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Old 04-24-2016, 05:35 PM   #11
vaalleon
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Re: MonoBot: Aerial Robotics Project


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Testing return home:

The code allows me to override the feature with stick inputs which are outside of the deadzone. This lets me to take the unit anywhere in the park without touching the GPS and the moment I release the stick, return home initiates. After returning home, GPS hold initiates.

After 2:40 minute mark the GPS hold, return home, Mag and Baro features are on. Whenever it is moving away from me I am controlling the action. Then I release the stick and it comes back. There was only one occasion where it got too high and I had to bring it down before initiating return home again.

The part that kinda puzzles me is that, even though the code lets me decide the direction the unit faces while returning home, it is not consistent in directions. When I initiated return home at at the west of the home point, it came back tail in first. When I initiated it at the east, it came in with head first. When I booted it up, it was facing west, so I guess that was the reason. Whenever it returned home, it makes sure that it faces the original takeoff direction, which is pretty cool.

This time I used new batteries instead of my old beaten batteries. I flew it for 6:30 minutes and used %73 of the juice, which gives me 9 minutes theoretical and over 8 minutes practical flight time. Pretty good.

Now I will get it in shape in the current format and start working on some IR sensors to do some more fun stuff

https://www.youtube.com/watch?v=xPcy...ature=youtu.be

+ YouTube Video
ERROR: If you can see this, then YouTube is down or you don't have Flash installed.
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Old 04-27-2016, 12:38 AM   #12
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Re: MonoBot: Aerial Robotics Project

The new face of MonoBot.

I think I figured why it was keeping the original heading when returning home instead of facing towards the waypoint. The GPS hold was active when GPS home was activated. Now I will test it with GPS hold deactivated when returning home and see if it adjusts yaw to face home when returning...
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Old 04-29-2016, 07:44 PM   #13
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Re: MonoBot: Aerial Robotics Project

Never ending winds last couple of weeks. I think GPS settings are good at this point.

In this video, return home/baro/mag combination was initiated twice at 1:30 and 3:30, and both times the unit first turned towards home waypoint and proceeded towards home head first, then turned head towards east after returning home, which was the direction of the bootup. Then I had some fun fly towards the end.

Pretty happy with the progress and how this beauty flies. Amazingly fast, stable and easy to control, even in these mixed winds. Hard to land!

I may tweak the tuning little more in the future but I am happy as it is for now.

https://www.youtube.com/watch?v=kscT...ature=youtu.be

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Old 05-13-2016, 06:18 PM   #14
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Re: MonoBot: Aerial Robotics Project

Takeoff videos:

https://www.youtube.com/watch?v=cxa3i9M22oI
+ YouTube Video
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Let me know if you need #adruinonano driver… Took me a while to find… Started “trying” to build a code Fun stuff!
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Old 08-08-2016, 07:37 PM   #15
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Re: MonoBot: Aerial Robotics Project

It’s kinda hard to learn programming after a certain age. I finally had some time to work on the Arduino code, to have some fun with the sensors.

First challenge was to pass the rx signal through Arduino. This had to be achieved because it is the base for all future work. It took a while but in the end, thanks to some code pieces that I found online, I was able to do that. However, I still couldn’t figure the servo jittering. Nothing I tried worked so far. So, I will need to learn further coding to figure that out.

After that I wanted to see if I can change a servo reaction with an IR sensor. I used the keyes sensor which basically creates a binary 1 or 0 signal. And the result is promising. Below video shows the servo changing neutral position with the detection of my hand, while I can still control it with the TX.

Will keep on posting as I progress.

https://www.youtube.com/watch?v=jaasgUV7g7c

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Old 08-23-2016, 01:06 AM   #16
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Re: MonoBot: Aerial Robotics Project

This is my first code solution to the servo jittering. It helped reduce jittering significantly. None of the electrical solutions seemed to work.

The problem is: the servo signal drops from 1480/90 level to as low as 1410 ish periodically, causing the servo to jitter. My current solution is to read the pulse twice in 20 milliseconds after the first reading. If the second reading is below “first reading – 10”, write the first reading. If not, write the second reading. Here is the part of the code that does that:

val = digitalRead(2); //read ir
ch1p = pulseIn(5, HIGH, 25000);
Serial.print ("ch1p: ");
Serial.println(ch1p);
delay (30);
ch1p1 = pulseIn(5, HIGH, 25000);
Serial.print ("ch1p1: ");
Serial.println(ch1p1);

if (ch1p1 < ch1p-10)
{
ch1c = ch1p;
}
else
{
ch1c = ch1p1;
}


And this is the resulting readings. As you will see, whenever there is a large drop the signal is ignored.
ch1p: First reading
ch1p1: Second reading
Channel 1: The value to be written to the servo


Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1478
ch1p1: 1429
Channel 1:1478
Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1488
ch1p1: 1488
Channel 1:1488
Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1488
ch1p1: 1488
Channel 1:1488
Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1495
ch1p1: 1494
Channel 1:1494
Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1473
ch1p1: 1436
Channel 1:1473
Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1495
ch1p1: 1495
Channel 1:1495
Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1493
ch1p1: 1495
Channel 1:1495
Channel 2:0
Channel 3:0
Channel 4:0
ch1p: 1488
ch1p1: 1487
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Old 10-22-2016, 03:27 AM   #17
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Re: MonoBot: Aerial Robotics Project

It has been a while since the last post. It was a challenging period trying to figure out below Arduino tasks:

1- Read/write PWM signal,
2- Read/write PPM signal,
3- Convert PWM to PPM,
4- Build IR distance sensor,
5- Read IR sensor signal,
6- Mix PWM & IR signals, etc…

Frying 3 Arduino boards along the way and taking it slower than I usually do didn’t help with the delays. I tested many PWM, PPM codes, IR sensor configurations. One of the hardest tasks have been getting the Arduino board communicate with the flight controller. In the end, I kinda came up with a setup that MAY work. No guarantees here, tough task for an amateur like myself.

The latest setup has a DSM2 receiver which is not PPM. So I soldered the receiver to the Arduino digital pins to get rid of the excess cables. I preferred a PWM connection because if I use a PPM connection from the receiver, then I need to decode PPM to PWM, mix it with IR signals and re-code it into PPM to feed into the Multwii board. With PWM, I don’t need to de-code any PPM, instead get the 5 channels and process them separately.

I have 6 homemade IR sensors. I tried some electronic configurations that didn’t quite work, so came up with my own design. They can sense upto 30-35cm, which should be enough for the first tests.

I am using my old flight controller but, which I feed with one PPM cable.

Almost ready to install the new equipment on one of my MonoBots and start testing the sensors and revise the code to fit the unit. I am planning to place 2 of the sensors looking up and down. This way, if successful, it will avoid obstacles in all directions.

Will keep on posting as the project progresses. Thx…
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Old 10-30-2016, 06:15 PM   #18
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Re: MonoBot: Aerial Robotics Project

The first test of the IR sensors on the actual unit. I didn’t apply my jitter eliminating code yet (I am hoping that I can) so the servos are a little jittery. The jittering will cause the most problem in throttle control. I have sensors at the top and the bottom, too, which will adjust the throttle. When I tested the throttle, the servo signal anomaly that cause the servo jittering caused the RPM swing in a range. The fan still reacted to the sensors and adjusted the throttle but not in a smooth way…

The first test was pretty good though. The video shows the nozzles react to the IR sensors’ input:


+ YouTube Video
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Old 11-15-2016, 07:25 PM   #19
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Re: MonoBot: Aerial Robotics Project

I tweaked the code to overcome the PWM anomaly that caused the servo jitter. The anomaly was causing the throttle to really bounce around and I wasn’t going to be able to fly it that way.

In the current state, the code is performing two separate reads on each channel and comparing those two readings to each other. If one reading is more than X different than the previous reading, then it is allowing it to move up or down only as much as X. And it is performing the reading Y times a second.

X and Y are the variables. In the current state of the variables, the response to stick input has slowed down significantly but I believe I will be able to fix that with playing with the values of X and Y.

This video is the first attempt to see the throttle response to the new code and the sensors. It was encouraging. You can see throttle adjust with input from top and bottom sensors.

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Old 11-19-2016, 08:51 PM   #20
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Re: MonoBot: Aerial Robotics Project

I made all my preparations to maiden the MonoBot today. Did a short tethered indoors test to see it even hovers. It did, but wasn’t balanced right, so kinda hit the bed and had minor damages. Fixed it and went outside. The first test is the time that you will definitely know if your design is right or wrong. BECAUSE, I made a deal with the universe: When the design is not right, it lets me know by slamming my unit to the ground And that happened MANY times. So, the plan was:

1-Test the flight capabilities with the new electronics with IR NOT activated

2-Activate IR in the air and see how it responds

This is the part that hobbyists with IR sensor experience will laugh their butts off: The IR system didn’t respond the same way outside, the way it used to inside. Came in, checked the serial monitor, it works fine. Went outside again, the same problem repeated. Then I guessed that the sunlight is interfering and googled it: bingo. I felt really dumb, dealing with with IR sensors for months now, building them and not knowing this fact!

So, after finding about this, I still decided to test it without activating the IR sensors at all, to see if it flies. I was out at dusk and I realized that the sensors actually started working. But still didn’t activate them during the flight just in case. Below is the video of the first flight. I definitely felt the slow response time, resulting from the signal filtering code. However, considering that I am getting a PWM signal, passing it through Arduino, converting it to PPM and filtering it before feeding it to the flight controller, It was pretty good. However, I still couldn’t eliminate a rough landing due to not being used to these new control characteristics and damaged a servo and some body parts. Took me about 30 min to fix. The irony is that if I activated the IR sensors, considering that they started working at dusk, I would never have the rough landing as the unit would adjust the throttle.

Anyway, now will find a way to filter the sunlight so that the sensors work in daylight. Will probably do a second test tomorrow at dusk with the sensors on…


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