Another Parallax Propeller Autopilot
Introducing the "OughtToPilot"
It seems the parallel processing ability of the prop makes it a top candidate for autopilot brains. This project was entered in the Parallax Design Contest and won second place!! The designer opted for a fuzzy-logic algorithm over a kalman filter for the IMU.
The OughtToPilot employs a non-linear fuzzy-logic algorithm to blend two different types of inertial sensors (accelerometers and gyros) in a computationally efficient manner. This model free blending and estimation method was chosen over Kalman filtering to reduce the design-side system modeling effort and the real-time computational burden. All computations are conducted upon integer based pseudo float numbers with most values corresponding to a fractional number with three digits after the decimal point, multiplied by a thousand.
The source code and material list is available from the link above.
It seems the parallel processing ability of the prop makes it a top candidate for autopilot brains. This project was entered in the Parallax Design Contest and won second place!! The designer opted for a fuzzy-logic algorithm over a kalman filter for the IMU.
The OughtToPilot employs a non-linear fuzzy-logic algorithm to blend two different types of inertial sensors (accelerometers and gyros) in a computationally efficient manner. This model free blending and estimation method was chosen over Kalman filtering to reduce the design-side system modeling effort and the real-time computational burden. All computations are conducted upon integer based pseudo float numbers with most values corresponding to a fractional number with three digits after the decimal point, multiplied by a thousand.
The source code and material list is available from the link above.
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Comment by Chris Anderson on December 15, 2008 at 9:08pm
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Excellent find! The source code will be useful to many of us here.
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Comment by Jhon on December 15, 2008 at 10:08pm -
l0l he used a hobbyzone super cub haha funny, that shows you dont need a FF9 to make a UAV :P
video? http://www.parallax.com/Portals/0/Downloads/mm/video/PCMovs/PC128.swf
coudl be possible to extract the Anti Crash Tecnology sensor to use it onboard in another plane? looks like a cheap version of FMA Copilot, but they dont sell it alone
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The ATC sensors are just light sensors (unlike the FMA, which are IR). They don't work well on cloudy days, at dusk, etc...
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Comment by paul hubner on December 16, 2008 at 2:35pm
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Jason did a great job documenting his project in his code. For those not familiar with the parallax SPIN code though is is just text, I suggest you download their editor which displays SPIN code more clearly and has a special electronics component font.
Editor is the top like here: http://www.parallax.com/tabid/442/Default.aspx
Paul
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