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Old Mar 08, 2012, 01:02 PM
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UAV / FPV / OSD / photomapping project - UavDevBoard 4

So after a loooooong time i've decided to begin another project.

The "guilty" ones for taking this decision are:

Chris Anderson - with the Trust Time Trial (T3) competion he spread the UAV virus http://diydrones.com/profiles/blogs/...-landing-round

Pete Hollands/ Riccardo Kuebler / Phil Giacalone / William Premerlani /UDB community for demonstrating what is UavDevBoard capable to do.

The wiki page for UDB is here:
http://code.google.com/p/gentlenav/

The discutions about the UDB4 are here :
https://groups.google.com/forum/?fro...um/uavdevboard

On the wiki page you find a lot of informations, this topic is supposed to remind me what i've done during the project(all the steps/setups), maybe someone can find the topic usefull.


The main purpose of this project is to have an UAV capable to do Auto takeoff/land , make autonomus missions and to be used for FPV.

What i will use :

1. Wing Tiger V2 - electric trainer

http://www.bananahobby.com/1651.html


2. Futaba T9CAP + FRSKY two way transmitter module http://www.frsky-rc.com/ShowProducts.asp?id=34 and receiver

http://www.frsky-rc.com/ShowProducts.asp?id=89 .

The receiver is capable to output RSSI (PWM) and CPPM output directly from it's pins,no soldering required.

3.UavDevBoard 4 http://www.sparkfun.com/products/11115

4.MediaTek MT3329 GPS http://store.diydrones.com/MediaTek_.../mt3329-02.htm

5.Openlog http://www.sparkfun.com/products/9530

6.Nick's OSD http://arsovtech.com/?p=1232

7.Magnetometer http://store.diydrones.com/HMC5843_T...hmc5843-01.htm

8. Clone PicKit 3 from ebay : http://www.ebay.co.uk/sch/i.html?_fr...All-Categories

9.FPV camera http://www.tmart.com/MC495A-520TVL-M...k_p122180.html

10. 5,8 ghz receiver http://fpvhobby.com/33-4ghz-8-ch-a-v-receiver.html and mini transmitter http://fpvhobby.com/93-200mw-58ghz-a-v-transmitter.html

11. A Canon A480 with CHDK installed (http://chdk.wikia.com/wiki/CHDK_in_Brief) for photomapping.

I have the majority of the things, it's only missing the Pickit and the fpv camera.

That's it for now.
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Old Mar 09, 2012, 02:38 PM
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Thanks. Very interesting.
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Old Mar 09, 2012, 02:56 PM
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Quote:
Originally Posted by tobermei View Post
Thanks. Very interesting.
-------------------------------------------------------
Thank you.

Unfortunatelly i will be in a business trip in the next 2 weeks, so the next updates will be when i will return.
-------------------------------------------------------
As i said i will use a Canon A480 for photomapping. On the camera i've installed CHDK with a "program" to make auto photos at a special time interval.

For those who want to know more about CHDK here is a link : http://chdk.wikia.com/wiki/CHDK_in_Brief

If someone wants i will make a video tutorial for CHDK.
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Old Mar 25, 2012, 06:47 AM
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While i was gone the fpv camera arrived and also the pickit3.

To upload the matrixpilot to UDB4 first you must power up the udb4 , and after, the pickit. After you upload the modifications you must unplug the pickit from the udb4 and after that unplug the power from the udb4.
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Old Apr 04, 2012, 02:22 PM
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Magnetometer connections

All the pins are soldered so i've begin with the connections. On the UDB4 i've soldered all the pins to be sure that i've not missed anything .

First connection is between the magnetometer and UDB4.

Aditionally you must make a change in the magnetometerOptions.h file (i uncommented this line : #define HMC5883L and i added the magnetic declination. Here is a link that can help you to find the magnetic declination of your place : http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp . After you find it complete it in this line :
#define MAGNETICDECLINATION 0 - replace 0 with your declination-only the degrees ).

If you connect the magnetometer directly to UDB4 board theUDB4 board should be positioned forward - with the input pins to the front of the plane.

Here is the wiki regarding the connection :

http://code.google.com/p/gentlenav/w...terConnections

(please check the official wiki before doing the connections,in my build log/photos posted could be some errors)
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Old Apr 05, 2012, 12:36 PM
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Romania, IS, Iasi
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GPS connections

I've bought a MediaTek MT3329 GPS for UDB. I've attached a photo with the connection.

Aditionally you must change something here Matrixpilot3.2.1/Matrixpilot/option.h file :

////////////////////////////////////////////////////////////////////////////////
// Set this value to your GPS type. (Set to GPS_STD, GPS_UBX_2HZ, GPS_UBX_4HZ, or GPS_MTEK)
#define GPS_TYPE GPS_STD


////////////////////////////////////////////////////////////////////////////////

i will change into :

////////////////////////////////////////////////////////////////////////////////
// Set this value to your GPS type. (Set to GPS_STD, GPS_UBX_2HZ, GPS_UBX_4HZ, or GPS_MTEK)
#define GPS_TYPE GPS_MTEK


////////////////////////////////////////////////////////////////////////////////

When the gps has locked the blue led is solid on,if it isn't locked, it is blinking.

Update 18.12.2012

It is a while since i've moved to Nick's gps . To use the gps with UDB4 you must remove from the gps board 2x10k resistors , the 2N7002 and solder a blob of solder between x-x.

Lately i have added a backup battery ( CR2025). I have attached a picture how i've done the modification.

(please check the official wiki before doing the connections,in my build log/photos posted could be some errors)
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Last edited by kempo; Dec 18, 2012 at 12:56 PM. Reason: updates
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Old Apr 09, 2012, 03:02 PM
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Open log connection

Here is how Openlog (http://www.sparkfun.com/products/9530) should be connected to UDB4(Thank you Pete):

Openlog GND - UDB4 GND
Openlog VCC - UDB4 VCC battery in / or UBEC in, power e.g. 5V or 6V (does not need to come from regulated power as Openlog has it's own regulator).
Openlog TX0 - UDB4 RX2
Openlog RXI - UDB4 TX2
(tomorrow i will add a photo)

After connections , power up the UDB4, wait a few seconds, power down the UDB4.Connect your card to a computer. Now on the card you will have 2 files (at least i had 2) , config file and log file. I opened the config file and i've changed from 9600,26,3,0 to 19200,26,3,0.Save file, connect back to the openlog.
Aditionally in the options.h file you must change this line :
#define SERIAL_OUTPUT_FORMAT SERIAL_NONE
with this one :
#define SERIAL_OUTPUT_FORMAT SERIAL_UDB_EXTRA

If you want to thansform your log file to a kmz file you should follow the steps described in this file :
Matrixpilot3_2_1/tools/flyght_analyzer/readme.txt

Here is the wiki :

http://code.google.com/p/gentlenav/w...nLogConnection

Thanks to Pete Hollands i've upgraded to v3.11 Openlog Firmware version :
Technical Demo of Upgrading the OpenLog Firmware (Only applies to upgrading boards made before March) (15 min 45 sec)

(please check the official wiki before doing the connections,in my build log/photos posted could be some errors)
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Old Apr 11, 2012, 12:49 PM
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OSD conenctions

I've followed the wiki :

http://code.google.com/p/gentlenav/wiki/OSD

and aditionally you must do this (thanks to Peter Hollands for the help ) :


""You need to add another file, eeprom_udb4.c to the OSD project.

When in MPLAB find the folder view of your project. Hover your mouse over libUDB and select "Add Files".
From the libUDB directory select "eeprom_udb4.c". Now simply do a "Project / Build All" and you should find that your project will now build correctly.

Please see the enclosed screenshots..""

Also i've attached the codes for the symbols.

I've bought from here : ebay a metallic mesh and i've isolated the osd(photos attached).
(please check the official wiki before doing the connections,in my build log/photos posted could be some errors)
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Last edited by kempo; Dec 28, 2012 at 05:29 PM. Reason: updates
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Old Apr 29, 2012, 12:45 AM
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CSV file / Flying modes

A usefull site where you can convert your coordinates Degrees, Minutes, Seconds and Decimal Degrees Latitude/Longitude Conversions:

http://transition.fcc.gov/mb/audio/b...S-decimal.html

Here is a small tutorial for transforming the log file , csv to xls:

UavDevBoard logs csv to xls convert tutorial (0 min 45 sec)


From Pete:

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

The status bits are
Bit 1: Radio On (receiving radio from transmitter)
Bit 2: GPS acquired and Navigable
Bit 3: Fully Automatic Flight

000 Never normally seen. MatrixPilot does not normally fully boot unless radio seen.
001 Never normally seen. This would mean the plane is flying fully automatic without GPS !
010 Never normally seen. Plane receiving no radio, GPS acquired, but not flying in an automatic mode
011 Usually would mean "Return to Landing" mode. GPS acquired, and in fully automatic mode.
100 Radio On. No GPS yet, Not automatic. Typical status during first 30 seconds of start up.
101 Never normally seen. Radio On, No GPS, flying automatic.
110 A healthy plane in manual or stabilized mode. Radio on, GPS acquired. Not Automatic.
111 Fully automatic flight - should be in waypoint mode.
---------------------------------------------------------------------------------------------------

And on the OSD the flight modes are :

M- manual - 110 in the csv file
S- stabilise - 110 in the csv file
W-waypoint - 111 in the csv file
R-return to landing - 011 in the csv file
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Old May 05, 2012, 09:12 AM
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Updates, updates :


Here is a flight with my plane following a path:

UavDevBoard4 Auto mode (3 min 54 sec)


Another flights with autonomus landings :

UavDevBoard 4 - waypoint and automatic landing - trial 1 (1 min 38 sec)


UavDevBoard 4 - waypoint and automatic landing - trial 2 (1 min 26 sec)


And finally i've attached some pictures after the last flight when my transmitter battery died inflight.

Now until i will repair the plane i am adding the fpv goodies, i will come back with a video soon.
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Old May 05, 2012, 12:23 PM
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How to download a custom revision from the trunk

If i want to download from the trunk a custom revision here is what i am doing :

UDB4 - How to download a custom revision from trunk.mp4 (2 min 28 sec)


Of course you should have the tortoisesvn programm installed.

URL of repository is : http://gentlenav.googlecode.com/svn/trunk
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Last edited by kempo; Jun 11, 2012 at 01:30 PM. Reason: updates
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Old May 07, 2012, 01:02 PM
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RSSI connection

If you have a wire with RSSI signal from your receiver and you want to connect to UDB4 here is what you should do :

In options.h file modify this line:
#define ANALOG_RSSI_INPUT_CHANNEL CHANNEL_UNUSED
with
#define ANALOG_RSSI_INPUT_CHANNEL CHANNEL_1 // CHANNEL_1 is pin AN15 from UDB4 ,CHANNEL_2 is pin AN16 from UDB4 , CHANNEL_3 is pin AN17 from UDB4, CHANNEL_4 is pin AN18 from UDB4

Also you should mesure the voltage of the RSSI pin with the transmitter on and off and replace the numbers below :

// RSSI - RC Receiver signal strength
#define RSSI_MIN_SIGNAL_VOLTAGE 0.1 // Voltage when RSSI should show 0% - alex 1.31
#define RSSI_MAX_SIGNAL_VOLTAGE 2.8 // Voltage when RSSI should show 100% - alex 3.07

And the last thing is to open th osd_layout.h file and enable the RSSI value on the osd , here is a example :
#define OSD_LOC_RSSI OSD_LOC(3,23) // 4 characters wide

(please check the official wiki before doing the connections,in my build log/photos posted could be some errors)
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Last edited by kempo; Jun 11, 2012 at 01:37 PM. Reason: updates
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Old May 19, 2012, 12:17 PM
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Failsafe settings

Draft

Throttle 25 trim clicks down and then set failsafe on the receiver.

The next step was to power up the plane , wait to aquire gps and play with the different modes of the transmitter - manual stabilize waypoint and transmitter power off.

failsafe (0 min 39 sec)


UDB4 Failsafe test (0 min 38 sec)


I've downloaded the csv file of these trials and i've saw that when the transmitter is off the IN3 channel has the values around 1910. I've modified the value of #define FAILSAFE_INPUT_MIN to 2000 (options.h file) and upload the modifications to UDB4. Now when i turn off the transmitter on the flight mode i have R , i suppose that it stands for Return Home.
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Last edited by kempo; Jun 23, 2012 at 02:32 AM. Reason: updates
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Old Jun 11, 2012, 01:39 PM
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One of my last flights in fully auto mode (autotakeoff + autolanding):

UavDevBoard 4 auto mode -auto takeoff auto landing (1 min 58 sec)
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Old Jul 25, 2012, 12:41 PM
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And a landing with the transmitter OFF , the plane was in failsafe mode:

UDB4 landing in Failsafe mode (1 min 9 sec)
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