Difference between revisions of "User:Earthpatrol"
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===== JSBSim Aircraft Configuration ===== | ===== JSBSim Aircraft Configuration ===== | ||
JSBSim defines a " | JSBSim defines a "BODY" frame with the following cartesian coordinate system to quantify propulsion forces: | ||
* Top Left Quadrant (e.g.: NW, FL) -, - | * Top Left Quadrant (e.g.: NW, FL) -, - | ||
* Top Right Quadrant (e.g.: NE, FR) -, + | * Top Right Quadrant (e.g.: NE, FR) -, + | ||
* Bottom Right Quadrant (e.g.: SE, BR) +, + | * Bottom Right Quadrant (e.g.: SE, BR) +, + | ||
* Bottom Left Quadrant (e.g.: SW, BL) +, - | * Bottom Left Quadrant (e.g.: SW, BL) +, - | ||
Reference the [http://jsbsim.sourceforge.net/JSBSimReferenceManual.pdf JSBSim Documentation] for a discussion about the STRUCTURAL vs. BODY frame as well as details related to each section of a jsbsim configuration file. | |||
All HooperFly JSBSim aircraft configuration files are located in the directory: | All HooperFly JSBSim aircraft configuration files are located in the directory: | ||
Revision as of 00:07, 1 February 2015
HooperFly Autonomy
Developing autonomous capabilities for HooperFly using the Lisa MX autopilot from 1BitSquared in tandem with PaparazziUAV.
Frames & Components
The collection of HooperFly frames configured to fly with Paparazzi.
HooperFly RacerPEX : Azul
- Frame: HooperFly RacerPEX
- Autopilot: 1BitSquared Lisa/MX
- GPS: UBLOX LEA-6H GPS Module w/Built-in Antenna
- ESCs: HobbyKing 30A Blue Series (flashed with SimonK Firmware)
- Motors: RCTimer 2830-14 750k Brushless
- Props: HobbyKing 10x4.5 Green SlowFly
- Receiver: OrangeRx R110XL 2.4Ghz DSMX Satellite Receiver (long antenna version)
- Telemetry Radios: Xbee 802.15.4 Low-Power Module w/ Wire Antenna
HooperFly RacerPEX : Verde
- Frame: HooperFly RacerPEX
- Autopilot: 1BitSquared Lisa/MX
- GPS: UBLOX LEA-6H GPS Module w/Built-in Antenna
- ESCs: HobbyKing 30A Afro Series (default with SimonK Firmware)
- Motors: RCTimer 2830-14 750k Brushless
- Props: HobbyKing 10x4.5 Blue SlowFly
- Receiver: OrangeRx R110XL 2.4Ghz DSMX Satellite Receiver (long antenna version)
- Telemetry Radios: Xbee 802.15.4 Low-Power Module w/ Wire Antenna
Frame/Component Test Bench : MultiWii FC & DSM2 Receiver
Each frame and associated components(motors/escs/wiring harness) are tested for functionality using a MultiWii FC and DSM2 receiver prior to the Lisa/MX autopilot integration.
Flight Status
Airframes: HooperFly Racer-PEX, Autonomous Twins: Azul & Verde
Attempting to use PaparazziUAV to fly two HooperFly RacerPEX in a synchronized autonomous fashion.
Airframe Configuration
All HooperFly airframe configuration files are located in the directory:
$PAPARAZZI_HOME/conf/airframes/HooperFly
| Airframe | File |
|---|---|
| TeensyFly Quad | teensyfly_quad_lisa_mx_20.xml |
| TeensyFly Hexa | teensyfly_hexa_lisa_mx_20.xml |
| RacerPEX Quad | racerpex_quad_lisa_mx_20.xml |
| RacerPEX Hexa | racerpex_hexa_lisa_mx_20.xml |
JSBSim Aircraft Configuration
JSBSim defines a "BODY" frame with the following cartesian coordinate system to quantify propulsion forces:
- Top Left Quadrant (e.g.: NW, FL) -, -
- Top Right Quadrant (e.g.: NE, FR) -, +
- Bottom Right Quadrant (e.g.: SE, BR) +, +
- Bottom Left Quadrant (e.g.: SW, BL) +, -
Reference the JSBSim Documentation for a discussion about the STRUCTURAL vs. BODY frame as well as details related to each section of a jsbsim configuration file.
All HooperFly JSBSim aircraft configuration files are located in the directory:
$PAPARAZZI_HOME/conf/simulator/jsbsim/aircraft
| Airframe | File |
|---|---|
| TeensyFly Quad | teensyfly_quad.xml |
| TeensyFly Hexa | teensyfly_hexa.xml |
| RacerPEX Quad | racerpex_quad.xml |
| RacerPEX Hexa | racerpex_hexa.xml |
Telemetry - 2.4Ghz Xbee Radios
- Dowloaded and installed XCTU - Next generation configuration platform for XBee
- Solder instructions for the XBee modem adapter boards
- Verify firmware revision
- Picoblade wiring diagram
- Telemetry radios configuration instructions
- Telemetry configuration definition
Receiver - 2.4Ghz DSMX Satellite
- Functional verification testing with MultiWii FC test configuration
- Picoblade wiring diagram
Autopilot - Lisa/MX
- Autopilot documentation
- Autopilot rotorcraft documentation
- Rotorcraft configuration definition blocks
- Mount to HooperFly RacerPEX along with GPS, Telemetry, and Receiver
Command Line Loader Using BMP
make AIRCRAFT=Teensy_Fly_Hexa ap.upload BMP_PORT=/dev/cu.usbmodemE2B9BDC1
GPS - UBLOX LEA-6H
- Verify firmware revision
- Picoblade wiring diagram