>200Km/h Funjet : the fastest UavDevBoard plane ? ;P


Hi all,

here is a full autonomous flying Funjet.

It is equipped with :

- motor Turnigy 2836 with APC 4.1x4.1


Best performances are:

- maximum speed over 200Km/h. In the attached log file you can see, at line 587, H ground speed 53.06m/sec (191Km/h), M estimated airspeed 61.59m/sec (221Km/h). I have several flight logs with ground speed over 55m/sec

- acceleration at launch 0-100 <2.75sec. You can see it in the attached log file, considering that the plane is launched at line 370 and reaches 28.6m/sec (102Km/h) at line 381. Telemetry refresh is at 4Hz.

Full autonomous flights

You can see in the log files that I launched the plane in autonomous mode and it landed in autonomous mode (row B status 111)
In the Google Earth file you can see the entire flight with colored autonomous legs.

This is a picture of one of the launchs :


Those are the logs of the autonomous flights:


LOG00044 Flight 2167.csv

LOG00044 Flight 2167a.txt.kmz


LOG00045 Flight 2168a.txt.csv

LOG00045 Flight 2168a.txt.kmz


For those flights, autonomous throttle was limited at 50%. The plane still reaches >40m/sec !


If you play a little with the files, you can have magnetometer behavior and wind estimation shown in GE, thanks Pete Hollands great telemetry tool.


Today I did a flight and was able to take a short video. The plane is flying full autonomous, the pilot being occupied with videocam. Enjoy it :D


Autonomous Funjet from Riccardo Kuebler on Vimeo.



A big thanks is due to the developers and programmers for continuous work, help, encouragement and appreciations.

Thank you:

- Bill Premerlani

- Pete Hollands

- Adam Barrow

- Ben Levitt


A big thanks too to Rana, who was the first which encouraged me here, and Morli for continuous input and sympathy.


Best regards,


Ric


Edit : 28.6.10 added a video

Views: 996

Tags: Autonomous, Funjet, IMU, UDB, UavDevBoard, magnetometer


Developer
Comment by Mark Colwell on June 26, 2010 at 6:08am
I have wanted a UAVDev board AP for some time now, after Bill P's and your great Auto landing flights. I will commit to getting one. Great Work!
Comment by mmormota on June 26, 2010 at 6:26am
Great results!

What is the firmware version?
What is that PCB near the Lipo?

Jozsef

T3
Comment by William Premerlani on June 26, 2010 at 6:44am
Hi Ric,

Wow, I am impressed. Thank you so much for achieving these flights. I have a pretty good idea of the level of your accomplishment in setting up the controls and tuning the gains without crashing. Plus, it does take some courage to just "let go" and go autonomous for the entire flight.

I am curious about one thing: did you have dead-reckoning turned on or off? The main reason I implemented dead-reckoning is that it seemed to me to be the only way that the waypoint turning controls could be stabilized at high speed. So, dead-reckoning reason for being is your Funjet. I am hoping it made a difference, but I don't want to fool myself.

Also, did you have cross-tracking turned on or off, I would be curious to know about that.

Finally, are there any videos? If so, you could enter the T3 contest. Even if you do not, I am sure that the folks who are following the contest thread would be interested in your accomplishment, so I am going to post a link there.

Best regards,
Bill

T3
Comment by William Premerlani on June 26, 2010 at 8:07am
Hi Ric,

Just for the fun of it, I made pictures of your two landings, shown below. I noticed that in your first flight that your FunJet did an "automatic go-around" the first time it was coming in for a landing. How cool that you arranged your waypoints so that it could do that. I did the same thing during my practice runs at 50 meters height, but during the final runs at 0 meters, there were too many trees too close by to be able to do that.

Once again, thank you very much, Ric.

Best regards,
Bill


Moderator
Comment by Gary Mortimer on June 26, 2010 at 8:27am
I don't think video evidence is absolutely vital for the T3 peoples word that the task was completed should be enough along with KMLs!! Video is another layer of difficulty when already doing a difficult thing! Well done Riccardo, the DevBoard is truly a cool piece of kit. Following the email list as I do the commitment of all involved in the DevBoard is obvious
Comment by Michael Zaffuto on June 26, 2010 at 8:49am
@mmormota, pcb near the LiPo is the microSD OpenLog board from SparkFun.

http://code.google.com/p/gentlenav/wiki/OpenLogConnection
Comment by ionut on June 26, 2010 at 11:19am
I'm curious why you need the magnetometer?
Comment by ionut on June 26, 2010 at 11:20am
Also, I don't want to post a new blog entry.Anybody tried for autonomous flight solar panels like this one?
http://www.aurinco.com/pvbw020_en.html
It seems like a cool feature

T3
Comment by William Premerlani on June 26, 2010 at 11:44am
Ionut,
The magnetometer simplifies autonomous takeoff, because then you do not need to do anything special to initialize the yaw gyro.
Also, there is a feature of MatrixPilot that Ric uses from time to time: vertical hovering for extended periods of time in stabilized or waypoint mode. That is a situation where GPS will not provide yaw information.
Aside from the reasons that Ric has for using the magnetometer, there is also a version of MatrixPilot that helicopter pilots are using, in which case a magnetometer is a must.
Ric likes to be on the cutting edge, he helped me test and debug the magnetometer.
Best regards,
Bill
Comment by ionut on June 26, 2010 at 1:41pm
Bill,
Do you think this autopilot can land an airplane with landing gear on an airstrip?Is seems like autolanding is more about bringing the plane on the ground than a smooth landing...

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