Difference between revisions of "Polycopters"
From Vague Hope Wiki
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* Barometer - least sensitive, probably best for high-flying vehicles. Needs to be kept away from the wash from the propellers. | * Barometer - least sensitive, probably best for high-flying vehicles. Needs to be kept away from the wash from the propellers. | ||
* Ultrasound sonar - very sensitive for low-level flight, but tops out at a few metres. | * Ultrasound sonar - very sensitive for low-level flight, but tops out at a few metres. | ||
| + | |||
| + | ==Hardware required for behaviours== | ||
| + | "What do we need to have in order to do x", in increasing level of unlikelihood that our vehicle has it: | ||
| + | * 3 axis Gyro - required for AP behaviours: takeoff, land, hover, up, down, move wrt vehicle orientation, pitch, roll | ||
| + | * 2/3 axis magnetometer/accelerometer - required for AP behaviours: move wrt north; local time-based autonomy behaviours (think LOGO) | ||
| + | * Barometer / ground-aimed sonar - required for AP behaviours: set altitude | ||
| + | * GPS - required for all outdoor location-based Autonomy behaviours, accuracy ~10m | ||
| + | * Multi-band RF receiver - required for all indoor location-based Autonomy behaviours (triangulation) | ||
| + | * Heading unit - negates need for magnetometer if in GPS coverage | ||
| + | * RTK GPS - improves position accuracy in heavy GPS coverage to ~1m | ||
| + | * RTCM GPS - improves relative position accuracy while in communication with static base station to ~1cm | ||
| + | * Outward-aimed sonar - required for Autonomy behaviour: dynamic avoid | ||
| + | * Radar - required for Autonomy behavior: dynamic rendezvous (allows dynamic avoid too) | ||
Revision as of 08:15, 25 January 2011
Contents
Background reading
- http://vicacopter.com/vika1.php (via http://hackaday.com/2011/01/17/tri-rotor-helicopter-with-full-autopilot/)
- http://aeroquad.com
Hardware choices
CPU
- Android phone - free GPS/gyro/cam/Wifi, but long boot time - even with a separate watchdog, crashed phone = crashed copter. Still need to break out an interface to motor control board.
- Arduino 2009 / UNO - nice hardware as has A+D I/O built in + neat shields for motor control. GPS/gyro/cam/control method will still need to be worked out. Memory space too limited for full autonomy?
- Arduino Mega - as above, more expensive but more memory, enough for full auto?
Altitude sensor
- Barometer - least sensitive, probably best for high-flying vehicles. Needs to be kept away from the wash from the propellers.
- Ultrasound sonar - very sensitive for low-level flight, but tops out at a few metres.
Hardware required for behaviours
"What do we need to have in order to do x", in increasing level of unlikelihood that our vehicle has it:
- 3 axis Gyro - required for AP behaviours: takeoff, land, hover, up, down, move wrt vehicle orientation, pitch, roll
- 2/3 axis magnetometer/accelerometer - required for AP behaviours: move wrt north; local time-based autonomy behaviours (think LOGO)
- Barometer / ground-aimed sonar - required for AP behaviours: set altitude
- GPS - required for all outdoor location-based Autonomy behaviours, accuracy ~10m
- Multi-band RF receiver - required for all indoor location-based Autonomy behaviours (triangulation)
- Heading unit - negates need for magnetometer if in GPS coverage
- RTK GPS - improves position accuracy in heavy GPS coverage to ~1m
- RTCM GPS - improves relative position accuracy while in communication with static base station to ~1cm
- Outward-aimed sonar - required for Autonomy behaviour: dynamic avoid
- Radar - required for Autonomy behavior: dynamic rendezvous (allows dynamic avoid too)
