http://forum.arduino.cc/index.php?PHPSESSID=o82evrmnjvt7prmr3l9djsgui1&topic=7001.10;wap2
Bonifaz Kauffman has replied to several guys who've had problems with the device software etc, and the HTC cellphones. some of them don't work with amarino because amarino supports arduino 2.x not arduino 1.x.
The serial monitor resets the arduino 2560 board each time we click it. There are two solutions from here-http://playground.arduino.cc/Main/DisablingAutoResetOnSerialConnection
One, place a 120 ohm resistor between the reset ande the power pin.
Two, place a 10 uF capacitor between the reset pin and the ground.
How does this work?
The ATMEGA2560 chip gets reset by a pulse resetting it to ground. By two things- on the application of power, and ,when the serial monitor is used after receiving and transmitting data.
Today, everyone is jittery about the project. We need to show results i.e. automation which is very difficult given where we are today. We need to show results, to get marks for the final year project. What he suggests is preprogrammed flight. Which is the way to go, given our time predicament and the fact that every other person says that their final year projects are done.
I just want to learn as much as I can. As far as this goes, I just want to learn as much as I possibly can. I believe that I have six months before a decision comes for me. So, actually, I can afford to go through this slowly. But, my thesis will suffer.
What were the things that were done?
1. The pentacopter was fabricated.
2. Wireless control of the pentacopter was effected.
3. The ARDUINO platform is used after the other platform was found to not work. We wasted too much time, trying to figure out how to make it work.
4. Ultrasonic sensor was tested, and data was obtained from it.
5. An I.M.U. stopped working, and, We tried to obtain data from the kk multicopter board. Then, we found that there is an impedence mismatch due to which it is not possible to do that. We tried to obtain a module from around Chennai, and, the price was too high- Rs. 4125 for a two axis gyro, and, Rs. 1200 for a three axis accelerometer. Finally, The bluetooth module based communication link with a cellphone allows us to get I.M.U. data without the need for preprocessing.
6. A simulation for the pentacopter was carried out.
7. We got the pentacopter to thrust upwards. With unequal speeds at each motor.
8. We also redid the pentacopter i.e. refabricated the pentacopter.
There are a couple of problems with the approach.
1. We can bring it to fly upwards. We can bring it to hover. Then what? How do we expect to make it move in any direction?
2. A simple easily effectable idea is thresholding. The idea suggested is to just take one value eg. roll. Now, using a threshold for roll eg.0, increase the speed of the motor that is tilted downward. It is a good idea. Simple. Till it comes back to hover mode.
3. What will be the relation between motor speed PWM and the controlled output?
Something that is attainable is just hovering of the pentacopter. It is simple and attainable.
1. Derive the state matrix of the pentacopter. Derive the center of mass. Derive the inertial tensor matrix. Derive the rotational and translational model equations. This is theoretical work.
2. Do not implement the kalman filter and set the PID loop setpoint to 0,0,0 i.e. pitch, roll, yaw.
3. Use Ultrasonic sensors to get upto a particular height. This is practical and two of us needs to do this again and again, to make sure that the penta doesn't fall to ground too fast.
4. Implement the PID loops. I don't know how to derive a relation between the controlled outputs of pitch, roll and yaw PIDs for the five rotors of the pentacopter. So, a solution would be to implement the solution of the quadcopter, as detailed in Dr. Muhannad Ali Omar's paper for a matlab simulation of the same. And, use a Y connector for the pentacopter.
This is definitely possible in three months.
http://teacher.pas.rochester.edu/PHY235/LectureNotes/Chapter11/Chapter11.htm
The great teacher who has uploaded these examples.. she/he is a god! It looks like the inertial tensor will be derived today for sure.
http://www.phys.ufl.edu/~pjh/teaching/phz3113/notes/week10.pdf Another link that comes up for googling 'how to solve inertial tensor sums'.
A
One, place a 120 ohm resistor between the reset ande the power pin.
Two, place a 10 uF capacitor between the reset pin and the ground.
How does this work?
The ATMEGA2560 chip gets reset by a pulse resetting it to ground. By two things- on the application of power, and ,when the serial monitor is used after receiving and transmitting data.
Today, everyone is jittery about the project. We need to show results i.e. automation which is very difficult given where we are today. We need to show results, to get marks for the final year project. What he suggests is preprogrammed flight. Which is the way to go, given our time predicament and the fact that every other person says that their final year projects are done.
I just want to learn as much as I can. As far as this goes, I just want to learn as much as I possibly can. I believe that I have six months before a decision comes for me. So, actually, I can afford to go through this slowly. But, my thesis will suffer.
What were the things that were done?
1. The pentacopter was fabricated.
2. Wireless control of the pentacopter was effected.
3. The ARDUINO platform is used after the other platform was found to not work. We wasted too much time, trying to figure out how to make it work.
4. Ultrasonic sensor was tested, and data was obtained from it.
5. An I.M.U. stopped working, and, We tried to obtain data from the kk multicopter board. Then, we found that there is an impedence mismatch due to which it is not possible to do that. We tried to obtain a module from around Chennai, and, the price was too high- Rs. 4125 for a two axis gyro, and, Rs. 1200 for a three axis accelerometer. Finally, The bluetooth module based communication link with a cellphone allows us to get I.M.U. data without the need for preprocessing.
6. A simulation for the pentacopter was carried out.
7. We got the pentacopter to thrust upwards. With unequal speeds at each motor.
8. We also redid the pentacopter i.e. refabricated the pentacopter.
There are a couple of problems with the approach.
1. We can bring it to fly upwards. We can bring it to hover. Then what? How do we expect to make it move in any direction?
2. A simple easily effectable idea is thresholding. The idea suggested is to just take one value eg. roll. Now, using a threshold for roll eg.0, increase the speed of the motor that is tilted downward. It is a good idea. Simple. Till it comes back to hover mode.
3. What will be the relation between motor speed PWM and the controlled output?
Something that is attainable is just hovering of the pentacopter. It is simple and attainable.
1. Derive the state matrix of the pentacopter. Derive the center of mass. Derive the inertial tensor matrix. Derive the rotational and translational model equations. This is theoretical work.
2. Do not implement the kalman filter and set the PID loop setpoint to 0,0,0 i.e. pitch, roll, yaw.
3. Use Ultrasonic sensors to get upto a particular height. This is practical and two of us needs to do this again and again, to make sure that the penta doesn't fall to ground too fast.
4. Implement the PID loops. I don't know how to derive a relation between the controlled outputs of pitch, roll and yaw PIDs for the five rotors of the pentacopter. So, a solution would be to implement the solution of the quadcopter, as detailed in Dr. Muhannad Ali Omar's paper for a matlab simulation of the same. And, use a Y connector for the pentacopter.
This is definitely possible in three months.
http://teacher.pas.rochester.edu/PHY235/LectureNotes/Chapter11/Chapter11.htm
The great teacher who has uploaded these examples.. she/he is a god! It looks like the inertial tensor will be derived today for sure.
http://www.phys.ufl.edu/~pjh/teaching/phz3113/notes/week10.pdf Another link that comes up for googling 'how to solve inertial tensor sums'.
A
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