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Old May 06, 2011, 07:04 PM
Redfox74
Joined Apr 2009
271 Posts
New Imu for Ardupirates32NG

Hi Kinderkram,
check this great news
http://www.virtualrobotix.com/profil...lot32-have-his
Compact IMU all in one gps , sensor imu , input output port ... yet available with ardupirates firmware
Best
Roberto
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Old May 07, 2011, 06:36 AM
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Wow, Roberto!

That's one great news. Did you already finish all tests on the new IMU? Does it fly?

Can't wait to see that monster airborne!
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Old May 15, 2011, 07:12 PM
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It's here!

The MegaPirate


This new project is another effort by the ArduPirates (especially Captain Oleg aka Syberian) to get a stable AV/AP platform with support for altitude/position hold, RTL and waypoint navigation. The code is based on the previously launched official ArduCopter2 beta code.
Instead of proprietary hardware the code will support a wider range of flight controllers and sensor boards like the recommended Flyduino Mega and the FFIMU 9DOF+ or other ATMega1280/2560 based flight controllers and sensor bobs.

The ATMega1280 (or 2560) enables us to use
8 inputs (incl. a ppm sum solution)
16 outputs (plus serials for GPS and others)

A wide range of airframes will be supported - from traditional Heli up to Octos or whatever 16 outputs can handle...
Atm it supports Tris, Quads, Hexa, Y6 frames and Octos in x and + modes.
New: The MP8+ code now supports planes/wings also!
Helis, Bis etc. will be implemented on the run.

We've sourced cheap hardware to make an affordable UAV with all bells & whistles possible.

Note: this project is at Beta stage - although the code and flight behaviour already look good.
It's up to you to join the project and test the code, build your copters and enjoy the hellride in the Open Seas.




Pirate Bastien aka helicoblast set up a Google Code repository and Wiki here:

http://code.google.com/p/megapirate/...roduction?tm=6





Pirate Menno aka joebarteam offers a great tutorial on PID tuning


Step-by-step instructions with videos!
Not only applicable for MegaPirates but for every multirotor aircraft needing tuning of the PIDs.

http://www.rcgroups.com/forums/showthread.php?t=1521520

Menno also has written a detailed build log for his MegaPirate HexaX:

http://www.nijlstroom.nl/index.php/l...gapirates.html







Informations on the Flyduino:
http://www.rcgroups.com/forums/showthread.php?t=1381577




You can buy the Flyduino here: http://www.flyduino.com/Flight-Controller-Flyduino/


Informations on the FFIMU:
http://www.rcgroups.com/forums/showthread.php?t=1358869




Manual for the FFIMU 1.22L:
http://www.rcgroups.com/forums/showa...mentid=3980052

You can buy the FFIMU 1.22L here: http://www.viacopter.eu/index.php?pa...art&Itemid=53#


The AC2 beta code was completely rewritten by Oleg aka Syberian


It supports the following sensors

Invensense ITG-3200 3-axis gyro (and other gyros like Wii sensors)
Bosch BMA180 3-axis accelerometer (and other accels like the BMA020)
Honeywell HMC5883L 3-axis magnetometer (and other compasses like the HMC5843)
Bosch BMP085 absolute pressure sensor (and other altimeters)
DYP-ME007, a cheap ultrasonic sensor (and other sonars)
FTech FMP04 GPS unit, based on the Mediatek MT3329 chip (and others, GPS protocol type will be autodetected by the MegaPirate code)


APC220, a cheap Wireless Communication Module! (XBee replacement for telemetry data transmission)


Features of the AC2 beta code by the ArduCopter team

ACRO mode - Rate based control
STABILIZE mode - Good for FPV and general flying
SIMPLE mode - Good for new pilots. Yaw is calculated out so forward stays forward, no matter what orientation. This feature is also known as "carefree" mode on the MK.
ALT_HOLD – Good for testing your PIDs for navigation, only altitude is controlled automatically.
LOITER - Position hold
RTL - return to launch at desired altitude or from current altitude
AUTO - runs the current loaded mission script for waypoint navigation
All modes are fully interactive - meaning you can fly the copter normally, to override the autonomy.
radio failsafe can be configured to RTL
Sonar and Baro altitude hold support


Basic instructions to get the MegaPirate Quad code by Oleg aka Syberian running on a Flyduino Mega and Jussi's FFIMU as PDF in the attachments

Download the modified ACM/AC2 beta files from here:
http://code.google.com/p/ardupirates...hes%2FSyberian

Download the APM Mission Planner from here:
http://code.google.com/p/ardupilot-mega/downloads/list

You eventually also need Arduino0022 for now to upload the code:
http://arduino.cc/en/Main/Software

After downloading and unzipping the files follow the steps in the PDF below


Pinout for the Flyduino:




Pinout for the Seeeduino Mega:




Pinout for the Arduino Mega:






MegaPirate Frames - new design by Max Levine







Proudly presenting the MegaPiratePlanner (MPP), coded by Peter aka sandmen and deviated from the original APMP (by Michael Oborn).

No installation needed - just download and unzip the file from here:

http://ardupirates.googlecode.com/fi...atePlanner.zip

It now fully supports the MegaPirate code and the setup works according to the original software!



In the upper right corner choose "MegaPirate" as your board (of course).
You can now flash the latest firmware through the "Firmware" tab. After answering the question for your sensor board (FFIMU or Allinone) click on the appropriate frame, download the *.hex file and flash it automatically.







Ultrasonic Rangefinder: (8$)



http://www.goodluckbuy.com/ultrasoni...ce-sensor.html





Ftech FMP04 GPS module (Mediatek MT3329) (25$)








http://www.f-tech.com.tw/modules/pub...m.php?itemid=5

http://ohararp.com/products.html





Good and cheap XBee replacement: (45$)


http://www.goodluckbuy.com/apc220-wi...converter.html (~45$ incl. shipping)


Here's a how-to by Nosepo:
http://www.rcgroups.com/forums/showp...&postcount=843




Megapirates, APM working connection with APC220 Wireless modules. Desktop PC (0 min 46 sec)





CREDITS



I'd like to thank the following People & Pirates for their efforts, hard work and amazing results:

Oleg aka Syberian for the port of the AC2 code to the MegaPirate platform
Paul aka Goofy23 for his wonderful Flyduino Mega flight controller
Jussi for his great FFIMU 1.22L 9DOF+ sensor board
Gleb Devyatkin aka sovGVD for the implementation of the Wii and BMA020 sensors
Nosepo for his tinkering on the XBee wireless telemetry replacement
Berkely for his connection diagrams
Hogster for his schematic of the Flyduino Mega
3rdeyepro for the MegaPirate logo
RCVertt for his tutorial on the Eurgle 9x
Michael Oborn for his incredible Mission Planner
sandmen for his MegaPirate version of the Mission Planner
Menno aka joebarteam for his work on the code and great tutorials
Bastien aka helicoblast for his work on the code repo and Wiki
The ArduCopter Team for the basic AC2 code
Max Levine for his cool grafix of the MegaPirate airframes
cestb for the Seeeduino Mega connection illustration
Christoph aka Gartenflieger2 for the Arduino Mega connection illustration
isojed for the documentation of the Black Vortex

All the other guys, sourcing, testing, tinkering and flying the new MegaPirate code and supporting the development!



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Old May 15, 2011, 07:25 PM
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First flights

These are the first proofs of concept captured.

As you can see the drone was under heavy attack by other Pirates to test its agility and stability. Some copter dance at ~04:00 when I was bumping the sticks and let it autolevel.

MegaPirate PoC (5 min 12 sec)



This is the first outdoor flight captured while testing the baro alt_hold. Not bad but not good enough:

MegaPirate Garden Flight #1 (3 min 16 sec)



More flights and tests by other users

MegaPirate b8+ hover with lights (4 min 40 sec)


MegaPirate B8+ & sonar test (0 min 32 sec)


MegaPirate Loiter test (1 min 1 sec)


MegaPirate hexa - Return to Launch demo (2 min 13 sec)


MegaPirate - Simple mode demo (1 min 48 sec)


Megapirates Loiter Test (0 min 58 sec)


MegaPirate 2_033 alt-hold & loiter test (2 min 19 sec)


MegaPirate 2_038 first test and smooth RTL (4 min 23 sec)


MegaPirate Hexa 2.0.38 (3 min 34 sec)


ArduCopter Mega (4 min 30 sec)


Virgiux MegaPirate (1 min 53 sec)


MegaPirat 2_038 GPS mission flight demo (1 min 18 sec)


MegaPirate 2_038 GPS Mission flight #2 (2 min 53 sec)


MegaPirate 2_042 GPS mission flight demo (1 min 53 sec)


Hexacopter over amsterdam harbor (3 min 55 sec)
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Old May 15, 2011, 08:02 PM
Hovership
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Very cool, when will the code be ready for general use?

EDIT, nevermind found the links
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Old May 15, 2011, 08:10 PM
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Quote:
Originally Posted by 3rdeyepro View Post
Very cool, when will the code be ready for general use?

EDIT, nevermind found the links
Nevermind, forgot to post the links.
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Old May 15, 2011, 08:31 PM
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Norbert, Oleg, Pirates....

Great work...Now that I have stopped trying to cough up my lungs and my body temp is below 40C, I think I can find energy to test new stuff out....

Looking good.... Keep up the good work!

Jussi
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Old May 15, 2011, 08:49 PM
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Where to go from here

I have the seeeduino mega and have gps from Area's order. I dont have a breakout board for it yet. I want to be able to use a gps hold/ altitude hold function.
How can i utilize the free imu and jussi's boards? I am a noob and dont understand how they fall into the picture...if anyone could help. Thanks
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Old May 15, 2011, 09:34 PM
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Quote:
Originally Posted by rollinolin View Post
I have the seeeduino mega and have gps from Area's order. I dont have a breakout board for it yet. I want to be able to use a gps hold/ altitude hold function.
How can i utilize the free imu and jussi's boards? I am a noob and dont understand how they fall into the picture...if anyone could help. Thanks
The FFIMU doesn't fall into the picture - it fills your gap.

You'll be getting the cleanest setup with Jussi's shield for the Seeeduino and the FFIMU.

Paul's GPS bob will handle your unite well.
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Old May 15, 2011, 09:38 PM
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Quote:
Originally Posted by kinderkram View Post
The is the first proof of concept captured.

As you can see the drone was under heavy attack by other Pirates to test its agility and stability. Some copter dance at ~04:00 when I was bumping the sticks and let it autolevel.

http://www.youtube.com/watch?v=UYuMNe0PqIs
awesome, now all that needs to be done is make it stable.
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Old May 15, 2011, 09:47 PM
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Quote:
Originally Posted by kinderkram View Post
The is the first proof of concept captured.

As you can see the drone was under heavy attack by other Pirates to test its agility and stability. Some copter dance at ~04:00 when I was bumping the sticks and let it autolevel.

http://www.youtube.com/watch?v=UYuMNe0PqIs

All that wobbling made me seasick.
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Old May 15, 2011, 09:51 PM
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Quote:
Originally Posted by Quad_Addict View Post
awesome, now all that needs to be done is make it stable.
Oh come on Ken, you kniow it is stable as Hell, afterall its all professional Equipment he uses... even the Sheepskin on his couch for.......... nah not gonna say it ......... we all know he likes them ...
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Old May 15, 2011, 09:53 PM
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neat concept if it was stable... i dont think the video did it justice, perhaps to much airflow in the house? im just saying
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Old May 15, 2011, 09:54 PM
Oleg
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Norbert, I told you to show`em your Tx in one hand, not bumping the sticks
There`s no unintended wobble in that vid.
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Old May 15, 2011, 09:58 PM
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Quote:
Originally Posted by Syberian View Post
Norbert, I told you to show`em your Tx in one hand, not bumping the sticks
There`s no unintended wobble in that vid.
You are joking right?
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