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My DIY RC autopilot
First try on aerial photography
 
 
 
 
 
 
 
 
[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Autopilot design goals ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
PRINCIPLES
Forces on an airplane Thrust: Controls heigth Elevator: Controls speed Rudder: Controls direction Ailerons: Control roll
What is a servo, how does it work ?
 
Pitch / roll sensing IR sensors  (thermophiles)
[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],$gprmc,114019.489,A,5048.9524,N,00511.8268,E,0.00,130.10,190907,,,A*60 $gpgga,114019.489,5048.9524,N,00511.8268,E,1,08,01.4,57.9,M,45.6,M,,*52 gga = time,latitude,ns,longitude,ew,posfix,sats,precision,altitude latitude=xxx.zzzz to xxxxx.zzzz (degrees*100+minutes=deel voor komma) longitude=xxx.zzzz to xxxxx.zzzz (degrees*100+minutes=deel voor komma)
Microcontroller: a computer on a chip  (but no OS) RAM + FLASH EPROM Timers Interrupts I/O ports (digital) Analog ports Serial interface (usb, bluetooth) Bus (I2C, SPI, CAN)
HARDWARE COMPONENTS
KISS : just plug board between servo’s and receiver (dsPIC30F4012 from Microchip)
Paper adhesive tape provides intended  point of failure upon impact (crash tested)
Only 3 things to connect and install IR sensor  Autopilot CPU  GPS module
CODE SAMPLES
Input pulse collection: Interrupt on change
Output pulse generation: Interrupt on timer
Flight logic: Continious loop
Calculation of stabilisation: Use of floating point Watch out for the math Error TRAP (code stops)
TOOLS
PIC Programmer: Velleman K8048 (15€)
Programmer software: Freeware WIN PIC
IDE: free MPLAB available from Microchip
Alternative microcontrollers ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
OTHER AUTOPILOTS
Tompycke.be : a Belgian, 10x better then I am at this stuff
Paparazzi: Very comprehensive, open source, starts to get a bit long in the tooth
Attopilot: The best, very recent effort by a dedicated ex-intel engineer
ArduPilot: Arduino based and open source, recent but very basic SW, From Chris “The Long Tail” Anderson (& others)
Let’s go fly!

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The Kodel, an RC airplane autopilot for aerial photography