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Oct 12, 2007, 12:22 PM
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Autonomous hover achieved


We did it. The hover barrier has finally been broken. After 10 months on the wagon train, finally achieved autonomous hover with full position hold. Hovered out the battery in fact. Considering how crummy the gyros are, how lousy and unstable the Corona is for autopilot, how crummy our non-Kalman filtered navigation is, and the country that made it, it really is a miracle.

Autopilot ran for 16min 39 sec with no human input of any kind. The battery safing kicked in and the throttle integral could no longer keep her aloft.

At 671 seconds, she had some kind of altitude malfunction, but managed to autonomously regain control of X/Y position.

Below a certain altitude, there is too much GPS noise and altitude hold is impossible. She doesn't seem stable enough for aerial photography. The 72Mhz transmitter hack is too sensitive to body movement for the pilot to look through a camera viewfinder or pose. Photographing autopilot in action is a matter of luck.

For climb rate prediction, the neural network uses accelerometer readings. GPS readings are used for horizontal prediction.
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Oct 12, 2007, 12:33 PM
Real Time Recon
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What the heck is that jack ?
Oct 12, 2007, 02:51 PM
Registered Hack
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Congratulations!
Oct 13, 2007, 05:33 PM
Flying on Flux Capacitors
Flipper_118's Avatar
I have been watching over this blog since you started working on the autopilot. Being an electronic engineer I am in awe at the amount of work and programming you have put into this endeavor. Congratulations on finally achieving what you set out to do.

Curt
Jan 30, 2008, 05:56 PM
Got H2? Fuel Cell R/C Car
Keith43221's Avatar
Well done! This story keeps getting better and better!


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