"In the sim everything works well :)
however I'm now buried up to my eyes in the group efforts to improve some of the support libraries which are critical for providing accurate sensing. Of course in the sim we have perfect information. I hope…"
Justin's Discussions
Skywalker users? - PID question
Started this discussion. Last reply by spagoziak Dec 15, 2011. 3 Replies 0 Likes
Has anyone tuned the basic PIDs from the default and found anything they can share?I'm trying to figure out why the skywalker "example" config file has a P value of 3.0 for roll and pitch servo…Continue
Watchdog friendly bootloader for 2560
Started this discussion. Last reply by CensoredUser ExWikiNinja aka KF May 23. 1 Reply 2 Likes
Attached (coming shortly, I'm testing a change to this to fix power-on condition) is a slight modification to the stock bootloader for Mega 2560s (source is at …Continue
MTK GPS 4hz - real fixes?
Started Dec 9, 2011 0 Replies 0 Likes
I'm looking at an OSD that displays (from ArduPlane) the GPS coordinates at 10 times a second.I'm watching the video of the plane coming in to land, and stopping in a very short space of time, so the…Continue
Epi Osd with modified firmware (based on CE-OSD)
Started Dec 1, 2011 0 Replies 0 Likes
Like many I am waiting for Minimosd however in the mean time I (heavily) modified the open source "ce osd" firmware available for the Epi-OSD board and came up with an ArduPlane OSD. …Continue
Justin's Page
Latest Activity
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video
Recmaster commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"Hi Justin!
Do u have some positive results with your wind-resistand code testing? "
Justin commented on Henry Fletcher's blog post Switching from DCM to Quaternion"I would like to drop in a comment about the need for wind estimation in or around DCM.
I believe the original design of DCM was to *let the wind yaw the matrix*, in this way the UAV began to compensate for the wind, and could still navigate. How…"
Justin commented on Doug Weibel's blog post Difficulty with using Ultrasonic Ranging (Sonar) for landing flare control."I'm not saying you can't do landing and takeoff and control, at 10hz, and the "something reasonable" I agree you can do: it was my last scenario: just start pitching up at 1m AGL and pray, with some escapes for unexpected…"
Justin commented on Doug Weibel's blog post Difficulty with using Ultrasonic Ranging (Sonar) for landing flare control."A textbook flare is very difficult especially combined with a defined touch down point. You need to change from nose down trimmed condition in a glideslope at a pre-calculated height over ground that coincides with the right distance prior to the…"
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"The git clone is available
http://code.google.com/r/justinbeech-navi/source/browse/ArduPlane/?name=Navi
As it stands it is setup to build HIL firmware, or JSBSim SITL desktop version (from autotest)
To build actual flying firmware for APM2 (which…"
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"UPDATE: Here are a couple of firmware images
one for APM2 hardware and also the Oilpan
the other for APM1
I'm working on my git clone, so anyone wanting SITL or actually to fly this firmware for real has to wait for that to be up
Anyway here…"
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"here is a video of the Bixler X-plane model, which cruises very slowly, in wind with turbulence as well. There is no setting in X-plane for wind from a constantly changing direction but its turbulence setting causes variable wind as well as gusts up…"
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"I don't want to release an image, only to update it 60 minutes later with an improvement. For example later today I'll get the bixler x-plane model I'd like to test it against that.
Hopefully in the next two days I'll post…"
ModeratorMike Pursifull commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video
"Justin, I like the work, even if I don't understand it yet. How might I get a copy?"
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"wow sorry mangle city. I really don't like the ning comment system :(
The effect of this parameter shows up best in loiters where too much gain and the plane loiters inside the circle, too little and it loiters outside the circle. If it is…"
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"(contd) .. rather than lagging a moving target. The effect of this parameter shows up best in loiters: the plant is not being led enough) or loiter inside the circle (it is being led too much). If it is roughly right, t_mode_control does the…"
Justin commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"A few answers.Regarding wind variability. Since this firmware does not guess the wind and then output a fixed compensation it does not matter if the wind is variable. GPS is providing the position 4 to 10 times a second so the reactions to the…"
Archangel06 commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video"@Justin
*please* I would love to test the HIL version for APM2 Xplane. thanks."
ModeratorMike Pursifull commented on Justin's blog post Wind capable ArduPlane and vector field navigator - demo video
"Software-In-The-Loop
His project, unless I misunderstand, is a modified version of the firmware to handle tracking differently, as well as several other modifications/features, which he lists in the original post.
The HiL (hardware in the…"
"Hi , what is SITL?
and in what this project is different then the one that shows you how to connect the APM to the X-Plane
"
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Justin's Blog
Wind capable ArduPlane and vector field navigator - demo video
Posted on January 25, 2012 at 5:30am 21 Comments 4 Likes
An update on my project (please see my previous two posts).
See http://www.youtube.com/watch?v=lhdR2Iesfuw
This is a screencast of APM2 running in HIL mode with the X-plane RC plane in an 8kt wind over a simple course, takeoff, circuit including loiter, land, fully auto (radio not touched). In…
Continue Russian 18th century Mathematician Vector Fields Guidance vs Now
Posted on January 5, 2012 at 5:19am 4 Comments 0 Likes
An update on the navigator concept:
(see here
I think the screen shot is interesting.
On the left is ArduPlane Desktop in default config, running the "autotest" mission at 1000hz perfect world data.
On the right is the…
Continue Proof of concept cross-wind navigation (and low level) autopilot with vector field surface tracking
Posted on January 1, 2012 at 2:00am 17 Comments 5 Likes
Happy new year!
I've put together a proof of concept autopilot based on the Lyapunov Vector Field path following stuff documented in various UAV research papers of the last many years. It is here:
http://i.dslr.net/vectorfield/autopilot.html
It is written in javascript can can operate in one of two modes. It is only tested on Chrome.
a) it can fly JSBSim,…
Continue ArduPlane with EpiOSD running modified firmware using mavlink
Posted on December 9, 2011 at 3:30am 0 Comments 4 Likes
http://www.youtube.com/watch?v=O4eJ9zJ3Adk
I've finally got the interference bugs out of my wiring and I'm happy with the picture from front all the way through to DVR and upload, and in the goggles as well.
This OSD firmware takes its info from Mavlink, just like the upcoming…
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Season Two of the Trust Time Trial (T3) Contest has now begun. The third round was a reliablilty/aerial photography round for both planes and copters, which is now closed. Stay tuned for the next round, beginning soon.A list of all T3 contests is here.
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