verrrrryyyyy Coooooooollllllll!!!!!!
--Eric--
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Old Aug 06, 2009, 01:03 PM
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EQMOD's Avatar
Joined Mar 2008
3,775 Posts
nice

Some questions;

1. how do you maintain the height ?
2. How did you interface your radio to your PC ?
3. What SDK did you use to track the LED movements ?

regards,

Mon
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Old Aug 30, 2009, 07:42 AM
Shrediquetter
Willa1980's Avatar
Bremen, Germany
Joined Apr 2007
250 Posts
Hi!
I maintain height by calculating the distance between the LEDs. That gives me the distance to the camera = height.
My radio doesn't communicate with the PC. The radio communicates with the copter, but doesn't send anything except for the "minimal gas". So, if something goes wrong, I can still shut down the tricopter with my remote control (safety feature). The PC communicates via RS232 with the copter (first I used a very thin wire, now I use a xbee radio).
I am using Matlab to make image acquisition/ analysis/ data transfer. This is a very handy tool with a lot of built-in features. That makes development relatively quick and efficient.
I made a new video. The (finally external) web cam is now mounted to the ceiling. My mobile phone controls height an yaw. It sends commands to the PC via bluetooth. The PC then controls the copter...:
http://www.rcmovie.de/video/21b8645f...uert-Tricopter

Or here on vimeo (vimeo seems to have some problems the last days....):
Cell phone controls tricopter (1 min 18 sec)
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Old Aug 30, 2009, 08:44 AM
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St-Hilaire,Québec,Canada
Joined Sep 2001
269 Posts
This is soooo great! I really wish I was able to do this! where did you take your info on making your own mixer?
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Old Aug 30, 2009, 09:09 AM
Shrediquetter
Willa1980's Avatar
Bremen, Germany
Joined Apr 2007
250 Posts
With "mixer" you mean the "flight controller"...? Actually, the whole tricopter thing was an idea that I got while I was lying at the beach at the Côte d'Azur (southern france). I took a notebook and wrote down everything that came into my mind. That was about a year ago. I am still using this notebook, it contains all my ideas for the tricopter. It's also funny to watch "my personal development" in this book. In 5 days I will again be travelling to france, let's see what comes out this time.
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Old Aug 30, 2009, 04:01 PM
Shrediquetter
Willa1980's Avatar
Bremen, Germany
Joined Apr 2007
250 Posts
It's me again... This time: autonomous indoor waypoint navigation:

Autonomous indoor waypoint navigation with a tricopter (2 min 7 sec)

Have fun!
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Old Aug 30, 2009, 04:04 PM
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St-Hilaire,Québec,Canada
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very nice!
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Old Sep 27, 2009, 05:35 AM
Shrediquetter
Willa1980's Avatar
Bremen, Germany
Joined Apr 2007
250 Posts
I created a movie showing some of the capabilities of my tricopter:

Tricopter - The Movie... (8 min 7 sec)


I put a lot of efforts into creating sound effects etc...
Have fun!
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Old Sep 27, 2009, 05:56 AM
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St-Hilaire,Québec,Canada
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That's a killer video! Very cool!
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Old Sep 27, 2009, 10:13 AM
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Joined Jun 2007
2,152 Posts
Very cool. It can shoot lightning out its arse and stop time. And the cool thing is it can actually fly. Never knew you could roll and flip a tricopter. Nice flying man. You are a real evil genius. LoL
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Old Sep 27, 2009, 10:39 AM
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United States, MA, Waltham
Joined Jun 2009
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Willa1980,
That's an amazing video. Love the scene with the slow props. What controller are you using?
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Old Sep 27, 2009, 10:40 AM
Shrediquetter
Willa1980's Avatar
Bremen, Germany
Joined Apr 2007
250 Posts
Hi!
Thanks for your feedback! I am using an atmega32 @ 16mhz, programmed in Basic (BASCOM).
Cheers,
William
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