Major doubt 2

The quadcopter has symmetry in three axes. So, the only quantities we need in the inertial tensor matrix are Ixx,Iyy and Izz. In the pentacopter, there is no symmetry in the x and y axes.This means that Ixy, Ixz, Iyx, Iyz, Izx, Izy all exist. 

for a quadrotor the following is what we would normally deal with.

Here, in the I3*3 matrix instead of having just three components, we have all 9, which means more computational time. Not the best words.

2. The fact is we gave unequal PWMs to each motor(on arduino) which means something is wrong with our center of mass not being at the center of gravity? Mass not equally distributed? How do you make sure it is equally distributed?
What we did- equal measurements two hard bases to keep the battery in between, will post the photo on 30th December.

Major doubt 1

there are four pins on the charger. 

never thought of it before. This is a 3 cell charger.

the charger wire is ok. There's no problem on this side.

 there are five wires on the battery.

We don't know whether you can charge the battery with the four pin charger in any way. There are five wires here. red, green,black white,yellow. Is it possible? Hopefully.

Turnigy 5000mAh 4S1P 14.8v 20C hardcase pack this is the official name of the battery as given in the bill.

http://scriptasylum.com/rc_speed/lipo.html In this website I ofund out how the interconnections are for the battery. This is helpful.

On the left most end, you have the real positive terminal of the battery, on the right most end you have the negative terminal. So, technically, if we can provide a 14.8V source to the leftmost such battery, then we can use the same battery charger to charge the other 3 cells.

Today and tomorrow no work. (over saturday and sunday)
Plans:
1. Finish video lecture of three + three videos of UCF CRCV and SLAM stachniss.this is not done either. There is not any major work being done. 
2. Finish the simulation. this is not done. 
3. Finish the PID loops and kalman filter in arduino. this is not done either
4. Use openCV for edge detection. Write programs for at least 10 of the concepts mentioned there.this was not done

I am and should be ashamed of myself. I slept from 2 to 6 again, and that has really put off any chance of me doing all these great things that can actually contribute to me becoming more proficient technically.

dec 27

L.V. spoke, wanted to derive state equations.
I am to finish the simulation.
Nithin is to finish three PID loops in ARDUINO.

The long term decision is to use the ARDUINO2560.

dec 26th

LV Renga is an amazing guy. Because he finds solutions. As soon as he came down, he was right into it. The reason why even the simplest of compass programs given on the amarino website wasn't working on the arduino was because we'd used the analog TX RX pins. Nithin and me were thinking, OK something is wrong in the code, how can we change the code. But, Lv thought something was wrong with what we'd done. So, what he did was just put the TX RX wires into the TX0 RX0 terminals. And, that was what we did constructively today.

Last night, got the pentacopter model worked out.




From now on, my only job is to get one thing done at a time- the simulation will be worked on again and again.QUANTIFY
1. argument 1. The guys want to do adaptive thresholding to get stable hovering. I say use PID loop. why?
1.a. the kk multicopter board used a PI loop for stability.
1.b. The ton of info that we have 'already seen' collectively does not point to using adaptive thresholds for stabilization.
1.c. why try to reinvent the wheel, this is simple, sounds simple, is probably going to give a lot more problems that we can't deal with, there is no blog info, which is pretty much what we've been living on
2. argument on the side of adaptive thresholding.
2.a. no need to use matrices i.e. matrices are tough. kalman filters are much worse.
2.b. we have two months. not much time that. PRACTICALITY.

I have to quit watching these videos for SLAM, UCF CRCV because I need to finish the simulation by the new year.
 

dec24

I will download the android SDK for the android course in college, and the courser videos, the other things on the laptop etc. Then, can work on the android thing.
Must probably work on the android to arduino thing, understanding the code. The code has been written for a stepper motor. We need to change how it works for a servo. So how do we do that?- Nithin.
FIrst we need to get data from the thing.
 

dec 10th

First two little blocks
1. Moment of inertia matrix can't be found just like in the intech paper.
2. The pairing of the Bluetooth module occurs, Nothing else goes on.
3. Internet problem in the lab.

My eyesight problem was very bad. Woke up on  11th was advised full bed rest for 11th and 12th. Then ,realized that I have the arrear exams to clear. Ok. If I still went to college and screwed up both the eyesight and the exams, it won't work out to advantage. Gave nithin the keys. I will do well in the exams on 18th and 21st and then resume work on the penta-copter. I did not foresee this problem. Very stupid of me. Otherwise would have worked till 14th. Means I will have much more catching up to do.