Matrix Pilot Sonar Landings with Logo

[Peter Hollands]

Hi Folks,

Just to let you know that I have posted a small video update on Sonar Landings on DIY Drones.

http://diydrones.com/m#/m/blogpost?id=705844%3ABlogPost%3A1002247

Best wishes Pete

[Rana]

Its great to hear Pete ! Pls share raw flight log.

[clemens]

Hi Pete,

 

congratulation to your success. I have odered a new UDB 4 and a new sonic sensor. The board ...  I got today and I'm starting to solder the necessary pins. When the bird is ready, maybee I need your support, because I never used the "logo" waypoints.

 

Many regards

Clemens

[Peter Hollands]

Hi Clemens,

Which sonar did you order ?

I will help with the Logo, although others are more expert than me.

Best wishes, Pete

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[Peter Hollands]

Hi Rana,

I enclose the raw log. You will need to use flight analyzer from the MatrixPilot_sonar branch if you want to process that to your own CSV file. The sonar reading are the last two variables on each line. The first is the direct sonar reading, the second is the filtered and adjusted sonar reading called ALT_SONAR in Logo. The sonar telemetry variables are in centimeters.
e.g. end of line in SERIAL_UDB_EXTRA in MatrixPilot_sonar branch:-
.............................fgs800:ofc0:tx0:ty0:tz0:G0,0,0:H27,26:
That green highlighted number means Raw Sonar reading was 27 centimeters. ALT_SONAR was 26 centimeters.

I also enclose an xls 97 spreadsheet which is commented and analyzed for the landing. The first landing in the spreadsheet is the landing on the video. (The landing that is analyzed in detail in the spreadsheet).

I look forward to your comments. And Anyone else.

Best wishes, Pete

[clemens]

Hi Pete,

 

sorry I answere so late, but the last two weeks I was very busy (private and business) and I haven't much time to check the males. Meanwhile I got the MaxSonar MB1260 and a MB1230 which differs in the max. range and I soldered a new UDB4.

So I start within the next days/weeks/month to play with your code.

 

many regards,

Clemens

[Peter Hollands]

Hi Clemens,

The MB1260 should work with the standard software "out of the box".
It simply has a greater range than the MB1230 that I used initially.

I suggest you start with all the setting as I have made them in the code. It should work fine.

When using the MatrixPilot_sonar branch there are two new telemetry fields at the end of the line in SERIAL_UDB_EXTRA,
that will show

1. you the centimeters from sonar to nearest target
2. The ALT_SONAR, Altitude of sonar above ground. This tries to take into account the roll and pitch of the plane.
   I think that Bill was right, in that ideally that would use a lookup table, which would be found empircally, and would take into account the width of the sonar beam. But for now, it is not imporant as the plane is fairly level when landing.

My own plans at the moment are:-

1. Put a bigger engine in my Alpha Axion for faster climbing. (I am doing that now).
2. Improve my "Boomerang Flights" provided I have some weather with no winds (unlikely).
3. Improve the code layout of the sonar branch, and then merge back to trunk.
4. Integrate the best settings for the MB1260 (I have purchased one, but not fitted it yet).
   
   In the more distant future I may:
   
5. Start playing with "Terrain following" using Sonar.
1. Auto-Calculate the Pitch Transfer Function for the Plane
2. Simulate the pitch transfer function in Xcos along with the Autopilot pitch controls. Learn how to optimise the pitch control PIDs in Xcos, learn about Control Theory.
3. Insert the optimised PIDs back into MatrixPilot options.h
4. Simulate the Height Control above terrain in Xcos (refining new algorithms to use in MatrixPilot).
5. Implement Terrain following in MP code, fly, test, publish.
   

I think Guilio is ahead of me on some of this work. As is Matt Coleman. I see tht Matt has published an Xcos Autopilot pitch control block diagram in the MatrixPilot_fbw (Matrix Pilot Fly by wire). That diagram can only be viewed by downloading the scilab/xcos software.

I am glad that there are now 3 of us investigating the use of Xcos for the control block simulations.

In the meantime, the existing MatrixPilot sonar branch should work for you.

Best wishes, Pete

On Sun, Oct 28, 2012 at 4:10 PM, clemens <clemens.w...@yahoo.de> wrote:

Hi Pete,

 

sorry I answere so late, but the last two weeks I was very busy (private and business) and I haven't much time to check the males. Meanwhile I got the MaxSonar MB1260 and a MB1230 which differs in the max. range and I soldered a new UDB4.

So I start within the next days/weeks/month to play with your code.

 

many regards,

Clemens

Am Mittwoch, 17. Oktober 2012 21:21:58 UTC+2 schrieb Pete:

Hi Clemens,

Which sonar did you order ?

I will help with the Logo, although others are more expert than me.

Best wishes, Pete

On Wed, Oct 17, 2012 at 6:18 PM, clemens <clemens.w...@yahoo.de> wrote:

Hi Pete,

 

congratulation to your success. I have odered a new UDB 4 and a new sonic sensor. The board ...  I got today and I'm starting to solder the necessary pins. When the bird is ready, maybee I need your support, because I never used the "logo" waypoints.

 

Many regards

Clemens

Am Montag, 15. Oktober 2012 08:20:23 UTC+2 schrieb Pete:

Hi Folks,

Just to let you know that I have posted a small video update on Sonar Landings on DIY Drones.

http://diydrones.com/m#/m/blogpost?id=705844%3ABlogPost%3A1002247

Best wishes Pete

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