Firmware and Params for autonomous flight (Link to firmware added)
Posted: Sat May 13, 2017 11:40 am
Hi all,
Here are the params and the firmware https://drive.google.com/file/d/0B7tPlr ... sp=sharing that we used at the Interpack.
We drew a lot of attention: https://youtu.be/M8XFkSgka8Q
Here is a flight with the Marvelmind map in the background.
https://youtu.be/YKu-Q1f48pc
As you can see the result is very good. (straight lines in a 10cm window)
You also see Stefan, the operator. He can take over control at any time or shut engines down at a flip of a switch.
Problems we encountered:
Submaps not correctly overlapping: We could not get it right. When going from one submap to the other the drone jumped.
Power supply of beacons and hedgehog. With USB connected, sometimes a beacon has a measured voltage lower than 4 volt and shuts down for a moment resulting in false position data. We soldered USB cables directly to bat+ and bat- and everything is fine.
Using different settings when building map and when flying.
During building map we let microphones of beacons send to each other (mic1 and 3) and have setting for amplifying at 2000 and threshold of 400.
During flying we use only microphone 4 on beacons and 1,2,3,5 on hedgehog with amplifying 1450 and threshold 300. 1450 because of motor interference which otherwise gets amplified too much.
It is not visible on the picture, but we ended up using 4 beacons per submap. (picture will follow)
This was because of the very small space we had to fly in.
Compass is a problem (not a Marvelmind problem). We modified the firmware to use only accels and gyros.
Height is a problem. When going up towards beacons, which are set at 185cm, you would expect that at zero angle the positioning would report 185cm, but not. It could report 0cm. Giving a lot of damage.
We set beacons at 230cm physically, and setting at 185cm. Our hedgehog is some 50cm from the ground. And we never fly higher than 150cm.
We had a successful event with a drone flying autonomously in a 2m wide isle, using Marvelmind and Pixhawk.
Marvelmind is a very good, accurate, positioning system for this application.
Some improvement can be made, like height, overlapping submaps, moving from 433Mhz to UWB, saving settings per beacon, having building and flying parameter sets, solve heading problems and full integration in Pixhawk (Ardupilot).
I like to thank Marvelmind for having a good solution and the fast responses we got when we had questions.
Hendrik
(Modified: firmware link added)
Here are the params and the firmware https://drive.google.com/file/d/0B7tPlr ... sp=sharing that we used at the Interpack.
We drew a lot of attention: https://youtu.be/M8XFkSgka8Q
Here is a flight with the Marvelmind map in the background.
https://youtu.be/YKu-Q1f48pc
As you can see the result is very good. (straight lines in a 10cm window)
You also see Stefan, the operator. He can take over control at any time or shut engines down at a flip of a switch.
Problems we encountered:
Submaps not correctly overlapping: We could not get it right. When going from one submap to the other the drone jumped.
Power supply of beacons and hedgehog. With USB connected, sometimes a beacon has a measured voltage lower than 4 volt and shuts down for a moment resulting in false position data. We soldered USB cables directly to bat+ and bat- and everything is fine.
Using different settings when building map and when flying.
During building map we let microphones of beacons send to each other (mic1 and 3) and have setting for amplifying at 2000 and threshold of 400.
During flying we use only microphone 4 on beacons and 1,2,3,5 on hedgehog with amplifying 1450 and threshold 300. 1450 because of motor interference which otherwise gets amplified too much.
It is not visible on the picture, but we ended up using 4 beacons per submap. (picture will follow)
This was because of the very small space we had to fly in.
Compass is a problem (not a Marvelmind problem). We modified the firmware to use only accels and gyros.
Height is a problem. When going up towards beacons, which are set at 185cm, you would expect that at zero angle the positioning would report 185cm, but not. It could report 0cm. Giving a lot of damage.
We set beacons at 230cm physically, and setting at 185cm. Our hedgehog is some 50cm from the ground. And we never fly higher than 150cm.
We had a successful event with a drone flying autonomously in a 2m wide isle, using Marvelmind and Pixhawk.
Marvelmind is a very good, accurate, positioning system for this application.
Some improvement can be made, like height, overlapping submaps, moving from 433Mhz to UWB, saving settings per beacon, having building and flying parameter sets, solve heading problems and full integration in Pixhawk (Ardupilot).
I like to thank Marvelmind for having a good solution and the fast responses we got when we had questions.
Hendrik
(Modified: firmware link added)