Projects / Autopilot UAV / Releases

All releases of Autopilot UAV

  •  25 Mar 2003 21:44
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    Release Notes: The telemetry network layer has been reworked to use timestamped and tagged UDP datagrams. This avoids the problems with dropped TCP packets causing the entire data stream to be lost. The servo driver now supports high speed ("digital") servos from JR and Futaba on the Rev 2.4 boards. Rev 2.2 boards require hardware modifications to support the new servos. The Futaba PCM1024 radio format can be decoded in real time. All GUI codes have been wrapped into Fltk widgets for a more professional appearance.

    •  24 Jun 2002 01:54
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      Release Notes: The simulator and helicopter can now be flown with Futaba transmitter through our buddybox/trainer port interface. The simulator has been redesigned to be much more modular and now uses a typesafe vector math library. The flight controller has a SWIG interface. The rev2 prototype code is much more efficient and now longer jitters under high interrupt load.

      •  11 Mar 2002 14:41
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        Release Notes: This release adds an OpenGL helicopter simulator for testing out the inertial measurement system (IMU) and for calibrating the attitude/heading reference (AHRS). The inertial data, either from the simulator or from the IMU on the real helicopter, feeds into a Kalman filter that can run on the ground station or on the realtime board.

        •  27 Jan 2002 06:04
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          Release Notes: This version is the second major restructuring of the code. Everything for the onboard system has been packaged into onboard/avr/mainloop.c and installs from there. As with 2.0, this requires the custom PCB or an STK500 with Mega163 hooked up with the same connections. The ground station does not work with the current output due to UART problems onboard.

          •  13 Jan 2002 15:29
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            Release Notes: The is the first major restructuring of the code and the first port to the custom circuit boards. The Rev 1.0 circuits have been produced and hacked. Static tests have been successful with the ./efis/gs program and the ./onboard/src/flybywire program. The onboard code has been split into a AVR library and controller program. The Mega163 is the default architecture, since that is what is socketed on the new PCBs. ADC is polled rather than interrupt driven and is scaled to the internal voltage reference. A PID (Proportional/Integral/Derivative) control loop library has been added.

            •  21 Nov 2001 21:59
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              Release Notes: This release makes use of the home-brew two axis (four degree of freedom) strapdown IMU. It outputs pitch/roll linear acceleration and pitch/roll angular acceleration on the serial port. In the code, the ADC and UART can be polled or interrupt driven. The duty-cycle pulse sampling is using the 1-pass algorithm. The command processor and stabilization code has been removed and will be restored in the next release.

              •  10 Nov 2001 02:48
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                Release Notes: New dual-needle gauge widgets for CHT, EGT, N1, N2, Fuel, and Volts, the onboard realtime system adds support for the MG100 rate gyro from Gyration.com and removes the PWM gyro code, and rate integration is still the rough approximation. Stability code has been started, but will cause a crash and damage to the prototype. Servo output is also back in the code, with fixes for a few glitches and restored jitter output.

                •  29 Oct 2001 01:41
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                  Release Notes: This is the first release that samples gyros and performs very rudimentary rate integration on the gyros. The outputs are collected and sent to the serial port, where the EFIS displays the attitude of the sensors. You can run the "hover" program on the AVR for servo input, or "pwmeter" for gyro calculations.

                  •  26 Oct 2001 04:47
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                    Release Notes: The servo output has been fixed. The interrupt routine has been recoded to better optimize into AVR instructions. The servo/gyro sampling has also been recoded to avoid any 32-bit computations. This compiles into much faster code. The groundstation code has also had the control curve package reworked. It is now configured for both prototype helicopters, and can be used with either the homebrew AVR, or the commercial SSC.

                    •  21 Oct 2001 15:38
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                      Release Notes: New onboard features include servo sampling (up to 8 servos/gyros), servo outputs (up to 8 servos), UART support, periodic tasks, and a command interpreter. New Ground station features include control curves and the ability to talks to the onboard software.

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