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

HooperFly RacerPEX : Verde

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.

Multiwii dsm2 testfc.JPG

Flight Status

Airframes: HooperFly Racer-PEX, Autonomous Twins: Azul & Verde

Attempting to use PaparazziUAV to fly two HooperFly RacerPEX in a synchronized autonomous fashion.

Hooperfly racerpex azulverde.jpg

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.

Motor layout diagrams.png

All HooperFly airframe configuration files are located in the directory: 

$PAPARAZZI_HOME/conf/airframes/HooperFly
Table of Airframe Config Files
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 coordinates.gif

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
Table of JSBSim Aircraft Config Files
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

Receiver - 2.4Ghz DSMX Satellite

Autopilot - Lisa/MX

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
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