Need help on Autonomous flight for Quad coptor using IMU-3

[R.Praveen]

Hello,

I am not abot to locate a code for autonomous flight for the quad
rotor. I am using UDB3 module. Could anyone help me on this?. I would
like to just write a code or modify any existying code to fly the quad
rotor only for few meters up and coming back to start point as a first
step.

Do anyone had flow chart or dsign document for the code written for MP-
Quad of UDB3..?

Any help..?

[John McClelland]

When I modified the Heli code for quads, Jerry and I worked on an altitude
control feature using a sonar detector. I think the code on the side has
this but it's been quite a while since I have been able to work on this so
not sure. The sonar routine would calculate the height above ground and
return it to the altitude control routine. This routine would get the
desired height from the throttle stick setting and automatically change the
quad throttle setting to achieve it and hold it. The sonar and altitude
calculations were checked and worked fine. We were having trouble with the
stability control on the quad when we stopped. It could have been vibration
effects but never determined it conclusively. The new board might fix but
haven't tried yet.

The altitude control routine was the first module of several intended for
autonomous control. Once working I was going to have a new state routine to
do things like launch, hover, forward flight, turns, and landing. Again it
was all going to stat with an autonomous take of and landing and most of the
code is there (probably not the state routines yet) but everything got put
on hold for personal reasons but I intend to get back to it.

I would have to go back and see what code is actually on the quad site and
what I had as development. I think there was a roadmap on the site that
explained how it was all going to together.

John

[John McClelland]

I went back and looked and only the pitch/roll stabilized version is on the
wiki. But I do have the dev code with the altitude control and sonar
routines in it. Once I get up and running on my Windows 7 laptop (can't get
MPLAB to work yet on it), I can clean it up and send.

John

-----Original Message-----
From: uavhel...@googlegroups.com [mailto:uavhel...@googlegroups.com]
On Behalf Of R.Praveen
Sent: Friday, July 22, 2011 3:47 AM
To: UAVHeliBoard
Subject: Need help on Autonomous flight for Quad coptor using IMU-3

[R.Praveen Kumar]

Hi John,

 

I just want to clear out one doubt that, can we able to select the waypoint mode

in the MP-QUAD (matrixpilotheli) version.

 

And my present aim is to just put it on complete automatic mode in such a way that

1) It should lift from ground position to some 5 meters height.

2) Then need to wait for few seconds and move towards left for 5 meters

3) Then it has come and land at the same desired origin point.

--
Praveenkumar.R

[John McClelland]

No right now it only stabilizes in pitch, yaw and roll.  The development code was close to implementing altitude control.  As I said this was the first step in a planned autonomous flight package.

Your original post made me think you were looking for a starting point to do some coding on your own.  I am not able to put time into it now, but may get around to it.  The altitude control and some notes on how to implement autonomous flight is all I can offer above what is on the wiki.

John