Difference between revisions of "User:Earthpatrol"
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* Mount to HooperFly RacerPEX along with GPS, Telemetry, and Receiver | * Mount to HooperFly RacerPEX along with GPS, Telemetry, and Receiver | ||
===== Lisa MX Mounting Orientation ===== | |||
The default "front" of the Lisa MX controller is dependent on the placement of the IMU on the board. This can differ between revisions of the autopilot. The PHI/THETA/PSI parameters, in the IMU section of the airframe definition file, are used to normalize the body to IMU placement. | |||
{{Box Code|conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml| | |||
<source lang="xml"> <section name="IMU" prefix="IMU_"> | |||
<define name="ACCEL_X_NEUTRAL" value="11"/> | |||
<define name="ACCEL_Y_NEUTRAL" value="11"/> | |||
<define name="ACCEL_Z_NEUTRAL" value="-25"/> | |||
<!-- replace this with your own calibration --> | |||
<define name="MAG_X_NEUTRAL" value="-179"/> | |||
<define name="MAG_Y_NEUTRAL" value="-21"/> | |||
<define name="MAG_Z_NEUTRAL" value="79"/> | |||
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/> | |||
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/> | |||
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/> | |||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> | |||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> | |||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> | |||
</section> | |||
</source> | |||
}} | |||
===== Command Line Loader Using BMP ===== | ===== Command Line Loader Using BMP ===== | ||
Revision as of 02:44, 10 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
Motor Layout Diagrams: Quad, Hexa, Octo
Motor position and rotation diagrams for "x" and "+" configurations of HooperFly quads, hexa, and octocopters. The top row consists of the "x" configuration frames and the bottom row contains the "+" configurations. Odd numbered motors(1, 3, 5, 7), blue in color, rotate clockwise. Even numbered motors(2, 4, 6, 8), green in color, rotate counter-clockwise.
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 |
RacerPEX Octo | racerpex_octo_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/HooperFly
Airframe | File |
---|---|
TeensyFly Quad | teensyfly_quad.xml |
TeensyFly Hexa | teensyfly_hexa.xml |
RacerPEX Quad | racerpex_quad.xml |
RacerPEX Hexa | racerpex_hexa.xml |
RacerPEX Octo | racerpex_octo.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
Autopilot - Lisa/MX
- Autopilot documentation
- Autopilot rotorcraft documentation
- Rotorcraft configuration definition blocks
- Mount to HooperFly RacerPEX along with GPS, Telemetry, and Receiver
Lisa MX Mounting Orientation
The default "front" of the Lisa MX controller is dependent on the placement of the IMU on the board. This can differ between revisions of the autopilot. The PHI/THETA/PSI parameters, in the IMU section of the airframe definition file, are used to normalize the body to IMU placement.
File: conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml |
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
|
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