tag:blogger.com,1999:blog-48716441695844022722024-03-13T18:08:43.023+01:00project :: alreonWanted to learn something, needed a place to put it all.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.comBlogger66125tag:blogger.com,1999:blog-4871644169584402272.post-25250633679070071652010-10-01T16:59:00.013+02:002011-08-04T23:44:36.793+02:00EpilogTo make a long story short and close this chapter, the project was a success!<br /><br />All the goals and conditions were met (with the exception of spontaneous combustion and/or disappearance trough a hole in space/time), and this is how it all went:<br /><br />AVI@TOR MK3 was build, incorporating all of the knowledge gained so far.<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/-TaJnBMGDnM4/TjlnOfMmLiI/AAAAAAAACkE/LTAeGacP1g8/s1600/2010-10-09%2B10.32.18.jpg"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 200px; height: 150px;" src="http://3.bp.blogspot.com/-TaJnBMGDnM4/TjlnOfMmLiI/AAAAAAAACkE/LTAeGacP1g8/s200/2010-10-09%2B10.32.18.jpg" alt="" id="BLOGGER_PHOTO_ID_5636649907221048866" border="0" /></a><br />This included two tone florescent paint job (orange for visibility in high brightness, yellow for low light), to avoid getting lost in the snow, clouds and twilight conditions.<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/-E8R-k3SqxxQ/TjpdNyDfXwI/AAAAAAAACkM/LKR9EVwTONs/s1600/2010-09-30%2B23.30.44.jpg"><img style="cursor:pointer; cursor:hand;width: 200px; height: 150px;" src="http://3.bp.blogspot.com/-E8R-k3SqxxQ/TjpdNyDfXwI/AAAAAAAACkM/LKR9EVwTONs/s200/2010-09-30%2B23.30.44.jpg" alt="" id="BLOGGER_PHOTO_ID_5636920374963691266" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/-A44Usqi7Ha4/TjpdOCJ7oBI/AAAAAAAACkU/tI1AbNsgEow/s1600/2010-10-04%2B00.19.16.jpg"><img style="cursor:pointer; cursor:hand;width: 200px; height: 150px;" src="http://4.bp.blogspot.com/-A44Usqi7Ha4/TjpdOCJ7oBI/AAAAAAAACkU/tI1AbNsgEow/s200/2010-10-04%2B00.19.16.jpg" alt="" id="BLOGGER_PHOTO_ID_5636920379285676050" border="0" /></a></div><br />Complete with reinforced wings (no more broken off wings during flight due to overweighted airframe), all the extra components packed in to the canopy, smaller cuts for a smaller phone resulting in weight reduction from previous model and so on.<br /><br />And it flew on it's own, controlled only by an Android phone (HTC Legend), using only it's on-board sensors (accelerometer, magnetometer and GPS; NO gyroscope).<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dxIW-lZTDzNY6XJGdFkH4cX9PEPDO18Regxj3KlxJr5Fel1409qJX12S_PG_SlYYifPNOuFKPcGhROmlGVANg' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Battling winds (between autopilot sessions there is a moment when the plane is standing still in the sky), overweighted airframe (not easy keeping it steady) and slow sensors (accelerometer may be accurate but it's slow compared to a gyroscope). But even so it manages to fly in to the general direction where it was pointed, steadying itself and correcting course.<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dxdX1NOrMp7u9xYW5aFVGC7ZO6nD9NNu9RNiYY-RL10hlb6lanBSo2b038c-rR8ZihRo_QKsiJupFhraO_zkg' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Unfortunately human pilot error (many like shown above) and flying home made electronic in sub 0°C weather (which has caused solder connection to break) has shortened the useful academic life of the plane.<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/-gae1E8zHsPE/TjqnxaKMPwI/AAAAAAAACkc/FEc7QnbqfIU/s1600/IMAG0183.jpg"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 200px; height: 150px;" src="http://2.bp.blogspot.com/-gae1E8zHsPE/TjqnxaKMPwI/AAAAAAAACkc/FEc7QnbqfIU/s200/IMAG0183.jpg" alt="" id="BLOGGER_PHOTO_ID_5637002350885093122" border="0" /></a><br />But not before some more fun has been had with it!<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dzDlvyzegW0sdsBbHK5K-kA4DkBkRpWhic_l5f7zQsXsMIMsmKIuO__a7v1u-Uu1xM2LZTmEYQHiPM4eHArDQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/-HhwMY9enOEs/TjsB3cVnBDI/AAAAAAAACkk/S-9SlSuRrX0/s1600/Screenshot-3.png"><img style="cursor:pointer; cursor:hand;width: 200px; height: 125px;" src="http://2.bp.blogspot.com/-HhwMY9enOEs/TjsB3cVnBDI/AAAAAAAACkk/S-9SlSuRrX0/s200/Screenshot-3.png" alt="" id="BLOGGER_PHOTO_ID_5637101410595570738" border="0" /></a></div><br />Aerial video of the prowling grounds, this time on a phone with a decent camera.<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dzWFsuNm_tSgKix8YlmWIGMeLKMPKePXibj2kSidgeeszMMKqp4XMUgLgAOA-GZcZHA0DwaR8DwT3jUpNNqkQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/-_1wGXBNg1NA/TjsCbs1K3YI/AAAAAAAACks/TyFpYFLtXYE/s1600/Screenshot-6.png"><img style="cursor:pointer; cursor:hand;width: 200px; height: 125px;" src="http://2.bp.blogspot.com/-_1wGXBNg1NA/TjsCbs1K3YI/AAAAAAAACks/TyFpYFLtXYE/s200/Screenshot-6.png" alt="" id="BLOGGER_PHOTO_ID_5637102033498201474" border="0" /></a></div><br />Aerial video with a "fish eye" lens (an attachment, which was later found out to mess with the internal sensors of the phone enough to cause some autopilot crashes).<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dzFlcVdXWkAaD4iHMuBDWkBbnPK19lmUmPsgYjQTpycnQoa9SeBo1CYuoJbohDwMq1BF2XSi4LEVSZePQyFkw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Not to dwell too much on the autopilot, some time went in to enhancing the distortion caused by the lens. First attempt, a brute force implementation of the Barrel algorithm (which took 7 hours to render the clip above).<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dx7bmNImTzGIUfhdleyCq5rY99mI-5ylVCYGdyFGrfmkR1faczuenw59cqpRz7LGTyrVJUXEO_zEeB5Ef0CPQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Second implementation, using openCV and it's build in features (which took only 15 minutes to render, 2 minutes of that time used by a script to generate a command with over 8000 parameters (picture names)).<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/-5nWryGupJXQ/TjsRd2SFYYI/AAAAAAAACk0/PNQzdx6dIZ8/s1600/DSC00045.JPG"><img style="display:block; margin:0px auto 10px; text-align:center;cursor:pointer; cursor:hand;width: 200px; height: 150px;" src="http://2.bp.blogspot.com/-5nWryGupJXQ/TjsRd2SFYYI/AAAAAAAACk0/PNQzdx6dIZ8/s200/DSC00045.JPG" alt="" id="BLOGGER_PHOTO_ID_5637118563069550978" border="0" /></a><br />Despite all the mentioned adventures, experiments and much more, the plane still flies. But no more for science (too much glue to fly straight any more), only for fun and experience. A fitting retirement for a successful project!Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-48681426734079124782010-09-25T22:35:00.003+02:002010-09-26T19:56:54.068+02:00Testing out War PaintIn the preparations to rebuild the plane, this time a painting test:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TJ-IArHS52I/AAAAAAAACgc/IGYXpOLjnB8/s1600/IMAG0155.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TJ-IArHS52I/AAAAAAAACgc/IGYXpOLjnB8/s200/IMAG0155.jpg" alt="" id="BLOGGER_PHOTO_ID_5521281213334218594" border="0" /></a><br />Aimed for maximal visibility, the winning combination seems to be: florescent "lemon yellow" with no primer on the hull and florescent "signal red" with primer on the wings.<br /><br />Regardless of the primer, the paint sticks the same and can be peeled off with duct tape.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-84958157453234544102010-09-25T19:19:00.002+02:002010-09-26T19:27:18.794+02:00Equipment Testing - Controller v2Time to test the controller board:<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dyP5BZsywJJK8tROdtzlr02AVx06rFJszOSJdXHvZrS1M9wHIIj0I4bWsnU7DNwVfhwAKIa3EpwpG9kPxPPJg' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Interestingly enough, the frequency at which the beeper operates, is not exactly audible to a mobile phone microphone.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-34784387492239282612010-09-23T18:59:00.000+02:002010-09-26T19:17:03.739+02:00The Controller RebornAnd now it's time to show off the finished controller board v2:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TJ97MspplhI/AAAAAAAACgU/IGk90A1MxjA/s1600/IMG_20100923_141516.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TJ97MspplhI/AAAAAAAACgU/IGk90A1MxjA/s200/IMG_20100923_141516.jpg" alt="" id="BLOGGER_PHOTO_ID_5521267126254016018" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TJ97Mnjf7II/AAAAAAAACgM/8Dya0MPvbQ4/s1600/IMG_20100923_141532.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TJ97Mnjf7II/AAAAAAAACgM/8Dya0MPvbQ4/s200/IMG_20100923_141532.jpg" alt="" id="BLOGGER_PHOTO_ID_5521267124886039682" border="0" /></a></div><br />A few correction of beginners mistakes later (it was literally designed to small for a few connections to function correctly), completed with a weight of 12.88 g. That's 3.5 times lighter and includes upgrades, such as, a beeper to signal who is control and a dip switch for manual overriding of control channels for testing.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-40164942538259480622010-09-22T21:28:00.003+02:002010-09-26T17:49:00.228+02:00Equipment Testing - Demodulator v2After hacking an USB to COM converter cable, so it interfaces to the new demodulator board:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TJ9pZVxQCyI/AAAAAAAACgE/bmuOE7BRp-E/s1600/IMG_20100922_153744.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TJ9pZVxQCyI/AAAAAAAACgE/bmuOE7BRp-E/s200/IMG_20100922_153744.jpg" alt="" id="BLOGGER_PHOTO_ID_5521247552240880418" border="0" /></a><br />It was time to test it out:<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dx8NwtABX91zY3e_8YQFUyIs_nF4KVexdRdYC8K5TkYaOMFHM3yJ2OOowUJZnPIZi6LuL0X_f51EI2lpCppaw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Trusty FlightGear to help us out with this task and the setup works quite nicely.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-88423264259427091732010-09-10T23:25:00.000+02:002010-09-26T16:32:34.785+02:00The Demodulator RebornFirst one of the boards completed:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TJ9XRQZs1LI/AAAAAAAACf8/qw5deEjOPWA/s1600/IMAG0133.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TJ9XRQZs1LI/AAAAAAAACf8/qw5deEjOPWA/s200/IMAG0133.jpg" alt="" id="BLOGGER_PHOTO_ID_5521227622151673010" border="0" /></a><br />Stacked against the old one for size (no, the two part "construction" is not by design). The new one weighing exactly 5.43 g is 9 times lighter and way way smaller, which will hopefully bring stabler flights in the future.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-57801285038472331732010-09-10T20:05:00.001+02:002010-09-26T16:25:11.338+02:00Ceremonial Cutting of the BoardSo, the big slab of integrated circuits from China have been cut:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TJ9UKUnMsjI/AAAAAAAACfs/si7GGbkey6c/s1600/IMAG0127.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TJ9UKUnMsjI/AAAAAAAACfs/si7GGbkey6c/s200/IMAG0127.jpg" alt="" id="BLOGGER_PHOTO_ID_5521224204488061490" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TJ9UJ1U9vFI/AAAAAAAACfk/BA07_qk79xQ/s1600/IMAG0128.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TJ9UJ1U9vFI/AAAAAAAACfk/BA07_qk79xQ/s200/IMAG0128.jpg" alt="" id="BLOGGER_PHOTO_ID_5521224196090084434" border="0" /></a></div><br />To show them up against the previous version for size:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TJ9WlwOHjgI/AAAAAAAACf0/gwT4-FQkBqY/s1600/IMAG0132.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TJ9WlwOHjgI/AAAAAAAACf0/gwT4-FQkBqY/s200/IMAG0132.jpg" alt="" id="BLOGGER_PHOTO_ID_5521226874778783234" border="0" /></a><br />The weight savings on the boards alone is worth the trouble.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-84551700746048693582010-09-06T22:20:00.005+02:002010-09-26T16:05:51.753+02:00It's Over 9000As the title conveniently trough a pop culture reference* suggest, we'll be talking about power.<br /><br />Engine power that is. The question was, how much power does the used EMAX BL2210/25 engine consume. So a measuring contraption was built:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TJ9OmfoFsHI/AAAAAAAACfU/Fm_PO9wU_sQ/s1600/IMAG0124.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TJ9OmfoFsHI/AAAAAAAACfU/Fm_PO9wU_sQ/s200/IMAG0124.jpg" alt="" id="BLOGGER_PHOTO_ID_5521218091411157106" border="0" /></a><br />And after much fun fiddling with it, this is the result:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TJ9PYUCVS1I/AAAAAAAACfc/IWFwX0yEZ6g/s1600/Screenshot.png"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 121px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TJ9PYUCVS1I/AAAAAAAACfc/IWFwX0yEZ6g/s200/Screenshot.png" alt="" id="BLOGGER_PHOTO_ID_5521218947293465426" border="0" /></a><br />As expected, almost linear ratio between output power and consumption. Almost linear because the measurements themselves weren't perfect, since they needed to be interupted for the engine to cool off (no flight, no airflow).<br /><br />* look up Dragon Ball Z.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-57249836670683719042010-09-02T23:11:00.003+02:002010-09-18T23:41:34.396+02:00The Future has ArrivedAnd it has done so all the way from China:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TJUtt3C_oHI/AAAAAAAACeU/ll4YBIXe-LY/s1600/IMAG0102.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TJUtt3C_oHI/AAAAAAAACeU/ll4YBIXe-LY/s200/IMAG0102.jpg" alt="" id="BLOGGER_PHOTO_ID_5518367184306282610" border="0" /></a><br />This package contained nothing less than the redesigned boards, professional made to order:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TJUvLEslNeI/AAAAAAAACe0/7mXeAht9UI4/s1600/IMAG0108.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TJUvLEslNeI/AAAAAAAACe0/7mXeAht9UI4/s200/IMAG0108.jpg" alt="" id="BLOGGER_PHOTO_ID_5518368785698207202" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TJUvKzSwcuI/AAAAAAAACes/q2sB7mbdUWw/s1600/IMAG0109.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TJUvKzSwcuI/AAAAAAAACes/q2sB7mbdUWw/s200/IMAG0109.jpg" alt="" id="BLOGGER_PHOTO_ID_5518368781026489058" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TJUvKr4Zv7I/AAAAAAAACek/jmMAXJIUYgM/s1600/IMAG0111.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TJUvKr4Zv7I/AAAAAAAACek/jmMAXJIUYgM/s200/IMAG0111.jpg" alt="" id="BLOGGER_PHOTO_ID_5518368779036901298" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TJUvKDixlfI/AAAAAAAACec/B5SaTiqS_1g/s1600/IMAG0113.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TJUvKDixlfI/AAAAAAAACec/B5SaTiqS_1g/s200/IMAG0113.jpg" alt="" id="BLOGGER_PHOTO_ID_5518368768208770546" border="0" /></a></div><br />Dual layer printed circuit boards, 0.6mm thick, with black coating and red silkscreen (which is visible under the sun, but not so much indoors). Obviously we ordered some excess boards for redundancy and cost savings.<br /><br />But from idea to a delivered product in less then two weeks (would be way less if some beginner mistakes were avoided), ordered from PCBCORE and totally worth it.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-41905883301373358922010-09-01T20:09:00.004+02:002010-09-04T20:49:10.829+02:00Adjusting the ViewOne annoyance with using the camera on the mobile phone to take pictures from the plane was lack of perspective due to narrow angle of the lens.<br /><br />Arriving today, a fix for that:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TIKQhpiNjUI/AAAAAAAACds/kePsxyXpY08/s1600/IMAG0091.jpg"><img style="cursor: pointer; width: 150px; height: 200px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TIKQhpiNjUI/AAAAAAAACds/kePsxyXpY08/s200/IMAG0091.jpg" alt="" id="BLOGGER_PHOTO_ID_5513127801614339394" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TIKQiG3M17I/AAAAAAAACd0/uCL0WeYaw3I/s1600/IMAG0092.jpg"><img style="cursor: pointer; width: 150px; height: 200px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TIKQiG3M17I/AAAAAAAACd0/uCL0WeYaw3I/s200/IMAG0092.jpg" alt="" id="BLOGGER_PHOTO_ID_5513127809487001522" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TIKQinnSpqI/AAAAAAAACd8/a2lgcgGMkRg/s1600/IMAG0093.jpg"><img style="cursor: pointer; width: 150px; height: 200px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TIKQinnSpqI/AAAAAAAACd8/a2lgcgGMkRg/s200/IMAG0093.jpg" alt="" id="BLOGGER_PHOTO_ID_5513127818278643362" border="0" /></a></div><br /><div style="text-align: center;">A 180° wide angle "fish eye" lens for mobile phones.<br /></div><br />First impressions:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TIKSDql4kkI/AAAAAAAACeM/4ccXv7_2kzE/s1600/IMAG0099.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TIKSDql4kkI/AAAAAAAACeM/4ccXv7_2kzE/s200/IMAG0099.jpg" alt="" id="BLOGGER_PHOTO_ID_5513129485525357122" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TIKSDTa640I/AAAAAAAACeE/cJpgn8oWS80/s1600/IMAG0100.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TIKSDTa640I/AAAAAAAACeE/cJpgn8oWS80/s200/IMAG0100.jpg" alt="" id="BLOGGER_PHOTO_ID_5513129479305356098" border="0" /></a></div><br />A proper mount and some zoom magic and the end result should be respectable or at least interesting.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-39999704663810782182010-08-30T20:02:00.001+02:002010-09-04T20:08:47.167+02:00Testing Safe PositionsSome "postmortem" tests on the crashed airframe before it gets scrapped for parts.<br /><br />A homemade wind tunnel like device constructed from a air compressor gun, outfitted with a string of yarn to show path the air flow. Plus a straight carbon fiber stick to show deflection.<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dwnYo9s969VIlNtQ6QXtDsV9sB9ulk_HPKNW2_rO5KLF-g4bYlVPazdBClIQSRMYTe5LR0ya2TsW1yi9j08bQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe><br /></div><br /><div style="text-align: center;">Test on the wing (obviously)</div><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dzEhibm4SYi3D7GWVvyniMAgz_RGhXqrH2Pf5gJSb34oUaDiQTlUaGkV2g29KC3IULtDs1z9cUlIIrAWKSpwQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe><br /></div><br /><div style="text-align: center;">Test on the tail (obviously)</div><br />Noted, this measurements are far from being perfectly accurate (though they were fun to produce), but they will serve as a base to tweak the model of desired plane's attitude compared to the angle of attack.<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TIKHXQuK7LI/AAAAAAAACdc/v-YNRjEp-84/s1600/Screenshot-VIDEO0013.3gp-2_mesurments.png"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TIKHXQuK7LI/AAAAAAAACdc/v-YNRjEp-84/s200/Screenshot-VIDEO0013.3gp-2_mesurments.png" alt="" id="BLOGGER_PHOTO_ID_5513117727550270642" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TIKHXitUwxI/AAAAAAAACdk/mnSuDltiGeQ/s1600/Screenshot-VIDEO0014.3gp-1_mesured.png"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TIKHXitUwxI/AAAAAAAACdk/mnSuDltiGeQ/s200/Screenshot-VIDEO0014.3gp-1_mesured.png" alt="" id="BLOGGER_PHOTO_ID_5513117732378559250" border="0" /></a></div>Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-32635776476633888442010-08-26T23:05:00.003+02:002010-09-04T17:52:53.810+02:00Designing Upgraded ElectronicsWith achieved milestone of (short) autonomous flight it's time to rebuild and improve the plane.<br /><br />To optimize the build of new boards, my little brother had lend his talent and designed these:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TIJpwfhaRuI/AAAAAAAACdM/PElZqSfC8HI/s1600/Demodulator-board.png"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 118px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TIJpwfhaRuI/AAAAAAAACdM/PElZqSfC8HI/s200/Demodulator-board.png" alt="" id="BLOGGER_PHOTO_ID_5513085175671178978" border="0" /></a><br /><div style="text-align: center;">New and shrunk demodulator board.<br /></div><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TIJqDviCb1I/AAAAAAAACdU/zbeOraPG0e8/s1600/Controller-board.png"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 118px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TIJqDviCb1I/AAAAAAAACdU/zbeOraPG0e8/s200/Controller-board.png" alt="" id="BLOGGER_PHOTO_ID_5513085506386292562" border="0" /></a><br /><div style="text-align: center;">New and improved control board, now with a beeper for signaling states and hardware switches for continuous manual override on each channel.<br /></div><br />Next step/experiment is having them professionally made from somewhere in China.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-79396062656508473072010-08-08T23:59:00.005+02:002010-08-13T18:16:08.689+02:00Tools for AllUntil the plane is rebuild, hardware side will have to wait. Which leaves just enough time to work on the software a little.<br /><br />Now on the market, straight from this project: rrTimeLapse<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TGVnfRKOWAI/AAAAAAAACc0/ZeGfhUTdPI8/s1600/rrTimeLapse_1.png"><img style="cursor: pointer; width: 134px; height: 200px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TGVnfRKOWAI/AAAAAAAACc0/ZeGfhUTdPI8/s200/rrTimeLapse_1.png" alt="" id="BLOGGER_PHOTO_ID_5504919906410190850" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TGVnfDhBMqI/AAAAAAAACcs/-p1TM7DDngI/s1600/rrTimeLapse_2.png"><img style="cursor: pointer; width: 134px; height: 200px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TGVnfDhBMqI/AAAAAAAACcs/-p1TM7DDngI/s200/rrTimeLapse_2.png" alt="" id="BLOGGER_PHOTO_ID_5504919902747701922" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TGVne11FQ8I/AAAAAAAACck/b_dlglM-FHs/s1600/rrTimeLapse_3.png"><img style="cursor: pointer; width: 134px; height: 200px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TGVne11FQ8I/AAAAAAAACck/b_dlglM-FHs/s200/rrTimeLapse_3.png" alt="" id="BLOGGER_PHOTO_ID_5504919899073758146" border="0" /></a><br /></div><br />For all your time lapsing photography needs. As of now it supports resolution selection, start/stop timer or continuous shooting, amount of lapse time and auto focus selection. And it can do all that in the background, enabling use of other applications simultaneously.<br /><br />Posted as Open Source, you can find it here:<br /><br /><div style="text-align: center;"> <a href="http://code.google.com/p/rrtimelapse/">http://code.google.com/p/rrtimelapse/</a></div><br />Or on the Android Market here:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TGVpejpahNI/AAAAAAAACc8/_zhL7OkxQBI/s1600/rrTimeLapse_qr.png"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 175px; height: 175px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TGVpejpahNI/AAAAAAAACc8/_zhL7OkxQBI/s200/rrTimeLapse_qr.png" alt="" id="BLOGGER_PHOTO_ID_5504922093216236754" border="0" /></a>P.S. If you find it useful, let me know!Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com1tag:blogger.com,1999:blog-4871644169584402272.post-6180866827313991202010-08-04T18:58:00.004+02:002010-08-04T19:29:54.763+02:00Rooting HTC LegendProblem!<br /><br />The PPTP VPN connection, used to connect to the phone over mobile Internet was not in a working state on this phone. As it turns out, there is a bug in Android 2.1, causing some mischief.<br /><br />So, to fix this problem, the phone was "rooted", with the intent of flashing a software image with added appropriate tunneling drivers:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TFmiUt5QQdI/AAAAAAAACbk/VGrQ_ElaoMg/s1600/devicea2.png"><img style="cursor: pointer; width: 134px; height: 200px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TFmiUt5QQdI/AAAAAAAACbk/VGrQ_ElaoMg/s200/devicea2.png" alt="" id="BLOGGER_PHOTO_ID_5501606896610591186" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TFmiUwuNMdI/AAAAAAAACbs/biqsc_0sdWk/s1600/devicea3.png"><img style="cursor: pointer; width: 134px; height: 200px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TFmiUwuNMdI/AAAAAAAACbs/biqsc_0sdWk/s200/devicea3.png" alt="" id="BLOGGER_PHOTO_ID_5501606897369559506" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TFmiVP0xwQI/AAAAAAAACb0/z8z1_e7cKQc/s1600/devicea4.png"><img style="cursor: pointer; width: 134px; height: 200px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TFmiVP0xwQI/AAAAAAAACb0/z8z1_e7cKQc/s200/devicea4.png" alt="" id="BLOGGER_PHOTO_ID_5501606905718620418" border="0" /></a></div><br />Thanks to the modding community, not such a daunting task, but some time was spent finding the right rom with the issue resolved.<br /><br />The winning combination can be found here: <a href="http://forum.xda-developers.com/showthread.php?t=744026">http://forum.xda-developers.com/showthread.php?t=744026</a>Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com1tag:blogger.com,1999:blog-4871644169584402272.post-50807502866448782212010-07-15T17:42:00.002+02:002010-08-03T18:06:27.383+02:00Flying Lessons - How Not to Fly MK2Just a quick recap what has been learned in the memory of the AVI@TOR 02 airframe.<br /><br />Quit while you're ahead. Having the wing broke and fall of mid flight due to material fatigue is only amusing for so long. Once you know what kind of stress the airframe is going to be subjected to, reinforce it.<br /><br />Also, physics works. Using ailerons as flaps changes the behavior of the plane. Don't forget to use the elevator to compensate for the shift in plane's Center of gravity.<br /><br />That and the field test are fun! Hope for many more.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-89215093060178859932010-07-13T22:34:00.006+02:002010-07-20T23:52:00.686+02:00And so it FliesA complete success. The plane flew on it's own and spectacularly crashed on it's own.<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TEYTdjr0rGI/AAAAAAAACa4/ce5sGRQO7Hw/s1600/DSC01130.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TEYTdjr0rGI/AAAAAAAACa4/ce5sGRQO7Hw/s200/DSC01130.JPG" alt="" id="BLOGGER_PHOTO_ID_5496101793768451170" border="0" /></a></div><br />First the good news, two successful autonomous "straight" flights (without plotted course):<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TEYKs-PwZBI/AAAAAAAACaA/9iCWhBeCemM/s1600/1279021261018+-+acc_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TEYKs-PwZBI/AAAAAAAACaA/9iCWhBeCemM/s200/1279021261018+-+acc_.png" alt="" id="BLOGGER_PHOTO_ID_5496092162991875090" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TEYKsoEqH-I/AAAAAAAACZ4/LfhHvTuRRkc/s1600/1279021261018+-+ori_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TEYKsoEqH-I/AAAAAAAACZ4/LfhHvTuRRkc/s200/1279021261018+-+ori_.png" alt="" id="BLOGGER_PHOTO_ID_5496092157039747042" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TEYKuRN15SI/AAAAAAAACaQ/JiJiuBp4mrE/s1600/1279021261018+-+gps_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TEYKuRN15SI/AAAAAAAACaQ/JiJiuBp4mrE/s200/1279021261018+-+gps_.png" alt="" id="BLOGGER_PHOTO_ID_5496092185263990050" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TEYKtseuJ3I/AAAAAAAACaI/pX9LUBCAF_c/s1600/1279021261018+-+kml_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TEYKtseuJ3I/AAAAAAAACaI/pX9LUBCAF_c/s200/1279021261018+-+kml_.png" alt="" id="BLOGGER_PHOTO_ID_5496092175402674034" border="0" /></a></div><br />First flight lasted about 5 seconds, before it got knocked from the path by wind and it had to be landed down manually.<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TEYOSTKkQWI/AAAAAAAACaw/gWmj0ALZp2U/s1600/1279023887715+-+acc_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TEYOSTKkQWI/AAAAAAAACaw/gWmj0ALZp2U/s200/1279023887715+-+acc_.png" alt="" id="BLOGGER_PHOTO_ID_5496096102797295970" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TEYOSOMHNBI/AAAAAAAACao/OIGX9XO7_jM/s1600/1279023887715+-+ori_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TEYOSOMHNBI/AAAAAAAACao/OIGX9XO7_jM/s200/1279023887715+-+ori_.png" alt="" id="BLOGGER_PHOTO_ID_5496096101461603346" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TEYOR9JFKUI/AAAAAAAACag/PDrxxOfAns4/s1600/1279023887715+-+gps_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TEYOR9JFKUI/AAAAAAAACag/PDrxxOfAns4/s200/1279023887715+-+gps_.png" alt="" id="BLOGGER_PHOTO_ID_5496096096885483842" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TEYORfZ7UeI/AAAAAAAACaY/Z7-DWJqrOOI/s1600/1279023887715+-+kml.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TEYORfZ7UeI/AAAAAAAACaY/Z7-DWJqrOOI/s200/1279023887715+-+kml.png" alt="" id="BLOGGER_PHOTO_ID_5496096088903078370" border="0" /></a></div><br />Second flight lasted about 8 seconds, before it got knocked from the path again by wind. Only this time the plane managed to stabilize itself, causing it to loose altitude, managed again to correct itself and fly upwards, but the maneuver was too steep and the worn out airframe failed and crashed.<br /><br />For some reason the GPS resolution was poor on the second flight.<br /><br />Now the bad news, the crash destroyed the airframe and broke the demodulator board. No more flying until the plane is rebuild and electronics are replaced.<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TEYVbUkT9YI/AAAAAAAACbY/MqSpCWEssTE/s1600/IMAG0068.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TEYVbUkT9YI/AAAAAAAACbY/MqSpCWEssTE/s200/IMAG0068.jpg" alt="" id="BLOGGER_PHOTO_ID_5496103954373932418" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TEYVa-VySYI/AAAAAAAACbQ/SsvPQz_GWBs/s1600/IMAG0067.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TEYVa-VySYI/AAAAAAAACbQ/SsvPQz_GWBs/s200/IMAG0067.jpg" alt="" id="BLOGGER_PHOTO_ID_5496103948407425410" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TEYVagpJrHI/AAAAAAAACbI/av8fmJ3tVGk/s1600/DSC01139.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TEYVagpJrHI/AAAAAAAACbI/av8fmJ3tVGk/s200/DSC01139.JPG" alt="" id="BLOGGER_PHOTO_ID_5496103940435586162" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TEYVZhIHeoI/AAAAAAAACbA/ugFd-oBLk1U/s1600/DSC01141.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TEYVZhIHeoI/AAAAAAAACbA/ugFd-oBLk1U/s200/DSC01141.JPG" alt="" id="BLOGGER_PHOTO_ID_5496103923385596546" border="0" /></a></div><br />As for the crash, the "official report" is this:<br /><br />The plane flew stable, maintaining heading and altitude until it got hit off the path by wind. Even with stabilization it veered right both times, probably on the account of a worn out, slower and imprecise servo (it has seen a lot of crashes). The second time it managed to stabilize itself which resulted in the nose of the plane pointing downwards and loosing altitude. When attempting to achieve neutral pitch from previous maneuver it turned upwards too sharply, resulting in increased stress on the airframe, which due to materials being worn out (again, it has seen a lot of crashes), the wings bent out of shape, pulling out the link between the servo ans one of the ailerons, causing it to destabilize and crash in a spiral.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-54009467328933087412010-07-06T23:27:00.004+02:002010-07-12T18:08:58.524+02:00Hardware vs. SoftwareWith the new phone there was a significant reduction in the noise the sensors picked up.<br /><br />Was it the upgraded hardware (from G1 to Legend) or software (from Android 1.6 to 2.1):<br /><br />And now that the old phone was promoted from "crash testing" to experimenting with the latest and greatest of home brew rom's, an experiment is in order:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TDs4KMWyHHI/AAAAAAAACZY/7r0XKxuGNvQ/s1600/1266413534557+-+acc.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TDs4KMWyHHI/AAAAAAAACZY/7r0XKxuGNvQ/s200/1266413534557+-+acc.png" alt="" id="BLOGGER_PHOTO_ID_5493045918275083378" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TDs4KYBXj7I/AAAAAAAACZg/SXy5hpSuJLs/s1600/1266413534557+-+ori.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TDs4KYBXj7I/AAAAAAAACZg/SXy5hpSuJLs/s200/1266413534557+-+ori.png" alt="" id="BLOGGER_PHOTO_ID_5493045921406488498" border="0" /></a></div><div style="text-align: center;">HTC G1, flying Android 1.6<br /></div><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TDs4JRcLEwI/AAAAAAAACZI/RLIpoyrRYv8/s1600/1278400780321+-+acc.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TDs4JRcLEwI/AAAAAAAACZI/RLIpoyrRYv8/s200/1278400780321+-+acc.png" alt="" id="BLOGGER_PHOTO_ID_5493045902459998978" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TDs4J2wu76I/AAAAAAAACZQ/y0plopJnjUQ/s1600/1278400780321+-+ori.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TDs4J2wu76I/AAAAAAAACZQ/y0plopJnjUQ/s200/1278400780321+-+ori.png" alt="" id="BLOGGER_PHOTO_ID_5493045912478347170" border="0" /></a></div><div style="text-align: center;">HTC G1, flying Android 2.1<br /></div><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TDs4tnR3MZI/AAAAAAAACZo/AR42TtYdNFw/s1600/1276936588570+-+acc_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TDs4tnR3MZI/AAAAAAAACZo/AR42TtYdNFw/s200/1276936588570+-+acc_.png" alt="" id="BLOGGER_PHOTO_ID_5493046526797623698" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TDs4t1DmZhI/AAAAAAAACZw/qDtlNTZbx_g/s1600/1276936588570+-+ori_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TDs4t1DmZhI/AAAAAAAACZw/qDtlNTZbx_g/s200/1276936588570+-+ori_.png" alt="" id="BLOGGER_PHOTO_ID_5493046530495899154" border="0" /></a></div><div style="text-align: center;">HTC Legend, flying Android 2.1<br /></div><br />The conclusion we can get from this is that the newer version of Android doesn't have any added noise reduction filters and that it is indeed the hardware that is better in the newer HTC Legend.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-47328802775393885732010-07-05T14:38:00.000+02:002010-07-05T14:38:57.441+02:00Localizing FlightGearUntil now, FlightGear has been used to test bits and pieces with the default settings, which means starting just outside San Francisco, USA.<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TDHQ8Qrj1CI/AAAAAAAACZA/PGH-YOBqWNs/s1600/Screenshot_ge.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TDHQ8Qrj1CI/AAAAAAAACZA/PGH-YOBqWNs/s200/Screenshot_ge.png" alt="" id="BLOGGER_PHOTO_ID_5490399154429744162" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TDHQ8DBBsUI/AAAAAAAACY4/WoybwTAE0BE/s1600/Screenshot_fg.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TDHQ8DBBsUI/AAAAAAAACY4/WoybwTAE0BE/s200/Screenshot_fg.png" alt="" id="BLOGGER_PHOTO_ID_5490399150761685314" border="0" /></a></div><br />But from now on, has been configured to make the place a bit more familiar.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-4805386108781302582010-06-19T23:01:00.000+02:002010-06-24T13:28:23.954+02:00This is Your Pilot SpeakingFirst attempt at autonomous flying.<br /><br />For now flight stabilization using ailerons, just to see how things "fly".<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dz3t9qHNpUqaFfjpc0UbrpH6R09akosU5SwtkgG4P2yxHfZM-hWnO4S7bEksJrj6z69ibtdhb5K_NRRbCvF5g' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Also, adjusting the balance for reduced weight, reaching for higher heights and new pictures.<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TCM_QdD9IJI/AAAAAAAACYA/Wa8uEaxqFrU/s1600/flight.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 109px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TCM_QdD9IJI/AAAAAAAACYA/Wa8uEaxqFrU/s200/flight.jpg" alt="" id="BLOGGER_PHOTO_ID_5486298322979070098" border="0" /></a>New location no less:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TCNArn7dqzI/AAAAAAAACYw/_UJGI677RlY/s1600/2010-06-19-11.36.02.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TCNArn7dqzI/AAAAAAAACYw/_UJGI677RlY/s200/2010-06-19-11.36.02.jpg" alt="" id="BLOGGER_PHOTO_ID_5486299889264339762" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TCNAbYrMaYI/AAAAAAAACYo/c2Urze0JsVQ/s1600/2010-06-19-11.36.32.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TCNAbYrMaYI/AAAAAAAACYo/c2Urze0JsVQ/s200/2010-06-19-11.36.32.jpg" alt="" id="BLOGGER_PHOTO_ID_5486299610291661186" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TCNAbKfPppI/AAAAAAAACYg/N0yzannngeg/s1600/2010-06-19-11.35.40.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TCNAbKfPppI/AAAAAAAACYg/N0yzannngeg/s200/2010-06-19-11.35.40.jpg" alt="" id="BLOGGER_PHOTO_ID_5486299606483445394" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TCNAYkEC3dI/AAAAAAAACYI/JDM8LhZkqH0/s1600/2010-06-19-11.31.35.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TCNAYkEC3dI/AAAAAAAACYI/JDM8LhZkqH0/s200/2010-06-19-11.31.35.jpg" alt="" id="BLOGGER_PHOTO_ID_5486299561809075666" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TCNAaRaNzrI/AAAAAAAACYY/Nn9oZMFevwI/s1600/2010-06-19-11.34.55.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TCNAaRaNzrI/AAAAAAAACYY/Nn9oZMFevwI/s200/2010-06-19-11.34.55.jpg" alt="" id="BLOGGER_PHOTO_ID_5486299591161532082" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TCNAZLOx7RI/AAAAAAAACYQ/fxZHB-av1ns/s1600/2010-06-19-11.32.13.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TCNAZLOx7RI/AAAAAAAACYQ/fxZHB-av1ns/s200/2010-06-19-11.32.13.jpg" alt="" id="BLOGGER_PHOTO_ID_5486299572323085586" border="0" /></a></div>Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com1tag:blogger.com,1999:blog-4871644169584402272.post-18809236857726160322010-06-12T22:31:00.011+02:002010-06-24T12:45:31.396+02:00Improved QualityFirst flight with the new phone!<br /><br />Nothing special, just adjusting the weight:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TCDzQExaoOI/AAAAAAAACWU/y_VlK3c-u18/s1600/IMAG0019.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TCDzQExaoOI/AAAAAAAACWU/y_VlK3c-u18/s200/IMAG0019.jpg" alt="" id="BLOGGER_PHOTO_ID_5485651803621728482" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TCDzPrvHBCI/AAAAAAAACWM/A5B0YPQaS24/s1600/DSC00536.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TCDzPrvHBCI/AAAAAAAACWM/A5B0YPQaS24/s200/DSC00536.JPG" alt="" id="BLOGGER_PHOTO_ID_5485651796901168162" border="0" /></a></div><br />With no adapter for audio out needed, a very light and small custom cable makes for simpler and lighter packaging.<br /><br />Testing out the camera:<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dy5ha1D3_fsXbbstjZ5nIR3aZLN0YI5ARs7jq6YXJ9xALLNdu00jK4CFJnrDIzfryqrzdKpGnjxkrq3y4U6Rw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Better video and pictures, even if the app hasn't been updated yet to take 5MP pictures instead of 3MP:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TCD157NaG0I/AAAAAAAACXU/jzAf57_Nn6I/s1600/2010-06-12-09.39.46.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TCD157NaG0I/AAAAAAAACXU/jzAf57_Nn6I/s200/2010-06-12-09.39.46.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654721632541506" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TCD15b5XuFI/AAAAAAAACXM/uIb3P0BLGRg/s1600/2010-06-12-09.42.45.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TCD15b5XuFI/AAAAAAAACXM/uIb3P0BLGRg/s200/2010-06-12-09.42.45.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654713226999890" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TCD14_Tc9AI/AAAAAAAACXE/XTLtYZ4Z4W4/s1600/2010-06-12-10.05.42.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TCD14_Tc9AI/AAAAAAAACXE/XTLtYZ4Z4W4/s200/2010-06-12-10.05.42.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654705551766530" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TCD1t5BYw3I/AAAAAAAACW8/lAJtKgDUIy4/s1600/2010-06-12-10.06.54.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TCD1t5BYw3I/AAAAAAAACW8/lAJtKgDUIy4/s200/2010-06-12-10.06.54.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654514886820722" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TCD1th0LC_I/AAAAAAAACW0/gjLqTmKb9DA/s1600/2010-06-12-10.07.15.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TCD1th0LC_I/AAAAAAAACW0/gjLqTmKb9DA/s200/2010-06-12-10.07.15.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654508657380338" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TCD1tLxo8dI/AAAAAAAACWs/QFqWowX40JE/s1600/2010-06-12-10.07.49.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TCD1tLxo8dI/AAAAAAAACWs/QFqWowX40JE/s200/2010-06-12-10.07.49.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654502741176786" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TCD1sluZ9_I/AAAAAAAACWk/cVSHciOop1s/s1600/2010-06-12-10.08.15.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TCD1sluZ9_I/AAAAAAAACWk/cVSHciOop1s/s200/2010-06-12-10.08.15.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654492527065074" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TCD1sU4ARjI/AAAAAAAACWc/0FEryAZwFqM/s1600/2010-06-12-10.08.28.jpg"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TCD1sU4ARjI/AAAAAAAACWc/0FEryAZwFqM/s200/2010-06-12-10.08.28.jpg" alt="" id="BLOGGER_PHOTO_ID_5485654488003921458" border="0" /></a></div><br />The "waviness" effect seen in some pictures is produced by motor vibrations.<br /><br />Also the sensor readings were good as well:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TCD3xB7B1rI/AAAAAAAACXs/SWKa-7y_XDU/s1600/1276327264609+-+acc_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TCD3xB7B1rI/AAAAAAAACXs/SWKa-7y_XDU/s200/1276327264609+-+acc_.png" alt="" id="BLOGGER_PHOTO_ID_5485656767838934706" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TCD3wwAFC0I/AAAAAAAACXk/7HWWA0Q5o5o/s1600/1276327264609+-+ori_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TCD3wwAFC0I/AAAAAAAACXk/7HWWA0Q5o5o/s200/1276327264609+-+ori_.png" alt="" id="BLOGGER_PHOTO_ID_5485656763028278082" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/TCD3wtWM3yI/AAAAAAAACXc/IGM_mbCRBUw/s1600/1276327264609+-+gps_.png"><img style="cursor: pointer; width: 200px; height: 125px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/TCD3wtWM3yI/AAAAAAAACXc/IGM_mbCRBUw/s200/1276327264609+-+gps_.png" alt="" id="BLOGGER_PHOTO_ID_5485656762315759394" border="0" /></a></div><br />The GPS data is smoother, no anomalous spikes in speed, accelerometer data is also a lot less noisy, to the point it almost doesn't need any filtering. But that's probably due to updated API's then sensor quality.<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TCD6S8MsYLI/AAAAAAAACX0/u9nqu_58KIA/s1600/flight.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 109px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TCD6S8MsYLI/AAAAAAAACX0/u9nqu_58KIA/s200/flight.jpg" alt="" id="BLOGGER_PHOTO_ID_5485659549441220786" border="0" /></a><br /><br />Just 60 grams of weight reduction for now, but it already flies a lot better.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-89726870692131299462010-06-04T23:10:00.001+02:002010-06-13T00:58:03.245+02:00Upgrading the "Pilot"An upgrade to the project.<br /><br />HTC G1 replaced with lighter, faster, better equipped HTC Legend:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/TBP4JvGHbvI/AAAAAAAACV8/7-JmwlWUdS4/s1600/DSC00540.JPG"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/TBP4JvGHbvI/AAAAAAAACV8/7-JmwlWUdS4/s200/DSC00540.JPG" alt="" id="BLOGGER_PHOTO_ID_5481998017584656114" border="0" /></a><br />Savings in weight should increase the plane's performance, better camera should provide better pictures (and we all want better pictures) and 3.5mm jack should eliminate some cable overpopulation.<br /><br />And of course, first app written for the phone tests the sensors:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TBP5gjM6uXI/AAAAAAAACWE/UojO19l3ckU/s1600/device.png"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 134px; height: 200px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TBP5gjM6uXI/AAAAAAAACWE/UojO19l3ckU/s200/device.png" alt="" id="BLOGGER_PHOTO_ID_5481999509040576882" border="0" /></a>Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-78575839109733736012010-05-20T18:45:00.003+02:002010-06-09T18:50:50.855+02:00Updated TrackingDue to time constraints, small improvements but none the less:<br /><br />Point, fast and efficient:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TA_FmfTL3gI/AAAAAAAACVk/WI4Ebsdr4dQ/s1600/point.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 137px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TA_FmfTL3gI/AAAAAAAACVk/WI4Ebsdr4dQ/s200/point.jpg" alt="" id="BLOGGER_PHOTO_ID_5480816536560852482" border="0" /></a><br />Trail, fast with a sense of general direction:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/TA_FxURXwiI/AAAAAAAACVs/VfBsvsRtIAA/s1600/trail.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 137px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/TA_FxURXwiI/AAAAAAAACVs/VfBsvsRtIAA/s200/trail.jpg" alt="" id="BLOGGER_PHOTO_ID_5480816722579014178" border="0" /></a><br />Line, information overload:<br /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/TA_F1xhr7bI/AAAAAAAACV0/h-VwfFG3SMs/s1600/line.jpg"><img style="display: block; margin: 0px auto 10px; text-align: center; cursor: pointer; width: 200px; height: 137px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/TA_F1xhr7bI/AAAAAAAACV0/h-VwfFG3SMs/s200/line.jpg" alt="" id="BLOGGER_PHOTO_ID_5480816799151549874" border="0" /></a>Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-24060895837348049022010-05-08T23:36:00.006+02:002010-05-12T21:54:52.244+02:00All AboardHistoric flight in the development process!<br /><br />First, successful, fully loaded flight with all the gear:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_qif5OucmbGE/S-r1rqOcd0I/AAAAAAAACU8/1iXNC6KZFkg/s1600/DSC00465.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_qif5OucmbGE/S-r1rqOcd0I/AAAAAAAACU8/1iXNC6KZFkg/s200/DSC00465.JPG" alt="" id="BLOGGER_PHOTO_ID_5470454827812943682" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/S-r1rXbk0AI/AAAAAAAACU0/K_dZkVxJIlc/s1600/DSC00472.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/S-r1rXbk0AI/AAAAAAAACU0/K_dZkVxJIlc/s200/DSC00472.JPG" alt="" id="BLOGGER_PHOTO_ID_5470454822767742978" border="0" /></a></div><br />Canopy replaced by "demodulator" and servo control circuit boards with, for now, unholy amounts of cables.<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dwaYN9SF3P9N6fafoMuE7fLOcDGoX3SdIbKFlGgbwKIjzwZz_PXT6DmzMbszE4I4m9zIOZSLZP4MQ-iNR_ouQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Everything connected under plane's own power, with working manual override and autonomous mode, programed to control each aileron independently and turn them it to flaps. (fun fact, when using flaps, the center of the airplane changes)<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dz5l8IJWVjwrtsHtrfuYIgfvphp6aXEMelsrPEx4EaxyVvJDTNdrZme1zv1sn0Fr7fRuV9mffHmN6bLlSeQGg' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Working tracking in real time trough cellular network for data transfer (with a VPN in between to bridge mobile and broadband Internet)<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/S-r5aMygyxI/AAAAAAAACVM/szdMvzRsS54/s1600/gps-high.png"><img style="cursor: pointer; width: 200px; height: 137px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/S-r5aMygyxI/AAAAAAAACVM/szdMvzRsS54/s200/gps-high.png" alt="" id="BLOGGER_PHOTO_ID_5470458925899893522" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/S-r5YwORTcI/AAAAAAAACVE/wBHgOWOG7Cc/s1600/gps-low.png"><img style="cursor: pointer; width: 200px; height: 137px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/S-r5YwORTcI/AAAAAAAACVE/wBHgOWOG7Cc/s200/gps-low.png" alt="" id="BLOGGER_PHOTO_ID_5470458901051821506" border="0" /></a></div><br />Corrected altitude data (take off and landing this time really is on the round).<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/S-sFfBn3qeI/AAAAAAAACVc/fIaTYanbQ1U/s1600/DSC00466.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/S-sFfBn3qeI/AAAAAAAACVc/fIaTYanbQ1U/s200/DSC00466.JPG" alt="" id="BLOGGER_PHOTO_ID_5470472202941344226" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_qif5OucmbGE/S-sFejGWlTI/AAAAAAAACVU/bSKG5vEsnF0/s1600/DSC00477.JPG"><img style="cursor: pointer; width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_qif5OucmbGE/S-sFejGWlTI/AAAAAAAACVU/bSKG5vEsnF0/s200/DSC00477.JPG" alt="" id="BLOGGER_PHOTO_ID_5470472194747700530" border="0" /></a></div><br />The downside of course the plane being overweight by almost twice the recommended weight, resulting in increased necessary speed to keep it airborne (increased to to around 50kmh).<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dzdobqeEXOplJto3mV3yxE7c9CN9YFqcMRsFkvjZa6KuvnTDnPi1aWWH3C6_9zHTU6soshn6JUA5xbF17koaA' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Which, for the moment, makes it feel like a flying cow (not a technical term).Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-30348992589034262572010-04-29T16:44:00.007+02:002010-07-01T00:06:29.678+02:00Altitude, From Math to RealityRaw info from Android's GPS API is good for determining position. Not so good for determining altitude!<br /><br />Why not? Well, there is a difference between a perfect mathematical model of earth which GPS service uses to calculate altitude and the real shape of the earth. First one uses a Geoid which represents Earth as a perfect, slightly squished sphere to calculate altitude based on GPS time signals. As for us, we measure altitude from mean sea level. But this changes from point to point on earth, dues to gravitational differences (e.g. Earth is thicker on equator then it would be in Europe) and is represented by an Eclipsoid.<br /><br />The first part is to eliminate the difference between this two to get ab accurate reading (not yet counting satellite time signal margin of error, but that is a problem for another time).<br /><br />Now, after some searching, this is the most helpful project (<a href="http://geographiclib.sourceforge.net/cgi-bin/GeoidEval">GeoidEval</a>) with an online utility (or data and code to process the information offline) which takes Earth's gravity model EGM84, extrapolates it for a provided coordinate and calculates the hight of Eclipsoid above the WGS84 Geoid, used in the GPS measurements, allowing us to correct the data accordingly:<br /><br /><div style="text-align: center;"><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_qif5OucmbGE/S97zsp1qryI/AAAAAAAACUk/9UGLGLgwyqc/s1600/altitude-high.png"><img style="cursor: pointer; width: 200px; height: 134px;" src="http://1.bp.blogspot.com/_qif5OucmbGE/S97zsp1qryI/AAAAAAAACUk/9UGLGLgwyqc/s200/altitude-high.png" alt="" id="BLOGGER_PHOTO_ID_5467074946145103650" border="0" /></a> <a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_qif5OucmbGE/S97z0PhLt0I/AAAAAAAACUs/QTeBS0C0p9U/s1600/altitude-low.png"><img style="cursor: pointer; width: 200px; height: 134px;" src="http://4.bp.blogspot.com/_qif5OucmbGE/S97z0PhLt0I/AAAAAAAACUs/QTeBS0C0p9U/s200/altitude-low.png" alt="" id="BLOGGER_PHOTO_ID_5467075076518819650" border="0" /></a></div><br />The first image was render using raw data, where the second one was render using data corrected with the Geoid-Eclipsoid difference.<br /><br />You might also notice that, while starting point is on the surface, there is a parth of path missing (looks like it's just under the surface) and the and point appears to be just over the surface! This is withing the (2-8 meters of error due to rapid movement and changing of satellites mid flight), but is still as such a much more accurate and usable representation of altitude.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0tag:blogger.com,1999:blog-4871644169584402272.post-38702963506096422092010-04-28T21:48:00.001+02:002010-05-03T16:43:34.755+02:00Connecting Internet to the DroidConnecting with Android to a service on the Internet over EDGE or 3G (or what ever) is no rocket science.<br /><br />Now, connecting from the Internet to a service on an Android device is a whole other story!<br /><br />This could depend on mobile providers, but it's safe to assume that most do not assign public IP addresses to your phones for them to access the Internet, but instead you get a private IP on mobile provider's local network, which is then routed to the Internet trough their routers.<br /><br />What that means, there is no way to connect directly to your Android device if it's on mobile Internet. There are a couple of ways to go around that, but all require a third party component.<br /><br />The method chosen for this project is to link the Android device (acting as a server) and a computer (acting as a client) in to a Virtual Private Network.<br /><br />Easiest way (with least components) to achieve that is to have a VPN support in a router which connects to the Internet with with a public IP address (DSL, Cable, ...). Hence the post below.<br /><br />Once the VPN service is established (for now PPTP was used for being the simplest and widely supported with options for encryptions if needed), the connected devices can once again communicate between themselves as if they were on the same network, which means accessing opened ports on an Android device with a service from a client far far away.<br /><br />Why would this be useful to go trough so much trouble? Tracking "real time" telemetry from the plane, like position, altitude, speed, status, images from the on board camera.<br /><br />Saying "real time" since because all the routing there is a lag between information and reception of that information (once a connection is established latency way about 200ms to 700ms in this test, to infinity ms if reception is bad):<br /><br /><div style="text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dy5PsSlIA6aMcwVm-0JP-MyekU3Rbkw6D2PrLOE02Mc4GIzMOYIb7O7_ZBZUeIp3TSrt4r0HqqIhUunWFuhLQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br />Driving in a car with HTC G1 running a tracking service and a laptop connected to mobile Internet running a client and displaying data on Google Earth.<br /><br />The whole rout was: HTC G1 -> mobile provider -> broadband provider -> home router -> broadband provider -> mobile provider -> HP laptop.Anonymoushttp://www.blogger.com/profile/17315465115488675649noreply@blogger.com0