the kodel, an rc airplane autopilot for aerial photography
DESCRIPTION
My efforts to build an autopilot for RC airplanes based upon a gps module, IR sensors and a microcontroller. Presented at Barcamp Antwerp on March 21 2009.TRANSCRIPT
My DIY RC autopilot
First try on aerial photography
Conclusion:it’s difficultwithout anAutopilot
• to hold it steady• to aim the camera
Autopilot design goals
• User selects object on Google Maps• Plane flies to location and starts circling• Camera takes pictures always pointed to target• Pictures can be “glued together” in viewer
(Not: ortho pictures to add on google maps)
Goal: easy photography of buildings / landscapes
PRINCIPLES
Forces on an airplane
Thrust:Controls heigth
Elevator:Controls speed
Rudder:Controls direction
Ailerons:Control roll
What is a servo, how does it work ?
Pitch / roll sensingIR sensors (thermophiles)
GPS navigation
Yaw/height:calculated
Waypoints:• straight• circular• Failsafe
$gprmc,114019.489,A,5048.9524,N,00511.8268,E,0.00,130.10,190907,,,A*60$gpgga,114019.489,5048.9524,N,00511.8268,E,1,08,01.4,57.9,M,45.6,M,,*52gga = time,latitude,ns,longitude,ew,posfix,sats,precision,altitudelatitude=xxx.zzzz to xxxxx.zzzz (degrees*100+minutes=deel voor komma)longitude=xxx.zzzz to xxxxx.zzzz (degrees*100+minutes=deel voor komma)
Microcontroller: a computer on a chip (but no OS)
RAM + FLASHEPROM
TimersInterrupts
I/O ports (digital)Analog portsSerial interface(usb, bluetooth)
Bus (I2C, SPI, CAN)
HARDWARE COMPONENTS
KISS : just plug board between servo’s and receiver(dsPIC30F4012 from Microchip)
Paper adhesive tapeprovides intended point of failure uponimpact(crash tested)
Only 3 things to connect and install
IR sensor Autopilot CPU GPS module
CODE SAMPLES
Input pulse collection:Interrupt on change
Output pulse generation:Interrupt on timer
Flight logic:Continious loop
Calculation of stabilisation:Use of floating point
Watch out for th
e math
Error TRAP (code sto
ps)
TOOLS
PIC Programmer:Velleman K8048 (15€)
Programmer software:Freeware WIN PIC
IDE: free MPLAB available from Microchip
Alternative microcontrollersGood:• AVR: very powerfull, more expensive/compex• Arduino: pre-integrated, less effort• Ti
Bad:• BASIC stamp: ripoff with lousy programming• LEGO Mindstorms: expensive plastic• PIC16, PIC18: voorbijgestreefd
I stick with dsPIC since the learning curve was not too steep
OTHER AUTOPILOTS
Tompycke.be :a Belgian, 10x betterthen I am at this stuff
Paparazzi:Very comprehensive,open source, starts toget a bit long in the tooth
Attopilot:The best, very recent effort by a dedicated ex-intel engineer
ArduPilot:Arduino based andopen source, recentbut very basic SW,From Chris “The LongTail” Anderson (& others)
Let’s go fly!