tag:blogger.com,1999:blog-57358057760710267462024-03-13T23:20:53.699+01:00project :: shuttlerWanted to learn something, needed a place to put it all.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.comBlogger87125tag:blogger.com,1999:blog-5735805776071026746.post-18085278489961943222014-07-11T23:30:00.000+02:002017-11-05T10:03:26.512+01:00First Mission and epilog (MK5)In short, the project was a success!<br />
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Results from the real data gathering mission with MK5 validated the project abilities as for terrain reconstruction.<br />
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The image below shows the produced data (in gray) compared with ground truth obtained with LIDAR (colored). There is some noise in the data, as expected, but the final result is accurate enough to be able to see the tree growth in 11 months between the data sets. <br />
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With the knowledge gathered so far it is time to move on to bigger and more challenging things.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-61928192363987027632014-06-21T21:05:00.000+02:002015-01-03T21:22:11.136+01:00Third Time in the Air (MK5)Endurance flight, to see how long, how high and how accurate can the plane be flown. And to get some practice and have some fun.<br />
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About 15 minutes of flying with all the gear on board, total distance traveled just over 13 kilometers and 220 meters of altitude difference:<br />
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On the graph you can clearly see the approach and low flyover the runway, then rapid acceleration while gaining some altitude to circle around and try again.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-88426888395084024072014-05-01T23:30:00.000+02:002015-01-03T21:21:48.856+01:00Second Time in the Air (MK5)Now that the plane is finally fully functional (and can stay in the air more then just few minutes) it's time to make some pictures again.<br />
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The plane, manually controlled, flew nice and stable, keeping stable speed and altitude:<br />
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This time, 8 minute mission for a 8 kilometer flight, with enough battery left over for a few more flights:<br />
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And this time (the interesting bits), panorama with just the landings:<br />
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And the reconstruction result was good too:<br />
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<br />Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-38826265823568733492014-05-01T23:00:00.000+02:002015-01-03T21:22:27.406+01:00AVI@TOR MK5 SP1So the plane flew, lessons were learned and improvements were made.<br />
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All of the control surfaces were physically set to the appropriate neutral position, so the next launch can start with zero trim.<br />
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The speed regulator was moved to the outside for extra cooling since the motor was cut out a couple of times due to overheating.<br />
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The plane was colored in neon colors for easier viewing.<br />
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And everything was packed in a portable package, which can be put together in 5 minutes.<br />
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The final result:<br />
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<br />Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-15420082326904084422014-04-07T21:08:00.000+02:002014-05-04T14:15:04.706+02:00First Time in the Air (MK5)Maiden flight of the new plane!<br />
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This one got off to a rocky start. With all the modifications to the tail, just levelling the control surfaces was not quite enough to get the plane to fly straight. Look out for unintentional barrel rolls in the video :D<br />
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Launching the plane for the first time, it tented to pitch the nose down, taking almost half nose up input to fly it straight. This resulted in a "roller coaster" flight, where some altitude was gained, then controls centred and trimmed little by little. Business as usual.<br />
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After landing and physically adjusting the trim settings the second flight was a lot smoother.<br />
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Combined flight took around 10 minutes with 10.63km travelled at around 50km/h:<br />
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And here is the scenic view:<br />
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<br />Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-45746309687100793902014-03-31T12:15:00.001+02:002014-04-12T21:04:04.287+02:00AVI@TOR MK5Well, the platform works. The plane flies, the phone steers it, camera takes pictures and software process it. Now, let's tie it all together, and while we're at it, let's upgrade some parts too.<br />
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Current limitations to overcome: increase flight time (larger batteries), eliminate the need for a runway and easier transport and assembly. The answer, a bigger and better plane.<br />
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Introducing Avi@tor MK5, a Hobbyking EPP-FPV frame with some custom modifications. A pusher plane with the engine on the back that doesn't need landing gear to raise the propeller from the ground, which means it can land anywhere. With a wingspan of 1.8 m it can carry a larger payload, in our case more batteries. To improve it we raised the horizontal stabilizer for easier landings in tall grass. We also improved the strength of the frame by covering it with sturdy canvas soaked in cyanoacrylate glue (poor mans carbon fiber) to better withstand increased weight and rough landings. And designed a wing holding and attaching piece also out of canvas soaked in cyanoacrylate glue to replace stock mounting with rubber bands for increased durability.<br />
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The build:<br />
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<a href="http://3.bp.blogspot.com/-c8uWNI_l_3k/U0R6tA8rjPI/AAAAAAAADYM/RpQUEJ1dOTI/s1600/20131224_184056.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-c8uWNI_l_3k/U0R6tA8rjPI/AAAAAAAADYM/RpQUEJ1dOTI/s1600/20131224_184056.jpg" height="240" width="320" /></a></div>
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What came in the box (with some tools for the operation prepared in the background). First thing to do, reinforce the horizontal stabilizer with a spare carbon fiber rod.<br />
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<a href="http://1.bp.blogspot.com/-hJGLRGyRxSU/U0R8QfQZ-rI/AAAAAAAADYY/PEcz1HkZTA8/s1600/20131224_184141.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://1.bp.blogspot.com/-hJGLRGyRxSU/U0R8QfQZ-rI/AAAAAAAADYY/PEcz1HkZTA8/s1600/20131224_184141.jpg" height="150" width="200" /></a><a href="http://3.bp.blogspot.com/-4eCE69XLsA8/U0R8QrY_MPI/AAAAAAAADYg/gXF14ka2O9k/s1600/20131224_222314.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-4eCE69XLsA8/U0R8QrY_MPI/AAAAAAAADYg/gXF14ka2O9k/s1600/20131224_222314.jpg" height="150" width="200" /></a></div>
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Next alight the wings, wrap them in clear film, cut a piece of canvas to size, align again and start soaking in glue.<br />
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Cut off and recess the the wooden support for the wing mount so it's flush with the fuselage (it'll make sense later).<br />
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Extend & expand the obviously too small vertical stabilizer and reinforce it with another spare carbon fiber rod trough the middle. Secure it to the horizontal stabilizer.<br />
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<a href="http://2.bp.blogspot.com/-EMaiKUEmiV8/U0fLgTdkudI/AAAAAAAADZQ/l30HIz2MPjg/s1600/20131226_172020.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-EMaiKUEmiV8/U0fLgTdkudI/AAAAAAAADZQ/l30HIz2MPjg/s1600/20131226_172020.jpg" height="150" width="200" /></a><a href="http://4.bp.blogspot.com/-yTghqHwlp_s/U0fLgXUH_EI/AAAAAAAADZU/_jEY3o-EwNY/s1600/20131227_182101.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-yTghqHwlp_s/U0fLgXUH_EI/AAAAAAAADZU/_jEY3o-EwNY/s1600/20131227_182101.jpg" height="150" width="200" /></a></div>
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Fortify the bottom of the fuselage with the canvas soaked in cyanoacrylate glue combo.<br />
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Remove the canvas soaked cyanoacrylate glue mold from the wings, alight it with the fuselage and add more canvas against it. This will make for the reinforced wing assembly that could be easily assembled.<br />
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<a href="http://3.bp.blogspot.com/-8ldke6YpjWw/U0fOrlBrGCI/AAAAAAAADZ4/tpGGBD_-ZkY/s1600/20131231_122243.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-8ldke6YpjWw/U0fOrlBrGCI/AAAAAAAADZ4/tpGGBD_-ZkY/s1600/20131231_122243.jpg" height="150" width="200" /></a><a href="http://4.bp.blogspot.com/-qV9f0awShsY/U0fOrjpdFwI/AAAAAAAADZ0/rssCQs6Z4SI/s1600/20131231_181052.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-qV9f0awShsY/U0fOrjpdFwI/AAAAAAAADZ0/rssCQs6Z4SI/s1600/20131231_181052.jpg" height="150" width="200" /></a></div>
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Cut out, align & glue some wooden support pieces that will hold the wing assembly together.<br />
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<a href="http://1.bp.blogspot.com/-lanVSXNghus/U0fPhFEkJZI/AAAAAAAADaE/YQIaXBG9Lw8/s1600/20140207_144805.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://1.bp.blogspot.com/-lanVSXNghus/U0fPhFEkJZI/AAAAAAAADaE/YQIaXBG9Lw8/s1600/20140207_144805.jpg" height="150" width="200" /></a><a href="http://1.bp.blogspot.com/-enbhggHNRDg/U0fPhE_MH0I/AAAAAAAADaI/MaWTn9BhEvY/s1600/20140207_224306.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://1.bp.blogspot.com/-enbhggHNRDg/U0fPhE_MH0I/AAAAAAAADaI/MaWTn9BhEvY/s1600/20140207_224306.jpg" height="150" width="200" /></a></div>
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Drill and glue support carbon fiber beams in to the fuselage, also to help hold the wing assembly together.<br />
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<a href="http://3.bp.blogspot.com/-Vzp7LbBJC8c/U0fQtBYDthI/AAAAAAAADaY/1eHhZEEjFxY/s1600/20140207_224315.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-Vzp7LbBJC8c/U0fQtBYDthI/AAAAAAAADaY/1eHhZEEjFxY/s1600/20140207_224315.jpg" height="150" width="200" /></a><a href="http://1.bp.blogspot.com/-L3dHsq9yvMQ/U0fQtMX6xCI/AAAAAAAADac/sarKw0s15eQ/s1600/20140207_230750.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://1.bp.blogspot.com/-L3dHsq9yvMQ/U0fQtMX6xCI/AAAAAAAADac/sarKw0s15eQ/s1600/20140207_230750.jpg" height="150" width="200" /></a></div>
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Also drill the corresponding holes in to the wings and reinforce them with some more wood.<br />
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<a href="http://3.bp.blogspot.com/-HaP4iLt7Tns/U0fSByRqhlI/AAAAAAAADas/Kgcfk-ls7oY/s1600/20140208_144607.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-HaP4iLt7Tns/U0fSByRqhlI/AAAAAAAADas/Kgcfk-ls7oY/s1600/20140208_144607.jpg" height="150" width="200" /></a><a href="http://4.bp.blogspot.com/-gnZ-bff4Ji8/U0fSB-A1F4I/AAAAAAAADaw/OqVG2u40QsU/s1600/20140208_151126.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-gnZ-bff4Ji8/U0fSB-A1F4I/AAAAAAAADaw/OqVG2u40QsU/s1600/20140208_151126.jpg" height="150" width="200" /></a></div>
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Fill the holes to size with cyanoacrylate glue, using clear film to wrap the carbon fiber beams as molds.<br />
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Once dried, cut and sand the beams to the exact size of the wings.<br />
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Fit everything once more just to be sure, then glue in the tail boom.<br />
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<a href="http://4.bp.blogspot.com/-sIXgSRLPsHE/U0k6qX-5siI/AAAAAAAADbs/pG9GdtjHee4/s1600/20140217_102801.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-sIXgSRLPsHE/U0k6qX-5siI/AAAAAAAADbs/pG9GdtjHee4/s1600/20140217_102801.jpg" height="150" width="200" /></a><a href="http://2.bp.blogspot.com/-x35W3ElewJg/U0k6qS90bJI/AAAAAAAADbo/tsFE9LjyrYY/s1600/20140217_130657.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-x35W3ElewJg/U0k6qS90bJI/AAAAAAAADbo/tsFE9LjyrYY/s1600/20140217_130657.jpg" height="200" width="150" /></a></div>
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Extend the leads of some high quality servos, wrap them in duct tape (just in case they are ever to be reused in the distant future when the plane spontaneously catches fire), and glue them firmly into the horizontal stabilizer.<br />
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<a href="http://2.bp.blogspot.com/-_la71zOnaUw/U0k78GtXYqI/AAAAAAAADb8/Yb7RuanlfJg/s1600/20140218_230858.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-_la71zOnaUw/U0k78GtXYqI/AAAAAAAADb8/Yb7RuanlfJg/s1600/20140218_230858.jpg" height="150" width="200" /></a><a href="http://3.bp.blogspot.com/-hThvey1sexo/U0k78Jw_gsI/AAAAAAAADcA/zUN4Jvf2xO0/s1600/20140219_180939.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-hThvey1sexo/U0k78Jw_gsI/AAAAAAAADcA/zUN4Jvf2xO0/s1600/20140219_180939.jpg" height="150" width="200" /></a></div>
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Run the wires across the height of the vertical stabilizer, add some some canvas strips and glue for protection and rigidness, and glue the tail section on to the tail boom.<br />
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<a href="http://1.bp.blogspot.com/-a8m3LKnV_0g/U0ldVkq2SCI/AAAAAAAADcY/QEE2m9lPbzE/s1600/20140219_233805.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://1.bp.blogspot.com/-a8m3LKnV_0g/U0ldVkq2SCI/AAAAAAAADcY/QEE2m9lPbzE/s1600/20140219_233805.jpg" height="200" width="150" /></a><a href="http://3.bp.blogspot.com/-_-aFgpT3Fx0/U0ldVheRpOI/AAAAAAAADcU/GKexX-iaadY/s1600/20140220_202513.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-_-aFgpT3Fx0/U0ldVheRpOI/AAAAAAAADcU/GKexX-iaadY/s1600/20140220_202513.jpg" height="150" width="200" /></a></div>
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Put a nut on a string and run it trough the tail boom and out the prepared hole in the fuselage. Then tie the servo leads to the string and pull them trough the boom in to the fuselage. Once installed, solder on a servo connectors.<br />
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<a href="http://4.bp.blogspot.com/-udfOkNqUqZw/U0lgmKdJRoI/AAAAAAAADcs/cX5Yqp38Bwc/s1600/20140220_233001.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-udfOkNqUqZw/U0lgmKdJRoI/AAAAAAAADcs/cX5Yqp38Bwc/s1600/20140220_233001.jpg" height="150" width="200" /></a><a href="http://2.bp.blogspot.com/-18Tb-ohHi4I/U0lgmGeUODI/AAAAAAAADco/TPgCtQtvN8Q/s1600/20140309_145720.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-18Tb-ohHi4I/U0lgmGeUODI/AAAAAAAADco/TPgCtQtvN8Q/s1600/20140309_145720.jpg" height="150" width="200" /></a></div>
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To secure the servo leads and connectors, take a bottle cork, cut it in half, hollow it and glue the wires inside of it. Then just jam it in to the hole.<br />
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<a href="http://3.bp.blogspot.com/-fhA_srzv2LE/U0ljiIAqmKI/AAAAAAAADdA/M-aW5HmtJDU/s1600/20140309_151253.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-fhA_srzv2LE/U0ljiIAqmKI/AAAAAAAADdA/M-aW5HmtJDU/s1600/20140309_151253.jpg" height="150" width="200" /></a><a href="http://4.bp.blogspot.com/-OrbaDq64jsA/U0ljiOkCUnI/AAAAAAAADc8/jBB0elGONOU/s1600/20140309_152819.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-OrbaDq64jsA/U0ljiOkCUnI/AAAAAAAADc8/jBB0elGONOU/s1600/20140309_152819.jpg" height="150" width="200" /></a></div>
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Once again fit everything, then cut the ailerons on the wings turning them in to ailerons and flaps.<br />
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<a href="http://2.bp.blogspot.com/-cP98FbYwNEY/U0lsHExY30I/AAAAAAAADdU/QoYOfd62TeY/s1600/20140221_162250.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-cP98FbYwNEY/U0lsHExY30I/AAAAAAAADdU/QoYOfd62TeY/s1600/20140221_162250.jpg" height="150" width="200" /></a><a href="http://1.bp.blogspot.com/-yHzFBi1z5tA/U0lsHJa9nLI/AAAAAAAADdY/i02atkWwpAc/s1600/20140221_191822.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://1.bp.blogspot.com/-yHzFBi1z5tA/U0lsHJa9nLI/AAAAAAAADdY/i02atkWwpAc/s1600/20140221_191822.jpg" height="150" width="200" /></a></div>
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Extend some more leads of high torque servos (just in case) and glue them in to the wing.<br />
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<a href="http://4.bp.blogspot.com/-XL2d3hiRIp8/U0mLk9xGwMI/AAAAAAAADds/AvU7PvtKapg/s1600/20140308_095826.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-XL2d3hiRIp8/U0mLk9xGwMI/AAAAAAAADds/AvU7PvtKapg/s1600/20140308_095826.jpg" height="200" width="150" /></a><a href="http://1.bp.blogspot.com/-EnMjaiRrtc4/U0mLkxrhK0I/AAAAAAAADdw/EvHPN78oZZU/s1600/20140308_113949.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://1.bp.blogspot.com/-EnMjaiRrtc4/U0mLkxrhK0I/AAAAAAAADdw/EvHPN78oZZU/s1600/20140308_113949.jpg" height="200" width="150" /></a></div>
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To reinforce and lift the motor mount to create enough of a clearance for a bigger prop, cut out and glue a bigger wooden piece.<br />
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<a href="http://3.bp.blogspot.com/-gGYocY-ZBAw/U0mNEmealbI/AAAAAAAADeE/nRqGDV-BguU/s1600/20140309_095502.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-gGYocY-ZBAw/U0mNEmealbI/AAAAAAAADeE/nRqGDV-BguU/s1600/20140309_095502.jpg" height="150" width="200" /></a><a href="http://3.bp.blogspot.com/-lKxfWoTAVVU/U0mNElZU6fI/AAAAAAAADeA/VeTTBX9Eu0s/s1600/20140309_121929.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-lKxfWoTAVVU/U0mNElZU6fI/AAAAAAAADeA/VeTTBX9Eu0s/s1600/20140309_121929.jpg" height="150" width="200" /></a></div>
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Then drill the holes in the appropriate places, color it and mount the motor.<br />
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Now just add the batteries, wire everything up, check for center of gravity and we're ready for the maiden flight.<br />
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<a href="http://4.bp.blogspot.com/-cwKnRGP4hdk/U0mN8j6fGWI/AAAAAAAADeg/L6HwEzq-qhE/s1600/20140321_194120.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-cwKnRGP4hdk/U0mN8j6fGWI/AAAAAAAADeg/L6HwEzq-qhE/s1600/20140321_194120.jpg" height="240" width="320" /></a></div>
<br />Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-37960860066980381762014-02-25T21:43:00.000+01:002014-03-17T16:58:47.489+01:00The AutoPilot livesTime to tackle this one!<br />
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This time with control loops on all axis, auto throttle to help with climb and ascend, and even interaction between roll and yaw.<br />
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And here we can observe our happy little autopilot flying it's first virtual mission (where W1 is set at 300 meters (with a forced left turn) and W2 & W3 are set at 400 meters (with the turn over the closest distance)):<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/KExf63RV-Tg?feature=player_embedded' frameborder='0'></iframe></div>
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The control loops are still uncalibrated, with P.I.D. values based on trial and error so far, which results in unwanted oscillation between maneuvers. But that's an optimization problem for later.<br />
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And while we're at it, let's design some sort of description structure for mission planning that can be uploaded to the autopilot. Awesome design documents for the win :P<br />
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<a href="http://4.bp.blogspot.com/-SrCN7l-FYEI/UxbjxpUbvUI/AAAAAAAADWc/5ZiETjFX69s/s1600/20140125_221313.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-SrCN7l-FYEI/UxbjxpUbvUI/AAAAAAAADWc/5ZiETjFX69s/s1600/20140125_221313.jpg" height="200" width="150" /></a><a href="http://4.bp.blogspot.com/-g4FS4RT7wno/UySgn4uo58I/AAAAAAAADXs/7AX8zo-Wr9w/s1600/20140315_193319.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-g4FS4RT7wno/UySgn4uo58I/AAAAAAAADXs/7AX8zo-Wr9w/s1600/20140315_193319.jpg" height="200" width="150" /></a></div>
<br />Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-45181089596240316382014-01-25T15:34:00.003+01:002014-01-25T15:34:50.128+01:00Playing with Disparity IISo, learning from previous attempt, let's try again.<br />
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This time, with better calibration. Turns out just taking many pictures of the calibration chequerboard is not enough. At least in this case adding two more odd angles improved the lens distortion correction:<br />
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<a href="http://2.bp.blogspot.com/-W2XiY9-YsoY/UuO1t_kq12I/AAAAAAAADUk/j2vz7B7G54I/s1600/cal_small_bad.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-W2XiY9-YsoY/UuO1t_kq12I/AAAAAAAADUk/j2vz7B7G54I/s1600/cal_small_bad.jpg" height="150" width="200" /></a><a href="http://2.bp.blogspot.com/-oSvOQvSZ0fE/UuO1ub6fjZI/AAAAAAAADUo/DxNR1ogDGMo/s1600/cal_small_good.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-oSvOQvSZ0fE/UuO1ub6fjZI/AAAAAAAADUo/DxNR1ogDGMo/s1600/cal_small_good.jpg" height="150" width="200" /></a></div>
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While the individual horizontal and vertical lines on the left image are straight, they are not perpendicular to each other. A property preserved with better calibration images.<br />
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Next, improved stereo image rectification. Very important for epipolar geometry is the computation of a good fundamental matrix. Turns out, that just using the best weighted features is not enough. Some manual checking that they are distributed throughout the pictures does wonders:<br />
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<a href="http://4.bp.blogspot.com/-CF47sH5Q7qc/UuPHF-MChFI/AAAAAAAADU8/2PvaCuR3vOA/s1600/rec_small_bad.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-CF47sH5Q7qc/UuPHF-MChFI/AAAAAAAADU8/2PvaCuR3vOA/s1600/rec_small_bad.jpg" height="120" width="320" /></a></div>
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<a href="http://2.bp.blogspot.com/-fHxK3Jp2sgo/UuPHHDAgWCI/AAAAAAAADVE/rwMxfZjvSmY/s1600/rec_small_good.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-fHxK3Jp2sgo/UuPHHDAgWCI/AAAAAAAADVE/rwMxfZjvSmY/s1600/rec_small_good.jpg" height="120" width="320" /></a></div>
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The bad and good example, the difference a couple of different points used in the fundamental matrix calculation can make.<br />
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All this produces a more correct disparity image, where the benches are before the trees and the trees are straight:<br />
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<a href="http://2.bp.blogspot.com/-kAwSz4lXOdQ/UuPItfJhBaI/AAAAAAAADVQ/9JSBvQcc6vE/s1600/disp_small_good.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-kAwSz4lXOdQ/UuPItfJhBaI/AAAAAAAADVQ/9JSBvQcc6vE/s1600/disp_small_good.jpg" height="240" width="320" /></a></div>
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And now, that we have a good calibration of intrinsic parameters and a better fundamental matrix, we can calculate the existential matrix and place each camera in to the global coordinate system. And from there we can do 3D reconstruction:<br />
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<a href="http://3.bp.blogspot.com/-4NnsDebhqdQ/UuPKUF5sGJI/AAAAAAAADVY/TmmTuUfLY1w/s1600/points_image.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://3.bp.blogspot.com/-4NnsDebhqdQ/UuPKUF5sGJI/AAAAAAAADVY/TmmTuUfLY1w/s1600/points_image.jpg" height="240" width="320" /></a></div>
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Matched feature points on both images used in the reconstruction. Note the points on the trees, the bench and the table in the background behind the trees.<br />
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<a href="http://2.bp.blogspot.com/-ND4erNTPR7E/UuPKpVXKlbI/AAAAAAAADVg/oX7y2x1QV84/s1600/points_reconstructed_front.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://2.bp.blogspot.com/-ND4erNTPR7E/UuPKpVXKlbI/AAAAAAAADVg/oX7y2x1QV84/s1600/points_reconstructed_front.png" height="143" width="320" /></a></div>
Camera view of the reconstructed points in 3D space. We can make out the trees, the bench and the background table.<br />
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<a href="http://4.bp.blogspot.com/-2u11WpDuTEE/UuPK9pStejI/AAAAAAAADVo/09husJ4bYTA/s1600/points_reconstructed_top.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://4.bp.blogspot.com/-2u11WpDuTEE/UuPK9pStejI/AAAAAAAADVo/09husJ4bYTA/s1600/points_reconstructed_top.png" height="143" width="320" /></a></div>
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But the reconstruction becomes apparent when we shift the view to the top down perspective. Here we can see the distance and the relative placement between the bench, the trees and the background table.<br />
Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-53171383570874471742013-12-04T15:20:00.000+01:002013-12-15T15:59:21.806+01:00Testing Structure From Motion Software IILet's try to get some real data with some real pictures.<br />
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On the last flight, lasting 5 minutes 33 seconds a total of 134 pictures were taken (67 with each camera).<br />
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Out of those, 38 were matched to a single scene in VisualSFM:<br />
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This time the results are much more better. The shape of the house or the vehicles parked outside can be easily distinguished.<br />
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And when combined with CMPMVS:<br />
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<a href="http://4.bp.blogspot.com/-CU0UPtOaD0w/UqyVrnXqUUI/AAAAAAAADSA/q17QJoq6X0I/s1600/Screenshot+from+2013-12-03+18:19:38.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="111" src="http://4.bp.blogspot.com/-CU0UPtOaD0w/UqyVrnXqUUI/AAAAAAAADSA/q17QJoq6X0I/s200/Screenshot+from+2013-12-03+18:19:38.png" width="200" /></a><a href="http://1.bp.blogspot.com/-qVG5ObWheAM/UqyVtdyKS_I/AAAAAAAADSY/VKwKCUXN4g8/s1600/Screenshot+from+2013-12-03+18:19:43.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="111" src="http://1.bp.blogspot.com/-qVG5ObWheAM/UqyVtdyKS_I/AAAAAAAADSY/VKwKCUXN4g8/s200/Screenshot+from+2013-12-03+18:19:43.png" width="200" /></a></div>
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<a href="http://1.bp.blogspot.com/-bCFcii94kAM/UqyVv6gg7mI/AAAAAAAADSg/qow9cYBr-cI/s1600/Screenshot+from+2013-12-03+18:19:51.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="111" src="http://1.bp.blogspot.com/-bCFcii94kAM/UqyVv6gg7mI/AAAAAAAADSg/qow9cYBr-cI/s200/Screenshot+from+2013-12-03+18:19:51.png" width="200" /></a><a href="http://2.bp.blogspot.com/-G2WUDpeZkXw/UqyVw6EZBCI/AAAAAAAADSo/vVaAoQ7mXUI/s1600/Screenshot+from+2013-12-03+18:19:59.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="111" src="http://2.bp.blogspot.com/-G2WUDpeZkXw/UqyVw6EZBCI/AAAAAAAADSo/vVaAoQ7mXUI/s200/Screenshot+from+2013-12-03+18:19:59.png" width="200" /></a></div>
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Also showing produced disparity map and generated ortophoto picture of the scene:<br />
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<a href="http://1.bp.blogspot.com/-N-5Pn5jkWRA/UqyYN960wnI/AAAAAAAADS0/2jQCeI9tm_g/s1600/20131203_182234_DEM.png.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="200" src="http://1.bp.blogspot.com/-N-5Pn5jkWRA/UqyYN960wnI/AAAAAAAADS0/2jQCeI9tm_g/s200/20131203_182234_DEM.png.png" width="194" /></a><a href="http://1.bp.blogspot.com/-bu0HeTUSE0I/UqyYrDMzQ-I/AAAAAAAADS8/PAoLuHEZfI8/s1600/20131203_182234_DEM_ortoPhoto.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="200" src="http://1.bp.blogspot.com/-bu0HeTUSE0I/UqyYrDMzQ-I/AAAAAAAADS8/PAoLuHEZfI8/s200/20131203_182234_DEM_ortoPhoto.png" width="194" /></a></div>
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The results look good! Houses, roads, bushes, trees and even separate fields can be distinguished now.<br />
<br />
But they could be better still. For one, while focus was locked, the exposure and ISO weren't and the cameras "decided" to take pictures at shutter speed 1/100 s with ISO 80. Manually decreasing the shutter speed and increasing ISO would produce even sharper images.<br />
<br />
Secondly, decreasing the time between shots would mean more images and more overlapping matching points. Now the shots were taken at 5 second intervals. This could be reduced to 4 seconds for stereo images.<br />
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It could be even reduced down to 2 seconds between pictures if the cameras would take turn taking pictures, but then this would become purely structure from motion reconstruction (as it was here if we can't get the stereo registration to work properly).Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-71390177488818513532013-12-02T21:13:00.000+01:002013-12-15T23:29:17.830+01:00Seventh Time in the AirIn in the air again to take some pictures.<br />
<br />
The plan was simple. Utilize the battery (3 minutes full throttle or 9 minutes half throttle) to the fullest.<br />
<br />
Start with 1 minute of full throttle to get some altitude, 66% or 6 minutes half throttle left. Flay a couple of overpasses for 4 minutes, 2 minutes left at half throttle. Land with remaining battery.<br />
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Sadly the plan didn't go quite as planned:<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/GrbsVd924kg?feature=player_embedded' frameborder='0'></iframe></div>
<br />
First take off attempt was aborted because one of the wheels snagged on the grass and turned off the runway (here were 10 seconds of full throttle lost). Then the plane didn't get as high as intended, so flying by the visible size, the plane was flown farther then intended (here it took longer to fly back). Add some wind higher up, so when trying to hold the plane as still as possible for the photos produced larger turns.<br />
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Long story short, 5 minutes and 33 seconds later the plane landed 3 meters from the runway because it ran out of power to run the motor 20 centimetres off the ground approaching the runway. But the new landing gear held. No pivot over this time, just some torn duct tape.<br />
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Much was learned today and if the pictures turn out useful, it was worth it.<br />
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And here is the scenic view:<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/NaC7cE2hqJc?feature=player_embedded' frameborder='0'></iframe></div>
<br />Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-65099455749785661542013-12-02T20:48:00.000+01:002013-12-14T14:33:10.405+01:00AVI@TOR MK4 SP5We need pictures! And for that the plane needs an upgrade.<br />
<br />
First of, a better landing gear:<br />
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<a href="http://3.bp.blogspot.com/-BGhkkcqC_uA/UqxVaqzl_sI/AAAAAAAADQI/uE8VAYlbf_Y/s1600/20131123_231627.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://3.bp.blogspot.com/-BGhkkcqC_uA/UqxVaqzl_sI/AAAAAAAADQI/uE8VAYlbf_Y/s320/20131123_231627.jpg" width="320" /></a></div>
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Made from a spare PCB board from another project as a base (strong and flexible). To which a set of foam and plastic wheels on flat carbon bracket were mounted.<br />
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<a href="http://2.bp.blogspot.com/-EGrl0ALUNm0/UqxWl6_JHFI/AAAAAAAADQU/NWYXFI8HNpg/s1600/20131202_095733.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://2.bp.blogspot.com/-EGrl0ALUNm0/UqxWl6_JHFI/AAAAAAAADQU/NWYXFI8HNpg/s320/20131202_095733.jpg" width="320" /></a></div>
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Attached with duct tape, the landing gear work perfectly. The PCB base bends under load and if there is any excessive force applied it goes to the duct tape which breaks and tears but is easy replaceable. <br />
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Only the bent rod holding the wheels to the carbon bracket kept braking from the glue. Quick fix, reinforced with zip-ties instead of just glue for extra strength.<br />
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Now the plane is finally ready for the extra weight of the camera mount, without the need to fix the landing gear after every heavy landing.<br />
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And second, to take pictures we need to synchronise the cameras! Yes, the board to let the phone control the servos and the cameras (to synchronize GPS data with shots taken) is in the works, but for a quick test lets use what we have:<br />
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<a href="http://1.bp.blogspot.com/-5dfy3QbjyBk/UqxZH0bxS0I/AAAAAAAADQg/Djx7nXtiGyM/s1600/20131202_101900.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://1.bp.blogspot.com/-5dfy3QbjyBk/UqxZH0bxS0I/AAAAAAAADQg/Djx7nXtiGyM/s320/20131202_101900.jpg" width="320" /></a></div>
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Just change the firmware from our rc2usb board to output a second long pulse every 5 seconds instead of the PWM for the servo tester.<br />
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<a href="http://2.bp.blogspot.com/-v20ofhlgNdA/Uqxbhf6ZcUI/AAAAAAAADQs/ukBQS1jz_fQ/s1600/20131202_095721.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-v20ofhlgNdA/Uqxbhf6ZcUI/AAAAAAAADQs/ukBQS1jz_fQ/s200/20131202_095721.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-6kL7QJ1raRU/Uqxbi4uYQqI/AAAAAAAADQ0/pZ46jJwCVXQ/s1600/20131202_095729.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-6kL7QJ1raRU/Uqxbi4uYQqI/AAAAAAAADQ0/pZ46jJwCVXQ/s200/20131202_095729.jpg" width="200" /></a></div>
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Now cut up and strip down a couple of cheep mini USB cables to get the connectors, wire up the power lines to the pulse output on the board and run the wires trough the camera stand.<br />
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<a href="http://3.bp.blogspot.com/-kR2d_YFi2ds/Uqxcjvk9ZFI/AAAAAAAADRA/2XaoEta09GA/s1600/20131202_102238.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://3.bp.blogspot.com/-kR2d_YFi2ds/Uqxcjvk9ZFI/AAAAAAAADRA/2XaoEta09GA/s320/20131202_102238.jpg" width="320" /></a></div>
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We are now ready to take some high resolution pictures!Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-63241157082985725482013-11-28T23:17:00.000+01:002013-12-14T12:57:52.987+01:00Testing Structure From Motion SoftwareSo, while we work on improving our implementation of image rectification and beyond, let's see what kind of results we can expect from the data we have.<br />
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For that, we're going to use a couple of freely available reconstruction tools that already work.<br />
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First one is VisualSFV: <a href="http://ccwu.me/vsfm/">http://ccwu.me/vsfm/</a><br />
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A GUI application for 3D reconstruction using structure from motion (SFM) from Changchang Wu.<br />
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For that we took our stereo video from the last time. Extracted images from the left camera at 5 images per second (extracting images from both cameras was just too many images, and we still don't have them rectified). Used OpenCV and a calibration board to fix the lens distortion and ran it trough VisualSFM.<br />
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The result being sparse and dense reconstruction:<br />
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<a href="http://2.bp.blogspot.com/-wFDN27H15Hs/UqxDTPhzByI/AAAAAAAADPU/-RFe1AB90R8/s1600/Screenshot+from+2013-11-28+12:37:21.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="111" src="http://2.bp.blogspot.com/-wFDN27H15Hs/UqxDTPhzByI/AAAAAAAADPU/-RFe1AB90R8/s200/Screenshot+from+2013-11-28+12:37:21.png" width="200" /></a><a href="http://3.bp.blogspot.com/-vh8tufz33yA/UqxDTZFrNeI/AAAAAAAADPY/YfwU7lBuEtI/s1600/Screenshot+from+2013-11-28+12:37:25.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="111" src="http://3.bp.blogspot.com/-vh8tufz33yA/UqxDTZFrNeI/AAAAAAAADPY/YfwU7lBuEtI/s200/Screenshot+from+2013-11-28+12:37:25.png" width="200" /></a></div>
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And the output in MeshLab:<br />
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<a href="http://2.bp.blogspot.com/-353TszRq4nc/UqxDgwou_8I/AAAAAAAADPk/ddMTDuYPDC4/s1600/Screenshot+from+2013-11-28+12:38:19.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="179" src="http://2.bp.blogspot.com/-353TszRq4nc/UqxDgwou_8I/AAAAAAAADPk/ddMTDuYPDC4/s320/Screenshot+from+2013-11-28+12:38:19.png" width="320" /></a></div>
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Once we had the dense reconstruction, we were able to export it from VisualSFM in .cmp format, which can be used as input for the next tool.<br />
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Second one is CMPMVS: <a href="http://ptak.felk.cvut.cz/sfmservice/websfm.pl?menu=cmpmvs">http://ptak.felk.cvut.cz/sfmservice/websfm.pl?menu=cmpmvs</a><br />
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A multi-view reconstruction software.<br />
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So after letting it do all the work, we ended up with the model:<br />
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<a href="http://2.bp.blogspot.com/-DNffrCoba9E/UqxFa-au6YI/AAAAAAAADPw/lxD5hA-q6BI/s1600/Screenshot+from+2013-11-28+12:39:14.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="179" src="http://2.bp.blogspot.com/-DNffrCoba9E/UqxFa-au6YI/AAAAAAAADPw/lxD5hA-q6BI/s320/Screenshot+from+2013-11-28+12:39:14.png" width="320" /></a></div>
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<a href="http://2.bp.blogspot.com/-Z4Ogxo619cs/UqxFbaIiCiI/AAAAAAAADP0/_yWW1TSzbrM/s1600/Screenshot+from+2013-11-28+12:39:20.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="179" src="http://2.bp.blogspot.com/-Z4Ogxo619cs/UqxFbaIiCiI/AAAAAAAADP0/_yWW1TSzbrM/s320/Screenshot+from+2013-11-28+12:39:20.png" width="320" /></a></div>
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The results are promising, but there is a lot of noise in the reconstruction. Looked closely there are differences in disparity where there are houses, but just. The details like cars are lost.<br />
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Looking at single video frames, the images still look slightly blurry. Even though the plane vibrates a lot less now, maybe taking images for reconstruction as video is not the best method.<br />
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Time to take some real photos and try with that.<br />
Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-69316584807578691892013-11-11T23:25:00.000+01:002013-11-12T01:21:55.184+01:00Playing with DisparityPictures and videos from the plane look cool, but that's all if until we do something with them. And what do we want to do with them? We want 3D reconstruction!<br />
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Sounds scary. It is. It takes a lot of math to do 3D reconstruction with epipolar geometry, so we're going to start slow and first play around with disparity map from stereo images.<br />
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Nothing extravagant for now, everything done here with python, opencv for python and numpy.<br />
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Step 1: take two cameras, take a stereo image pair and take a picture of a checkerboard with each one for calibration.<br />
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<a href="http://4.bp.blogspot.com/-2hKZdWedeN8/UoFqL0YlEvI/AAAAAAAADMM/ma_R0SYZfPc/s1600/chk_left_01_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-2hKZdWedeN8/UoFqL0YlEvI/AAAAAAAADMM/ma_R0SYZfPc/s200/chk_left_01_small.jpg" width="200" /></a><a href="http://4.bp.blogspot.com/-3WSkXgoxgSg/UoFqL5K1L3I/AAAAAAAADMQ/I7V7HyHKz0k/s1600/chk_right_01_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-3WSkXgoxgSg/UoFqL5K1L3I/AAAAAAAADMQ/I7V7HyHKz0k/s200/chk_right_01_small.jpg" width="200" /></a></div>
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<a href="http://3.bp.blogspot.com/-LP5pXzqL5I4/UoFrlD57k6I/AAAAAAAADNM/xaJl4WDy61M/s1600/img_left_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-LP5pXzqL5I4/UoFrlD57k6I/AAAAAAAADNM/xaJl4WDy61M/s200/img_left_04_small.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-ZXlYGWmad-g/UoFrlHovzcI/AAAAAAAADNQ/QsYzum47S80/s1600/img_right_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-ZXlYGWmad-g/UoFrlHovzcI/AAAAAAAADNQ/QsYzum47S80/s200/img_right_04_small.jpg" width="200" /></a></div>
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Step 2: detect the edges (hint: cv2.findChessboardCorners).<br />
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<a href="http://2.bp.blogspot.com/-HNWbPqh71AA/UoFqbof77dI/AAAAAAAADMg/4vVn4YG_WaI/s1600/ann_chk_left_01_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-HNWbPqh71AA/UoFqbof77dI/AAAAAAAADMg/4vVn4YG_WaI/s200/ann_chk_left_01_small.jpg" width="200" /></a><a href="http://4.bp.blogspot.com/-S3D3rJJdhjg/UoFqbv_TpfI/AAAAAAAADMc/eZ3IPSKCJ14/s1600/ann_chk_right_01_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-S3D3rJJdhjg/UoFqbv_TpfI/AAAAAAAADMc/eZ3IPSKCJ14/s200/ann_chk_right_01_small.jpg" width="200" /></a></div>
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Step 3: calibrate the camera and fix the distortion caused by the lens (hint: cv2.calibrateCamera, cv2.getOptimalNewCameraMatrix, cv2.initUndistortRectifyMap).<br />
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<a href="http://4.bp.blogspot.com/-L2xOkPWJtGA/UoFrJAL-kQI/AAAAAAAADMs/Uz_WTbsgB28/s1600/cal_chk_left_01_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-L2xOkPWJtGA/UoFrJAL-kQI/AAAAAAAADMs/Uz_WTbsgB28/s200/cal_chk_left_01_small.jpg" width="200" /></a><a href="http://3.bp.blogspot.com/-Rifnchahe1w/UoFrJFhqGzI/AAAAAAAADMw/PQQH0FVbVwI/s1600/cal_chk_right_01_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-Rifnchahe1w/UoFrJFhqGzI/AAAAAAAADMw/PQQH0FVbVwI/s200/cal_chk_right_01_small.jpg" width="200" /></a></div>
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<a href="http://2.bp.blogspot.com/-Hw6uzZk0JZY/UoFrYXMC-OI/AAAAAAAADM8/pI1MHds7JgA/s1600/cal_img_left_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-Hw6uzZk0JZY/UoFrYXMC-OI/AAAAAAAADM8/pI1MHds7JgA/s200/cal_img_left_04_small.jpg" width="200" /></a><a href="http://1.bp.blogspot.com/-IjkbLdoxuew/UoFrYuc6uUI/AAAAAAAADNA/h0L_PHfP2rU/s1600/cal_img_right_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://1.bp.blogspot.com/-IjkbLdoxuew/UoFrYuc6uUI/AAAAAAAADNA/h0L_PHfP2rU/s200/cal_img_right_04_small.jpg" width="200" /></a></div>
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Step 4: find detectable features on both images, here we're going to use SIFT algorithm (hint: cv2.SIFT()).<br />
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<a href="http://4.bp.blogspot.com/-4LDvYMih5zI/UoFsBWAoPpI/AAAAAAAADNc/MSQge8dO1m8/s1600/feat_cal_img_left_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-4LDvYMih5zI/UoFsBWAoPpI/AAAAAAAADNc/MSQge8dO1m8/s200/feat_cal_img_left_04_small.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-anAriLaP9zs/UoFsCJZwnUI/AAAAAAAADNk/AqnyFhjeMGc/s1600/feat_cal_img_right_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-anAriLaP9zs/UoFsCJZwnUI/AAAAAAAADNk/AqnyFhjeMGc/s200/feat_cal_img_right_04_small.jpg" width="200" /></a></div>
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Step 5: find the same matching features in both images, here we're going to use the FLANN algorithm (hint: cv2.FlannBasedMatcher, cv2.FlannBasedMatcher.knnMatch).<br />
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<a href="http://1.bp.blogspot.com/-mxTEhIq1v5w/UoFsifkFM7I/AAAAAAAADNw/BblKD2Im138/s1600/match_cal_img_right_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://1.bp.blogspot.com/-mxTEhIq1v5w/UoFsifkFM7I/AAAAAAAADNw/BblKD2Im138/s200/match_cal_img_right_04_small.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-TmH7oR_9As4/UoFshq4gszI/AAAAAAAADNs/okAIGvfrMoA/s1600/match_cal_img_left_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-TmH7oR_9As4/UoFshq4gszI/AAAAAAAADNs/okAIGvfrMoA/s200/match_cal_img_left_04_small.jpg" width="200" /></a></div>
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Step 6: compute epipolar lines between pictures (hint: cv2.findFundamentalMat, cv2.computeCorrespondEpilines).<br />
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<a href="http://4.bp.blogspot.com/-1xnNscNdNjE/UoFs4zXIgxI/AAAAAAAADN8/4wqYJtUVwQU/s1600/line_cal_img_left_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-1xnNscNdNjE/UoFs4zXIgxI/AAAAAAAADN8/4wqYJtUVwQU/s200/line_cal_img_left_04_small.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-YSrS84CJZWc/UoFs5Gx-MqI/AAAAAAAADOA/iSZz-Gapiks/s1600/line_cal_img_right_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-YSrS84CJZWc/UoFs5Gx-MqI/AAAAAAAADOA/iSZz-Gapiks/s200/line_cal_img_right_04_small.jpg" width="200" /></a></div>
<br />
Step 7: transform the images so the matching lines will be horizontal with each other between images (hint: cv2.stereoRectifyUncalibrated, cv2.warpPerspective).<br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="http://3.bp.blogspot.com/-7xcjNPvvpUQ/UoFtfdvrsrI/AAAAAAAADOM/_jeScqS4F1Y/s1600/rect_line_cal_img_left_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-7xcjNPvvpUQ/UoFtfdvrsrI/AAAAAAAADOM/_jeScqS4F1Y/s200/rect_line_cal_img_left_04_small.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-SbIiYcYZzDw/UoFtf2QIZtI/AAAAAAAADOQ/27nZuCkCw6E/s1600/rect_line_cal_img_right_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-SbIiYcYZzDw/UoFtf2QIZtI/AAAAAAAADOQ/27nZuCkCw6E/s200/rect_line_cal_img_right_04_small.jpg" width="200" /></a></div>
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<div class="separator" style="clear: both; text-align: center;">
<a href="http://2.bp.blogspot.com/-0cIs_EnYjMY/UoFtmGOvEPI/AAAAAAAADOc/JlWAjjS_mBg/s1600/rect_cal_img_left_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-0cIs_EnYjMY/UoFtmGOvEPI/AAAAAAAADOc/JlWAjjS_mBg/s200/rect_cal_img_left_04_small.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-JMT7jBezsmA/UoFtmNQWOCI/AAAAAAAADOg/nxOFJRx0l3I/s1600/rect_cal_img_right_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-JMT7jBezsmA/UoFtmNQWOCI/AAAAAAAADOg/nxOFJRx0l3I/s200/rect_cal_img_right_04_small.jpg" width="200" /></a></div>
<br />
Step 8: calculate disparity between two stereo images (hint: cv2.StereoSGBM, cv2.StereoSGBM.compute).<br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="http://4.bp.blogspot.com/-uxnw5OlnM9g/UoFt85KfYiI/AAAAAAAADOs/IpUjbdmLB3I/s1600/disp_rect_cal_img_04_small.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://4.bp.blogspot.com/-uxnw5OlnM9g/UoFt85KfYiI/AAAAAAAADOs/IpUjbdmLB3I/s320/disp_rect_cal_img_04_small.jpg" width="320" /></a></div>
<br />
<br />
So much for the first try. The disparity map is noisy and not really accurate on the account of uncalibrated stereo rectification.<br />
<br />
To improve that we need to perform calibrated stereo rectification, and we'll be able to do that when we figure out the way to get rotation and translation data between stereo sets from epipolar geometry.<br />
<br />
Also, a great resource of learning opencv and python: <a href="https://github.com/abidrahmank/OpenCV2-Python-Tutorials">https://github.com/abidrahmank/OpenCV2-Python-Tutorials</a>Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com2tag:blogger.com,1999:blog-5735805776071026746.post-89395649259652098662013-10-14T18:01:00.000+02:002013-10-31T12:42:17.806+01:00Sixth Time in the AirFully assembled once more, it's testing time!<br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="http://4.bp.blogspot.com/-zQXFcpq88X4/UnI2PyG6xlI/AAAAAAAADLU/kRC33HlizzE/s1600/20131014_151533.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-zQXFcpq88X4/UnI2PyG6xlI/AAAAAAAADLU/kRC33HlizzE/s200/20131014_151533.jpg" width="200" /></a><a href="http://2.bp.blogspot.com/-lLCVWR3yMjo/UnI2UaOeNNI/AAAAAAAADLc/Yacj-wavwuM/s1600/20131014_151526.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-lLCVWR3yMjo/UnI2UaOeNNI/AAAAAAAADLc/Yacj-wavwuM/s200/20131014_151526.jpg" width="200" /></a></div>
<br />
With only the control circuit between the autopilot program on the phone and the plane for autonomous flights missing, the weight of the plane is now just below 1.9 Kg. Not bad for all the equipment.<br />
<br />
But is it better? Yes!<br />
<br />
First, the vibrations are almost gone:<br />
<br />
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<a href="http://1.bp.blogspot.com/-00Alxso9DCk/UnI7VUVEOpI/AAAAAAAADLw/nKvZpKvcBj8/s1600/Screenshot-P7_panorama_short.mp4.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="112" src="http://1.bp.blogspot.com/-00Alxso9DCk/UnI7VUVEOpI/AAAAAAAADLw/nKvZpKvcBj8/s200/Screenshot-P7_panorama_short.mp4.png" width="200" /></a><a href="http://1.bp.blogspot.com/-kvEmk_ji98s/UnI7VYSl-rI/AAAAAAAADLs/dlrdq2vAz8o/s1600/Screenshot-P8_panorama_short.mp4.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="112" src="http://1.bp.blogspot.com/-kvEmk_ji98s/UnI7VYSl-rI/AAAAAAAADLs/dlrdq2vAz8o/s200/Screenshot-P8_panorama_short.mp4.png" width="200" /></a></div>
<br />
Left picture, previous flight, fully loaded with the stock motor at full throttle.<br />
Right picture, this flight, fully loaded with the new motor at full throttle.<br />
<br />
The difference is enormous:<br />
<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/YBj5JEKFNms?feature=player_embedded' frameborder='0'></iframe></div>
<br />
<br />
And that's not al. With the new engine, the plane now climbs effortlessly:<br />
<br />
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<br />
In this test, with no one around on the ground or in the air, altitude difference of around 300 m was achieved.<br />
<br />
And with no problems with telemetry this time, we learned that the cruising speed at which the altitude can be maintained is around 45 Km/h, which takes about half throttle.<br />
<br />
Unfortunately, but not unexpectedly due to all the extra equipment, the gliding profile is somewhat disappointing. With the engine off, the plane glides, but the vertical speed necessary to maintain the cruising speed is around -35 Km/h, peeking at -50 Km/h. In short, it flies but it eats up altitude like crazy as can be seen on the video above at 3:00 mark (yes, the propeller keeps spinning due to resistance).<br />
<br />
But, smoother and more powerful motor means better images and video from the cameras, and that's what we want!<br />
<br />
Warning, awesome stereo video of the flight: <br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/GHPtJmc498k?feature=player_embedded' frameborder='0'></iframe></div>
<br />Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-42081315893427152092013-10-13T21:22:00.000+02:002013-12-14T14:32:34.608+01:00AVI@TOR MK4 SP4For better results, use better stuff!<br />
<br />
The plane flies, fully loaded even. But! It couldn't climb very high and all the camera recordings were suffering from vibrations coming from the motor.<br />
<br />
So, the solution is simple, replace the motor. Implementation, not so much but not on the account of having to turn screws.<br />
<br />
Unfortunately the desired one, O.S. 3820-1200 didn't come trough in time, so we got the second best thing, KONTRONIK KORA 15-10.<br />
<br />
Cue the montage sequence:<br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="http://2.bp.blogspot.com/-EsKzoWgyGgc/UnAbJlVy5rI/AAAAAAAADK0/48tKMvPpZw0/s1600/20131012_194135.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-EsKzoWgyGgc/UnAbJlVy5rI/AAAAAAAADK0/48tKMvPpZw0/s200/20131012_194135.jpg" width="200" /></a><a href="http://1.bp.blogspot.com/-x0dZtG_Gtmk/UnAbKMw6f8I/AAAAAAAADK4/3A-00sbUL3o/s1600/20131012_210942.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://1.bp.blogspot.com/-x0dZtG_Gtmk/UnAbKMw6f8I/AAAAAAAADK4/3A-00sbUL3o/s200/20131012_210942.jpg" width="200" /></a></div>
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<a href="http://3.bp.blogspot.com/-nnUUeY7YxUc/UnAbJxW5pWI/AAAAAAAADK8/oOpKZqPorDY/s1600/20131012_321804.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-nnUUeY7YxUc/UnAbJxW5pWI/AAAAAAAADK8/oOpKZqPorDY/s200/20131012_321804.JPG" width="200" /></a></div>
<br />
Just add a few more holes since the spacing on this motor a slightly bigger and drill the hole in the center of the prop from 5mm to 10mm because someone goofed up and got the wrong prop mount. But it all balanced out perfectly in the end.<br />
<br />
New motor and better regulator. Some day maybe a bigger battery and then a larger plane with newer motor, and so on, but for now this is it.<br />
<br />
Few quick tests with a piece of string and a scale, determined the motor with 11x5.5 prop gives out 1.6 Kg of thrust at full throttle. With more aggressive timing setting on the regulator it gave out 1.7 Kg of thrust, but the output was not linear with the throttle.<br />
<br />
For comparison, the old motor gave 0.98 Kg of thrust at full throttle.<br />
<br />
And another test on the battery capacity gave us: 3 minutes at full throttle and 9 minutes at at half throttle on the new motor. Compared to the 6 minutes at full throttle and 11 minutes at half throttle on the old one. <br />
<br />
Time to test in in the air to see if the trouble was worth it. Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-31002958716618674702013-09-30T23:15:00.000+02:002013-10-02T23:15:40.473+02:00Keep Alive PingNot dead, just waiting for some parts!Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-70617959892497563202013-08-31T23:36:00.000+02:002013-10-02T23:14:50.635+02:00Fifth Time in the AirFully loaded and air worthy:<br />
<br />
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<a href="http://2.bp.blogspot.com/-ipwAeO7umTo/UkyEB3p0ezI/AAAAAAAADKA/AY_-gDlrzkA/s1600/20130831_173416.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://2.bp.blogspot.com/-ipwAeO7umTo/UkyEB3p0ezI/AAAAAAAADKA/AY_-gDlrzkA/s320/20130831_173416.jpg" width="320" /></a></div>
<br />
Any yes, it flew! Here's the video to prove it:<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dxxhogY3JNSb-2vorSvzcUvuRNuwQ-EPG-rbT4K0qUGAU4Lge1aUCI7Pl6hkXrfAJGTGuxyFHbkU0VDl9wd_A' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div>
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And that's not all it did. The camera system works! It successfully takes pictures and video:<br />
<br />
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<a href="http://3.bp.blogspot.com/-Cw7z03WYDVM/UkyFbM4FtdI/AAAAAAAADKU/zZY_K81GnsE/s1600/20130831_173819.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-Cw7z03WYDVM/UkyFbM4FtdI/AAAAAAAADKU/zZY_K81GnsE/s200/20130831_173819.jpg" width="200" /></a><a href="http://1.bp.blogspot.com/-EN1sCaXVgm8/UkyFXkegU-I/AAAAAAAADKM/ZiWCsyelSZ4/s1600/20130831_173827.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://1.bp.blogspot.com/-EN1sCaXVgm8/UkyFXkegU-I/AAAAAAAADKM/ZiWCsyelSZ4/s200/20130831_173827.jpg" width="200" /></a></div>
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Stereo pictures! Might be uncomfortable to look at since the lens distance is not optimized for human viewing, but the depth data is there.<br />
<br />
Still taken, synchronized and aligned by hand. There is one more part missing from the plane, and that is the circuit that will relay the data from the autopilot running on the phone to the servos. And part of that will also be automatic synchronised picture taking. As for the alignment, that will be the fun part once we have some real data.<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/t4J6Oj-e5wU?feature=player_embedded' frameborder='0'></iframe></div>
<br />
And yes, there is also stereo video. Slightly easier for humans to watch, since distance between lenses is offset by the distance to the object in focus.<br />
<br />
But unfortunately the video taken is slightly blurry. Fault of the stock engine, which is not of the best quality and is causing much vibrations, which are also noticeable on the panoramic video. Not much can be done here but to replace the engine with something better.<br />
<br />
And while we're at it, replace it with something more powerful, since while the plane flew, and it flew quite stable, it had horrible climb rate and required full throttle to maintain altitude.<br />
<br />
Now with three cameras on board, there is one more flight video:<br />
<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/ALuRfIQsYR8?feature=player_embedded' frameborder='0'></iframe></div>
<br />
The landing could be better :P Not used to the extra weight, the runway was missed by 30cm, touching down on high grass and flipping over. So nothing but pride was broken.<br />
<br />
And what would a report be without the visualization of the whole flight:<br />
<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/mFBTHMOKCsc?feature=player_embedded' frameborder='0'></iframe></div>
<br />
Unfortunately there was problem with the SD card in the phone, so not all the data was captured hence the lack of attitude visualization and force graphs.<br />
<br />
All in all a very successful test flight. What works and what doesn't is known, so the next logical step is to work out the kinks and try again!Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-31739791667630267332013-08-31T15:55:00.000+02:002013-09-06T16:03:13.439+02:00AVI@TOR MK4 SP3We know the plane flies and can even do some simple acrobatics. But the real question is, can it fly with all the equipment?<br />
<br />
Only one way to find out, which means it's time for some more modifications!<br />
<br />
First we determine the location of the camera mount on/in the fuselage:<br />
<br />
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<a href="http://1.bp.blogspot.com/-k08ku-rWGCA/UiOac8voh5I/AAAAAAAADII/O2t3gb-ysgA/s1600/20130831_103807.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="200" src="http://1.bp.blogspot.com/-k08ku-rWGCA/UiOac8voh5I/AAAAAAAADII/O2t3gb-ysgA/s200/20130831_103807.jpg" width="150" /></a><a href="http://4.bp.blogspot.com/-tUCo9x64iFs/UiOacAw9WHI/AAAAAAAADIA/4oziUqecJOQ/s1600/20130831_103758.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="200" src="http://4.bp.blogspot.com/-tUCo9x64iFs/UiOacAw9WHI/AAAAAAAADIA/4oziUqecJOQ/s200/20130831_103758.jpg" width="150" /> </a></div>
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<a href="http://3.bp.blogspot.com/-ByMNwRaQcnI/UiObf9fFNCI/AAAAAAAADIU/qzkHx26p2sA/s1600/20130831_103818.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-ByMNwRaQcnI/UiObf9fFNCI/AAAAAAAADIU/qzkHx26p2sA/s200/20130831_103818.jpg" width="200" /></a></div>
<br />
Keep in mind where the center of gravity will be once the cameras are on the plane, then cut the carbon tubing holder size box on one side and appropriate placed holes on the other side of the plane.<br />
<br />
Center it just right and it looks like this:<br />
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<a href="http://2.bp.blogspot.com/-pDdOfzYfW9A/UiOiUoDgsqI/AAAAAAAADIk/h1R0p-US_go/s1600/20130831_103838.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://2.bp.blogspot.com/-pDdOfzYfW9A/UiOiUoDgsqI/AAAAAAAADIk/h1R0p-US_go/s320/20130831_103838.jpg" width="320" /></a></div>
<br />
Now that we have the camera holder in place it's time to use the camera holder mounts we prepared and printed.<br />
<br />
The mounts will hold the holder to the wing so it wont move about and also to redistribute the weight a bit more evenly:<br />
<br />
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<a href="http://3.bp.blogspot.com/-JGbdr1ji_o0/UiOjTq6BO6I/AAAAAAAADI0/Do3DjtGalmA/s1600/20130831_113037.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-JGbdr1ji_o0/UiOjTq6BO6I/AAAAAAAADI0/Do3DjtGalmA/s200/20130831_113037.jpg" width="200" /></a><a href="http://4.bp.blogspot.com/-C0ZNb6yyn3Q/UiOjP58USeI/AAAAAAAADIs/bPloywqyV0I/s1600/20130831_113248.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://4.bp.blogspot.com/-C0ZNb6yyn3Q/UiOjP58USeI/AAAAAAAADIs/bPloywqyV0I/s200/20130831_113248.jpg" width="200" /></a></div>
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<br />
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<a href="http://3.bp.blogspot.com/-7VMNhuv6GfI/UiOjUSWygXI/AAAAAAAADI4/vcTiHV2OTlc/s1600/20130831_131434.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-7VMNhuv6GfI/UiOjUSWygXI/AAAAAAAADI4/vcTiHV2OTlc/s200/20130831_131434.jpg" width="200" /></a><a href="http://3.bp.blogspot.com/-eN5ODHW5OvA/UiOjZnt5lUI/AAAAAAAADJE/g4BovvIcEEE/s1600/20130831_132051.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-eN5ODHW5OvA/UiOjZnt5lUI/AAAAAAAADJE/g4BovvIcEEE/s200/20130831_132051.jpg" width="200" /></a></div>
<br />
First locate and mark a good spot, close enough that will hold the stand and leave enough room so the cameras could be put on, but still far enough so the stand can be slide in and out.<br />
<br />
Then mark the spot, carve it out (watch out for the servo wires) and protect the servo wires with wax (so once everything is coved with glue and the plane is beyond repair we can remove the servos without it's wires being glued).<br />
<br />
Once that is done, drill appropriate holes in to the mounts so the fit around the carbon tube holding the wing, fit them inside the holes and drown them in glue.<br />
<br />
After some time when the glue is set, we have out wings with mounts that look like this:<br />
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<a href="http://1.bp.blogspot.com/-Tbf5y4La7EE/UiOmo5y_y7I/AAAAAAAADJQ/reTRljCWN80/s1600/20130831_145924.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://1.bp.blogspot.com/-Tbf5y4La7EE/UiOmo5y_y7I/AAAAAAAADJQ/reTRljCWN80/s320/20130831_145924.jpg" width="320" /></a></div>
<br />
To fully assemble and disassemble the plane now is a whole process, but it's worth it when the end result looks like this:<br />
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Will it fly? Only one way to find out :PAnonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-12236984999337335282013-08-27T12:27:00.000+02:002013-09-01T20:26:59.181+02:00From Imaginary to Real World for RealKnowing the full process, it's time do make the part that will hold the camera stand for real.<br />
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First we need some quick measurements,so we can call it engineering instead of art:<br />
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Then some modelling:<br />
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Then proofing and fixing the model:<br />
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<a href="http://1.bp.blogspot.com/-62WlhDhJu7Q/UiMWtVHMlzI/AAAAAAAADGg/vbnjLvpIy6g/s1600/20130827_161953.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="179" src="http://1.bp.blogspot.com/-62WlhDhJu7Q/UiMWtVHMlzI/AAAAAAAADGg/vbnjLvpIy6g/s320/20130827_161953.png" width="320" /></a></div>
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And finally, setting up and printing:<br />
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Two parts, two slicing methods, to see which one works better. First one without support beams and the second one with. The hollowed out back part held better shape with support beams (not being squished by gravity), but other then that, was about the same.<br />
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And of course, the final product:<br />
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Support beams removed and rough edges sanded. Now we're ready for the next plane upgrade!Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-838764806510392032013-08-25T20:21:00.001+02:002013-08-25T21:02:48.454+02:00From Imaginary to Real WorldSo, the plane flies. Now we need to put the 3D camera stand on it!<br />
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But the stand has quite a bit of weight to it, not to mention it's not exactly a "plug and play" part for the plane. Solution?<br />
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Make a holder for the stand for the camera :P And the easiest was to do it? Print it :D<br />
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So it's another skill we're learning here. And to learn it, let's make a simple spacer for the rods, to test the process and the scale of the printed product.<br />
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The process is "simple" ...<br />
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Step 1: design the part. In our case, we're going to use Blender.<br />
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It's free, it's powerful and (after checking some tutorials) the newer version has a 3D printing toolbox which saves some trouble. But in out case, we just used a measurement plugin to to check the distances. Once you're done, change Blender Units to Metric Units and export as .STL file.<br />
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Step 2: check the part for errors. In our case, we're going to use netfabb.<br />
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Very powerful and expensive software for 3D printer modelling and prepping, but the free version let's you do some simple editing and error checking. We fix any holes in the part, set the correct scale (turns out Blender to Metric conversion is 1 Blender Unit to 1 m not 1 mm) and export the now checked and ready .STL file.<br />
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Step 3: slice the file so the printer can print it. In our case we're going to use Slic3r.<br />
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No screenshot here, but you're not missing much, just the settings for your printer. Hope everything is calibrated and now you can get your .gcode file for the printer.<br />
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Step 4: print it. In our case we're going to use RepRapPro Mandel 3D printer and Pronterface program.<br />
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Nothing to do here, but wait and see what comes out.<br />
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And once it's done printing and you let your parts cool down, you get something like this:<br />
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Not bad for the first try. Some quick measurements and we have almost exactly what we wanted. Turns out that he melted plastic and the resolution of the printer "blurred" the part ever so slightly.<br />
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The hole was supposed to be exactly 10mm, but it came out 9.5mm. Which means the plastic in our case expands 0.25mm outside the designed boundary, which is not bad at all.<br />
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Step 5: optionally (but in our case mandatory) process the part with some sand paper or a drill.<br />
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Slightly smoothing and enlarging the hole and we have a perfect fit:<br />
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And now that we know how, let's start on the real thing! What is "the real thing"? join us next time and see for your self.<br />
Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-16149133677481815362013-08-11T11:29:00.000+02:002013-09-01T00:47:52.971+02:00Fourth Time in the AirSome more flying experience, this time in the wind.<br />
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And just so, it won't always be the same, this time the panorama render was shifter for 90° (left side is the view to the front and right side is the view to the back):<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/UxnZH0HavIc?feature=player_embedded' frameborder='0'></iframe></div>
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And visualization of course:<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='452' height='290' src='https://www.youtube.com/embed/toTGax-mdRc?feature=player_embedded' frameborder='0'></iframe></div>
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And what would be a training session without bloopers? Not so educational. :P<br />
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Turns out, that you can do loops and rolls with this plane on purpose too, but you better have everything mounted on with enough strength to withstand the extra forces!<br />
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Or on your next flight, right after levelling from a loop, the battery decide to fly away in a different direction. But luckily, with no control, the plane managed to find the only bush near and far and landed "softly":<br />
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<a href="http://1.bp.blogspot.com/-wr9dgJVMd9Y/Ug9VKba9BFI/AAAAAAAADEg/CBe0FK_1Ui0/s1600/20130815_103514.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://1.bp.blogspot.com/-wr9dgJVMd9Y/Ug9VKba9BFI/AAAAAAAADEg/CBe0FK_1Ui0/s320/20130815_103514.jpg" width="320" /></a></div>
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Couple drops of glue is a bargain for telemetry data:<br />
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Next up, more duct tape and more practice.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-20465895767647534682013-08-04T18:22:00.000+02:002013-08-15T21:36:33.138+02:00Third Time in the AirThe last batch of modifications helped!<br />
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Placing the battery further behind stopped the plane from being nose heavy and improved stability quite a lot.<br />
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Well, the first try was maybe a bit too tail heavy for a change:<br />
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So after a quick couple of laps the plane was (perfectly) landed, battery readjusted and put in the air again:<br />
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Around 9 minutes of flight time (2 minutes first round and 7 minutes second round) with a total of 7.3 Km of distance travelled all together.<br />
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And now: practice, practice, practice, collect some sensor readings for the autopilot and practice. Before the stereo camera mount gets mounted! :PAnonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-92121699623122216392013-08-03T15:11:00.000+02:002013-08-11T13:12:16.328+02:00AVI@TOR MK4 SP2More experiences brings more knowledge, and more knowledge brings more improvements.<br />
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Second service pack for the plane!<br />
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First to fix the nose heavy problem, the battery bay was extended towards the tail:<br />
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First, cut out and extend the battery bay. But look, now we can see inside the plane. Well, that's bad. No where to stick the battery to.<br />
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So we make a plastic holder from cut out plastic strips from various plastic packages.<br />
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And after some glueing and trimming we have an extended battery bay, which allows for better weight distribution by placing battery farther back from the center of gravity.<br />
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And while we were at it, let's put some silicon pads between the engine and the mount, just to see if it will reduce some vibrations.<br />
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But not before firmly glueing the plastic engine mount to the fuselage. It might have been damaged by a previous rough landing or it wasn't glued on well from the start, but it swivel up and down a bit when some force was applied to it.<br />
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Time for some more testing!<br />
Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-3498485524518559352013-07-22T20:42:00.000+02:002013-08-01T23:52:12.360+02:00Second FlightAs the title describes, second time in the sky, trying out the new modifications.<br />
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Getting ready in the sun:<br />
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<a href="http://1.bp.blogspot.com/-2y6DxuoD754/UfrThQS8WsI/AAAAAAAADDs/0ObIaofAfPk/s1600/20130722_153448.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://1.bp.blogspot.com/-2y6DxuoD754/UfrThQS8WsI/AAAAAAAADDs/0ObIaofAfPk/s320/20130722_153448.jpg" width="320" /></a></div>
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And let's jump right in to the fist flight of the day:<br />
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Pretty pictures, right? Only getting better! By the way, did anyone catch the barrel roll near the end?<br />
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The plane was quite nose heavy, which made it difficult to keep it the air, so right after take off it was decided to land at the end of first circle. Would you know, right at the end there was some more wind and for a second I didn't know if it was flying up or down, away or not. Yes, that's when the barrel roll happened.<br />
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Luckily the plane landed and after some weight redistribution and some elevator trimming was ready to try again:<br />
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Still a bit nose heavy, but much more manageable this time around.<br />
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Three laps for fun and science. And for fun, attention should be given to the last lap before landing. It takes "ages" to fly far away enough, but only seconds to fly back, causing quite a speedy landing. The answerer to this mystery is wind (flying against the wind = slow, flying with the wind = fast).<br />
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And to top it off, another pivot at the end. Turns out the landing gear takes a bit more force then expected. The first landing bent the gear in to the foam of the plane where the home made plastic mount ended and the second landing flipped over on loose gear.<br />
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Still some kinks to work out, so back to work then.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-5735805776071026746.post-41326393869151897122013-07-21T21:10:00.000+02:002013-07-30T23:55:16.668+02:00AVI@TOR MK4 SP1Applying the first service pack to the new plane!<br />
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First some telemetry mystery. Actually, no mystery. Part of the code for getting data from the sensors was reused from the <a href="http://perceptumvolo.blogspot.com/">previous iteration</a>. Well, previous iteration ran on Android 1.6 and 2.0, and some of the stuff, like the virtual orientation sensor is now deprecated. Onwards with rotation matrices.<br />
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For one, the old sensor doesn’t translate coordinate system rotations well:<br />
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<a href="http://1.bp.blogspot.com/-C1Wpn-DaJEg/UfgrGgw0yCI/AAAAAAAADCE/wVnHZOPWqB4/s1600/Screenshot+from+2013-07-28+21:21:41.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="108" src="http://1.bp.blogspot.com/-C1Wpn-DaJEg/UfgrGgw0yCI/AAAAAAAADCE/wVnHZOPWqB4/s200/Screenshot+from+2013-07-28+21:21:41.png" width="200" /></a><a href="http://3.bp.blogspot.com/-YM_hXV7kIvc/UfgrGpc70tI/AAAAAAAADCA/XbHn49wyMg8/s1600/Screenshot+from+2013-07-28+21:23:03.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="108" src="http://3.bp.blogspot.com/-YM_hXV7kIvc/UfgrGpc70tI/AAAAAAAADCA/XbHn49wyMg8/s200/Screenshot+from+2013-07-28+21:23:03.png" width="200" /></a></div>
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Old and new - yaw in time.<br />
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<a href="http://2.bp.blogspot.com/-Y0t0XS8CYPI/UfgrUxGGSfI/AAAAAAAADCU/_Ses8LCvLM0/s1600/Screenshot+from+2013-07-28+21:22:01.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="108" src="http://2.bp.blogspot.com/-Y0t0XS8CYPI/UfgrUxGGSfI/AAAAAAAADCU/_Ses8LCvLM0/s200/Screenshot+from+2013-07-28+21:22:01.png" width="200" /></a><a href="http://4.bp.blogspot.com/-I4BcX3jU85I/UfgrUzrjyUI/AAAAAAAADCQ/2tJJDCN6X20/s1600/Screenshot+from+2013-07-28+21:23:15.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="108" src="http://4.bp.blogspot.com/-I4BcX3jU85I/UfgrUzrjyUI/AAAAAAAADCQ/2tJJDCN6X20/s200/Screenshot+from+2013-07-28+21:23:15.png" width="200" /></a></div>
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Old and new - pitch in time.<br />
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<a href="http://4.bp.blogspot.com/-9MaFaWCFTwE/UfgshzsYuRI/AAAAAAAADCk/27SsrceSRdc/s1600/Screenshot+from+2013-07-28+21:22:09.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="108" src="http://4.bp.blogspot.com/-9MaFaWCFTwE/UfgshzsYuRI/AAAAAAAADCk/27SsrceSRdc/s200/Screenshot+from+2013-07-28+21:22:09.png" width="200" /></a><a href="http://1.bp.blogspot.com/-8xIZmjSXaqo/UfgsiPQpmXI/AAAAAAAADCo/RuRdqM0zLgQ/s1600/Screenshot+from+2013-07-28+21:23:25.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="108" src="http://1.bp.blogspot.com/-8xIZmjSXaqo/UfgsiPQpmXI/AAAAAAAADCo/RuRdqM0zLgQ/s200/Screenshot+from+2013-07-28+21:23:25.png" width="200" /></a></div>
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Old and new - roll in time.<br />
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It's still not perfect. The interference from the engine still distorts telemetry somewhat (clearly visible spikes when the engine turns on and off). But for the first go, this will do. The science of hand written filters and sensor fusion will have to wait another day.<br />
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But that's not all. Upon closer inspection, it was discovered, that he motor shaft (or the motor itself) is not the straightest thing in the world. To reduce the wabble a piece of paper was placed under one side of the shaft:<br />
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<a href="http://2.bp.blogspot.com/-ivWMVL3tixw/UfgyK6Ly2-I/AAAAAAAADC8/90FTum3ohOw/s1600/20130722_110227.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://2.bp.blogspot.com/-ivWMVL3tixw/UfgyK6Ly2-I/AAAAAAAADC8/90FTum3ohOw/s320/20130722_110227.jpg" width="320" /></a></div>
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Not completely removing all the vibrations, but it helped somewhat.<br />
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And now for the issue of the plane flipping over on take offs and landings. Simple, switch the gear so that the two wheels are in front and the one wheel is on the back:<br />
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<a href="http://3.bp.blogspot.com/-KTnvWjigAWE/UfgzYTQ4qvI/AAAAAAAADDI/1OrtvC_conk/s1600/20130722_105330.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://3.bp.blogspot.com/-KTnvWjigAWE/UfgzYTQ4qvI/AAAAAAAADDI/1OrtvC_conk/s320/20130722_105330.jpg" width="320" /></a></div>
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And as a quick bonus, use some spare parts lying around to transferee it's function as a steering wheel: <br />
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<a href="http://2.bp.blogspot.com/-q8bRuTzftTE/Ufg0Yu4vpuI/AAAAAAAADDY/bz52muAszHA/s1600/20130722_105347.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://2.bp.blogspot.com/-q8bRuTzftTE/Ufg0Yu4vpuI/AAAAAAAADDY/bz52muAszHA/s200/20130722_105347.jpg" width="200" /></a><a href="http://3.bp.blogspot.com/-oEx__hawvWo/Ufg0YdDgJaI/AAAAAAAADDU/-3rV1edl7Lg/s1600/20130722_105406.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="150" src="http://3.bp.blogspot.com/-oEx__hawvWo/Ufg0YdDgJaI/AAAAAAAADDU/-3rV1edl7Lg/s200/20130722_105406.jpg" width="200" /></a></div>
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All it takes is a few thin carbon rods and joints from a retired model, and a "slightly" more powerful servo with steel cogs to move the wheel and the rudder, which won't brake if it gets tangled in grass again.<br />
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But, does it work?<br />
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And now we're ready for the second fling session!<br />
Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0