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morphy_richards
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Re: Pi in the sky - RC Plane

Sun Oct 07, 2012 2:32 pm

It might not be necessary for all the extra kit between pi and sonar see
http://www.raspberrypi.org/phpBB3/viewt ... 37&t=18291

pygmy_giant
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Re: Pi in the sky - RC Plane

Sun Oct 07, 2012 2:38 pm

I guess for your plane long range ultrasonics = high power ultrasonics.

Might you use an MPU6050/60000 ?

JacekQ
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Re: Pi in the sky - RC Plane

Wed Oct 10, 2012 7:26 am

I think that better solution is to connect 3-axis gyroscope and setup up angles for each axis. When angle for specified axis is higher/lower than setup value then react right rudder. With this solution you can't do aerobatics but you can learn how to fly theoretically without crashes.
Another way to learn to fly is FMS (flying model simulator.
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Jacek Q.

JacekQ
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Re: Pi in the sky - RC Plane

Sat Oct 13, 2012 10:39 pm

Let's say that I fixed plane. It's looking funny but there are no problems with flying.
Yesterday I flew with gps and everthing worked fine.
I updated google doc with project description (link)
In attachment there are two files converted from gps data (nmea) to google earth format (kmz).
Flight 1 2.7z
(8.26 KiB) Downloaded 151 times
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Jacek Q.

pygmy_giant
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Re: Pi in the sky - RC Plane

Sat Oct 13, 2012 10:44 pm

Interesting - I am using C to get gyro data via I2C.

JacekQ
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Re: Pi in the sky - RC Plane

Sun Oct 14, 2012 6:13 am

I used bluetooth to check if it will work (and simple bash script is working fine).
But in final version of this project I have to use I2C.

pygmy_giant Can you send me your c code for reading I2C?
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Jacek Q.

pygmy_giant
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Re: Pi in the sky - RC Plane

Sun Oct 14, 2012 9:10 pm

Its on my balancing robot thread: http://www.raspberrypi.org/phpBB3/viewt ... ot#p194113

The sensor I am using is the Ivansense 6050 - the faster SPI version is the 6000, which many quadcopter freaks use.

I have yet to get the sensor's built in DMP working - once done it should output just the x,y,z angle data as demonstrated here: http://www.youtube.com/watch?v=YJ7JPKdffkY

Most people use an Arduino/AVR for this and there is lots of arduino code floating about which I am yet to convert - if you want an easy life, use an Arduino.

I like a challenge and am in the process of converting the Arduino code to run on the Pi's bare metal without any operating system for speed and eficiency....


Boomer
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Re: Pi in the sky - RC Plane

Wed Oct 17, 2012 4:04 pm

I'd just like to know how you got the webcam to work so well. I've had no luck so far at all.

Used to fly RC before my kids were born. Would be sooo fun to be able to fly around with a camera filming.

Thanks for the inspiration!!

Jack

JacekQ
Posts: 32
Joined: Fri May 18, 2012 1:17 pm

Re: Pi in the sky - RC Plane

Wed Oct 17, 2012 5:16 pm

Boomer wrote:I'd just like to know how you got the webcam to work so well. I've had no luck so far at all.
I tried to record from two different cameras:
  • Logitech Quickcam E3500
  • Logitech Quickcam 9000 PRO
E3500 is older but captured video is much better and it can be rotated.
9000 Pro is newer and it has better parameters but sometimes it can't set focus (I don't know why).

I'll try to add bash scripts to documentation tonight.
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Jacek Q.

JacekQ
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Re: Pi in the sky - RC Plane

Thu Oct 18, 2012 8:17 pm

Hello,
I added bash scripts to project description.
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Jacek Q.

JacekQ
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Re: Pi in the sky - RC Plane

Sat Apr 06, 2013 8:42 am

Hello,
I have bought sonar, gyroscope, servo driver, lcd with keypad and I'm trying to build pwm to i2c converter. In the meantime I'll write software to drive all these devices.
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Jacek Q.

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Lob0426
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Re: Pi in the sky - RC Plane

Sat Apr 06, 2013 4:21 pm

Just saw this thread. The SkySurfer is a good plane for your project. I have a similar plane, the AXN Clouds Fly. If you need more room, or load capacity, for more equipment you could move to the Super SkySurfer, wingspan of 2400mm. Bannana Hobby has it for $219 RTF (Ready To Fly).

For stability control you normally use all three axis, Yaw, Pitch and Roll control. For auto-leveling you normally only need Pitch and Roll. I would recommend that you use auto-level in your collision avoidance design. If your plane tries to avoid an obstacle while using Pitch, Roll and Yaw it may put the plane into a spiral. Very hard to recover from. Using a auto-level style control with only Pitch and Roll would be a safer method to tie into your collision avoidance.

For collision avoidance you are looking at sonar. What is its max range?
The SkySurfer cruises at about 35MPH (capable of 60+ mph (70+f/s)) or about 30f/s (9.1m/s). The question is; will the sonar range be good enough to allow a reaction before you strike the obstacle? This will be determined by how much control surface throw your system can use and how fast it can apply full throw. Most servos are about 60 degrees in .12 seconds at 6V or about .14 seconds at 4v8. Most BEC's (Battery Eliminator Circuits) in your ESC (Electronic Speed Control) only provide 5V. So the actual servo speed is closer to .13 seconds. Also there is the time needed to for the control surface/s movement to take effect. That depends upon surface size and the models wing loading. I do not have any idea what those will be for any given plane.

It will be interesting to see how your software deals with these issues!
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JacekQ
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Re: Pi in the sky - RC Plane

Sat Apr 06, 2013 9:00 pm

I plan to use sonar for landing approach because gps altitude data in most cases have big error (sometimes more than 10m). My sonar has 6m range.

This project main objective is to avoid collision with the ground, help with landing approach and flight stabilization.

Collision avoidance will be the next step when everything will work as I planned to.
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Jacek Q.

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Lob0426
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Re: Pi in the sky - RC Plane

Sun Apr 07, 2013 12:32 am

That should be well within the sonars ability then, used as a approach altitude sensor on final approach.

A barometric sensor would help for mean altitude.
512MB version 2.0 as WordPress Server
Motorola Lapdock with Pi2B
Modded Rev 1.0 with pin headers at USB

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(RS)Allied ships old stock to reward its Customers for long wait!

JacekQ
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Re: Pi in the sky - RC Plane

Sat Sep 07, 2013 9:33 am

Hello,
Now I have RPi camera board :)
Link to captured videos playlist.

The project is alive. But as always I have not much time for developing. :(
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Best regards,
Jacek Q.

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