Difference between revisions of "Explorer"

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The Explorer is a rotorcraft. <br />
The Explorer is a rotorcraft. <br />
It is used to test <br />
It is used to test : <br />
* control loops such as PID and INDI  
* control loops such as PID and INDI  
* simultaneous datalinks such as Xbee and Wifibroadcast
* simultaneous datalinks such as Xbee and Wifibroadcast
* vision algorithm
* vision algorithm


The aircraft fly an Apogee or a Tawaki autopilot board.<br />
The Explorer frame is 3Dprinted [[Explorer/3DPrinted]]<br />


A on board Raspberry Pi compagnon board is connected to the autopilot to provide additional communication and processing task.<br />
The aircraft flies an Apogee or a Tawaki autopilot board [[Explorer/PPRZ]].<br />
A on ground Raspberry PI board is connected to the ground station to provide additional communication task.<br />


The RPI Zero and RPI 3B cand used in this aircraft as they provided at least one UART and one USB <br />
The RaspberryPi provides:<br />
- a camera link <br />
- an additional communication link <br />
- an easy way to run computation tasks <br />


Additional equipements connected to the autopilot board are :
There are two RaspberryPi :<br />
- on board, as a companion board to the autopilot<br />
- on ground, as an interface to the companion board<br />
 
The RPI Zero and RPI 3B can be used in this aircraft as they provided at least one UART and one USB <br />
[[Explorer/RaspberryPi]]
 
The equipments connected to the autopilot board are :
* Dshot 4in1 ESC board
* Dshot 4in1 ESC board
* GPS (D-GPS)
* GPS (D-GPS) [[Explorer/RTK]]
* Xbee  
* Xbee [[Explorer/Xbee]]
* Leds
* Leds [[Explorer/Leds]]
* Radio control  
* Radio control  
* Servo
* Servo [[Explorer/Servo]]


Additional equipements connected to the compagnon board are :
The equipments connected to the companion board are :
* Camera  
* Camera  
* External wifi  
* External wifi
 
 
== Level2 ==
 
=== Level3 ===
 
==== Outdoor RTK ====
The RTK system consists on an onboard and onground equipment: the ublox NEO-M8P. <br />
This chip is provided by Drotek in two boards : Tiny M8P and XL M8P. <br />
Each board can play the rover station or the stationary station. <br />
The boards can also be mixed. <br />
However, the XL M8P is equipped with a LIS3MDL magnetometer which provides an external magnetic sensor to improve heading of the onboard part.  <br />
 
===== Board equipment =====
*RTK M8P + external Mag
<gallery>
Explorer_M8P_RTK_Mag.jpg
Explorer_M8P_RTK_Mag_zoom.jpg
</gallery>
Apogee
{|
|-
| 
  <module name="gps" type="ublox">
    <configure name="GPS_PORT" value="UART4"/>
    <configure name="GPS_BAUD" value="B115200"/>
    <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
  </module>
||
  <module name="mag_lis3mdl.xml">
    <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
    <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c1"/>
  </module>
|}
<gallery>
Explorer_M8P_RTK_Mag_Apogee_Uart4.jpg
Explorer_M8P_RTK_Mag_Apogee_I2C1.jpg
</gallery>
 
 
Tawaki
{|
|-
| 
  <module name="gps" type="ublox">
    <configure name="GPS_PORT" value="UART7"/>
    <configure name="GPS_BAUD" value="B115200"/>
    <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
  </module>
||
  <module name="mag_lis3mdl.xml">
    <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
    <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c1"/>
  </module>
|}
 
===== Ground equipment =====
* RTK M8P <br />
<gallery>
Explorer M8P RTK square close.jpg
Explorer M8P RTK square open.jpg
</gallery>
* RTK M8P with Xbee transceiver <br />
<gallery>
Explorer_M8P_RTK_XL.jpg
</gallery>

Latest revision as of 23:16, 6 July 2020

The Explorer is a rotorcraft.
It is used to test :

  • control loops such as PID and INDI
  • simultaneous datalinks such as Xbee and Wifibroadcast
  • vision algorithm

The Explorer frame is 3Dprinted Explorer/3DPrinted

The aircraft flies an Apogee or a Tawaki autopilot board Explorer/PPRZ.

The RaspberryPi provides:
- a camera link
- an additional communication link
- an easy way to run computation tasks

There are two RaspberryPi :
- on board, as a companion board to the autopilot
- on ground, as an interface to the companion board

The RPI Zero and RPI 3B can be used in this aircraft as they provided at least one UART and one USB
Explorer/RaspberryPi

The equipments connected to the autopilot board are :

The equipments connected to the companion board are :

  • Camera
  • External wifi
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