Laserhawk - Revision history

Paulcox: /* LaserHawk Project Description */

2011-05-20T12:35:30Z

LaserHawk Project Description

← Older revision		Revision as of 06:35, 20 May 2011
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	=LaserHawk Project Description=		=LaserHawk Project Description=
	Lidar UAV for traversability map generation		Lidar UAV for traversability map generation


			[https://github.com/paulcox/laserhawk/blob/master/docs/PDC_LAAS_Report1.pdf Preliminary Report]

	=High-level Goals=		=High-level Goals=

2011-05-20T12:03:43Z

Scratchpad

← Older revision		Revision as of 06:03, 20 May 2011
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	:* Angle relative to track :		:* Angle relative to track :
	: <center><math> Angle_{scan\_to\_track} = \tan^{-1} \frac{Dist_x}{Dist_y} = \tan^{-1} \frac{0.125}{60} = 0.119^\circ</math> (negligible relative to crab angle)</center>		: <center><math> Angle_{scan\_to\_track} = \tan^{-1} \frac{Dist_x}{Dist_y} = \tan^{-1} \frac{0.125}{60} = 0.119^\circ</math> (negligible relative to crab angle)</center>

			= Flight Logs =
			Available on git repo : https://github.com/paulcox/laserhawk/tree/master/mentor

			#May 11 - Manual flights, propeller small so not much thrust margin. IR and servo config tuning.
			#May 17 - Manual and Auto1/2 Flights with bigger prop and 80A ESC. Used all three 5Ah batteries, progressively increasing payload weight.
			#May 19 - Airframe configured for carrot=3 and reduction in throttle increment. High winds during flight. Lost canopy during flight.



	=Scratchpad =		=Scratchpad =

2011-05-20T11:54:12Z

Current Tasks and Priorities

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	\|- style="background:lemonchiffon; color:black"		\|- style="background:lemonchiffon; color:black"
	\| 1 \|\| Acquire ground Lidar/attitude data while we wait for plane \|\| use PC then gumstix. Hokuyo and MTIG mounted on boom. biketest git directory has initial data ) \|\| x \|\| ~~In progress~~		\| 1 \|\| Acquire ground Lidar/attitude data while we wait for plane \|\| use PC then gumstix. Hokuyo and MTIG mounted on boom. biketest git directory has initial data ) \|\| x \|\| done
	\|- style="background:bisque; color:black"		\|- style="background:bisque; color:black"
	\| 2 \|\| start flying mentor airframe \|\| Maiden manual flight accomplished. autonomous flying ~~to come next~~ \|\| x \|\| ~~In progress~~		\| 2 \|\| start flying mentor airframe \|\| Maiden manual flight accomplished. autonomous flying now working \|\| x \|\| done
	\|- style="background:bisque; color:black"		\|- style="background:bisque; color:black"
	\| 3 \|\| Be able to treat realtime or recorded data from real or virtual data \|\| Some initial application code done, integrating all together next \|\| x \|\| In progress		\| 3 \|\| Be able to treat realtime or recorded data from real or virtual data \|\| Some initial application code done, integrating all together next \|\| x \|\| In progress
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	#make hokuyo power switchable via GPIO (from tiny and/or overo)		#make hokuyo power switchable via GPIO (from tiny and/or overo)
	#new mti gps antenna		#new mti gps antenna



	= Architecture =		= Architecture =

2011-05-20T11:53:18Z

Have Bertand Do

← Older revision		Revision as of 05:53, 20 May 2011
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	#new mti gps antenna		#new mti gps antenna

	~~====Have Bertand Do====~~
	~~#rebuild omap MTI ipk for GPS support~~
	~~#check in paparazzi mods~~

	= Architecture =		= Architecture =

2011-05-20T11:53:05Z

Mentor1 build todo

← Older revision		Revision as of 05:53, 20 May 2011
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	====Mentor1 build todo====		====Mentor1 build todo====
	~~#get new 60+ A ESC~~		#make hokuyo power switchable via GPIO (from tiny and/or overo)
	~~#make live sensor interface PC app to monitor on ground during acquisition~~		#new mti gps antenna
	#make hokuyo power switchable via GPIO (from tiny)
	#~~see if current probe limited to 25A~~

	====Have Bertand Do====		====Have Bertand Do====

2011-04-20T06:56:58Z

Architecture

← Older revision		Revision as of 00:56, 20 April 2011
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	===Ground===		===Ground===
	*~~Who cares?~~ laptops, modems, and antennae ~~should suffice~~		*nothing special : laptops, modems, and antennae

	== Software ==		== Software ==
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	===Airborne===		===Airborne===
	*Overo		*Overo
	**OS: openembedded-built linux (~~switch to ibara's~~ rt-~~based lisa branch~~?)		**OS: openembedded-built linux (use rt-linux patches?)
	**Drivers: hokuyo/xsens stuff ([http://homepages.laas.fr/bvandepo/wiki/doku.php?id=gumstixd Bertand's notes] ; overo [https://github.com/paulcox/laserhawk/tree/master/ipks ipkg files] built on borderouge )		**Drivers: hokuyo/xsens stuff ([http://homepages.laas.fr/bvandepo/wiki/doku.php?id=gumstixd Bertand's notes] ; overo [https://github.com/paulcox/laserhawk/tree/master/ipks ipkg files] built on borderouge )
	**apps:		**apps:

2011-04-13T08:39:12Z

Risks

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	\|- style="background:lemonchiffon; color:black"		\|- style="background:lemonchiffon; color:black"
	\| 1 \|\| Lidar performance \|\| at 30m flight height, over low-reflectance surfaces (asphalt roads, grass, dirt) \|\| x \|\|		\| 1 \|\| Lidar performance \|\| at 30m flight height, over low-reflectance surfaces (asphalt roads, grass, dirt) \|\| x \|\| Sunny day testing against house exterior walls shows we can measure at least to 16m distance.
	\|- style="background:bisque; color:black"		\|- style="background:bisque; color:black"
	\| 2 \|\| Crashing Lidar \|\| Will build ~~metal/foam~~ box for protection \|\| x \|\| x		\| 2 \|\| Crashing Lidar \|\| Will build box for protection \|\| x \|\| Done
	\|- style="background:bisque; color:black"		\|- style="background:bisque; color:black"
	\| 3 \|\| Radio interference at Elrob \|\| need robust behaviors with lost com \|\| x \|\| x		\| 3 \|\| Radio interference at Elrob \|\| need robust behaviors with lost com \|\| x \|\| x

2011-04-05T08:38:30Z

Hardware

← Older revision		Revision as of 02:38, 5 April 2011
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	===Airborne===		===Airborne===
	*Airframe : Multiplex [[LAAS Mentor]]		*Airframe : Multiplex [[LAAS Mentor]]
			[[Image:payload_hw_block_diagram.png\|thumb\|hw block diagram]]
	[[Image:bikesciencepackage.jpg\|thumb\|sensors mounted on bike for initial testing]]		[[Image:bikesciencepackage.jpg\|thumb\|sensors mounted on bike for initial testing]]
	*Autopilot : [http://paparazzi.enac.fr paparazzi]		*Autopilot : [http://paparazzi.enac.fr paparazzi]

2011-04-05T07:42:09Z

Mentor1 build todo

← Older revision		Revision as of 01:42, 5 April 2011
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	====Mentor1 build todo====		====Mentor1 build todo====
	~~#reinforce wings~~
	#get new 60+ A ESC		#get new 60+ A ESC
	#make live sensor interface PC app to monitor on ground during acquisition		#make live sensor interface PC app to monitor on ground during acquisition
	#make hokuyo power switchable via GPIO (from tiny)		#make hokuyo power switchable via GPIO (from tiny)
	#see if current probe limited to 25A		#see if current probe limited to 25A
	~~#Attach GPS antenna~~

	====Have Bertand Do====		====Have Bertand Do====

2011-04-05T07:41:09Z

Elrob competition details

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	Questions :		Questions :
	: Distance from launch point to zone of interest : ?-? km		: Distance from launch point to zone of interest : 1-2 km
	: Size of zone of interest : ? x ? m		: Size of zone of interest : 500 x 500 m

	:Will stay in standby while waiting for zone of interest coordinates from ground robot or will go home?		:Will stay in standby while waiting for zone of interest coordinates from ground robot or will go home?