Autonomous Flying Platform: Difference between revisions
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==Overview== | ==Overview== | ||
A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications: | A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications: | ||
<ol> | |||
<li>Solution cannot touch the ground</li> | |||
<li>Retrieve a metal ring on the other side of a barrier</li> | |||
<li>Bring it back to its origin and drop it off</li> | |||
</ol> | |||
The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds. | The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds. | ||
| Line 21: | Line 13: | ||
==Team Members== | ==Team Members== | ||
<table border="1"> | |||
<tr> | |||
<th>Name</th> | |||
<th>Expertise</th> | |||
<th>Role</th> | |||
<tr> | |||
<tr> | |||
<td>Tim Heath</td> | |||
<td>Software Developer, Project Management</td> | |||
<td>Project Leader/Developer</td> | |||
</tr> | |||
</table> | |||
==Requirements== | ==Requirements== | ||
<ol> | |||
<li>Use a solution that is modular and used as many off the shelf components for rapid prototyping/solutions</li> | |||
<li>Easy to reprogram and loosely coupled</li> | |||
<li>Easy to interface with external control devices</li> | |||
<li>Navigates in 3d space in an efficient easy way</li> | |||
</ol> | |||
==Design== | ==Design== | ||
| Line 50: | Line 42: | ||
'''G1 Info''' | '''G1 Info''' | ||
<table border="1"> | |||
<tr> | |||
<th>Property</th> | |||
<th>Value</th> | |||
</tr> | |||
<tr> | |||
<td>Weight</td><td>5.6 ounces</td> | |||
</tr> | |||
<tr> | |||
<td>Size</td><td>4.6 by 2.2 by 0.6 inches</td> | |||
</tr> | |||
<tr> | |||
<td>Memory</td><td>1GB (memory card of up to 8 GB possible)</td> | |||
</tr> | |||
<tr> | |||
<td>Wifi</td><td>Yes</td> | |||
</tr> | |||
<tr> | |||
<td>Bluetooth</td><td>Yes</td> | |||
</tr> | |||
<tr> | |||
<td>USB</td><td>Non host mode but yes</td> | |||
</tr> | |||
<tr> | |||
<td>Serial</td><td>Yes</td> | |||
</tr> | |||
<tr> | |||
<td>Camera</td><td>3 megapixels</td> | |||
</tr> | |||
</table> | |||
==Blimp Size Calculations== | ==Blimp Size Calculations== | ||
<pre> | |||
air is about 1.2 kg/m^3 | air is about 1.2 kg/m^3 | ||
helium is about 1/6th of that | helium is about 1/6th of that | ||
| Line 91: | Line 83: | ||
((6.3566 * 3) / (4 * pi))^(1 / 3) = 1.14915539 | ((6.3566 * 3) / (4 * pi))^(1 / 3) = 1.14915539 | ||
a balloon with a diameter of 2.3 ft | a balloon with a diameter of 2.3 ft | ||
</pre> | |||
==Blimps for Purchase We could Use== | ==Blimps for Purchase We could Use== | ||
| Line 105: | Line 97: | ||
==Servo Interface Design== | ==Servo Interface Design== | ||
<pre> | |||
macpod suggested: probably cheapest would be to use a arduino based unit to talk to the g1, and have it use a multiplexer or i2c servo controller. Look how diydrones does it. | macpod suggested: probably cheapest would be to use a arduino based unit to talk to the g1, and have it use a multiplexer or i2c servo controller. Look how diydrones does it. | ||
</pre> | |||
==Serial Connection Information== | ==Serial Connection Information== | ||
<pre> | |||
I am by no means a G1 god or guru. There are better people to ask and I | I am by no means a G1 god or guru. There are better people to ask and I | ||
do hope they'll chime in. I am however linked to that nickname that you | do hope they'll chime in. I am however linked to that nickname that you | ||
| Line 149: | Line 141: | ||
You can boot the phone with the camera button held down to access a | You can boot the phone with the camera button held down to access a | ||
serial boot prompt that looks like this: | serial boot prompt that looks like this: | ||
UART0:Cmd | UART0:Cmd> | ||
So far I've only seen a single command 'set'. I didn't find very much | So far I've only seen a single command 'set'. I didn't find very much | ||
| Line 162: | Line 154: | ||
Best, | Best, | ||
Jake | Jake | ||
</pre> | |||
==Serial Hardware to Interface with G1== | ==Serial Hardware to Interface with G1== | ||
| Line 180: | Line 172: | ||
* http://groups.google.com/group/android-platform/browse_thread/thread/f03730e25cc3fe55 | * http://groups.google.com/group/android-platform/browse_thread/thread/f03730e25cc3fe55 | ||
<pre> | |||
For the USB pinout, check http://pinouts.ru/Slots/USB_pinout.shtml. | For the USB pinout, check http://pinouts.ru/Slots/USB_pinout.shtml. | ||
Now, converting to serial is (or should be due to the USB specs) more | Now, converting to serial is (or should be due to the USB specs) more | ||
| Line 186: | Line 178: | ||
chips used to do the conversion and they are pretty cheap (like $1/ | chips used to do the conversion and they are pretty cheap (like $1/ | ||
each or less). You could be lazy and then get a usb-to-serial cable | each or less). You could be lazy and then get a usb-to-serial cable | ||
like this one, http://www.geeks.com/details.asp?invtid=800A-RS232& | like this one, http://www.geeks.com/details.asp?invtid=800A-RS232&cpc=SCH, | ||
and put the mini-usb connector on it. | and put the mini-usb connector on it. | ||
</pre> | |||
=== Open hardware/source DIY drones === | === Open hardware/source DIY drones === | ||
| Line 194: | Line 186: | ||
* http://paparazzi.enac.fr/wiki/Main_Page | * http://paparazzi.enac.fr/wiki/Main_Page | ||
* http://www.rcguys.com/66blimp.html | * http://www.rcguys.com/66blimp.html | ||
* [https://www.peigenesis.com/en/military/military-connectors.html | Drone connectors] | |||
===Awsome People=== | ===Awsome People=== | ||
| Line 199: | Line 192: | ||
=== HTC 11pin breakout board (save your sanity) === | === HTC 11pin breakout board (save your sanity) === | ||
* http://www.podgizmo.com/index.php?act=viewProd& | * http://www.podgizmo.com/index.php?act=viewProd&productId=30 | ||
Latest revision as of 08:45, 1 September 2019
Overview
[edit | edit source]A long desire of mine has been to create an autonomous flying solution. I was initially inspired when I saw a competition with the following specifications:
- Solution cannot touch the ground
- Retrieve a metal ring on the other side of a barrier
- Bring it back to its origin and drop it off
The autonomous rc helicopter from Stanford won the competition. Blimps were tried but they flew away etc... in the outdoor winds.
Team Members
[edit | edit source]| Name | Expertise | Role |
|---|---|---|
| Tim Heath | Software Developer, Project Management | Project Leader/Developer |
Requirements
[edit | edit source]- Use a solution that is modular and used as many off the shelf components for rapid prototyping/solutions
- Easy to reprogram and loosely coupled
- Easy to interface with external control devices
- Navigates in 3d space in an efficient easy way
Design
[edit | edit source]I am going to use the G1 cell phone as it is the most modular.
G1 Info
| Property | Value |
|---|---|
| Weight | 5.6 ounces |
| Size | 4.6 by 2.2 by 0.6 inches |
| Memory | 1GB (memory card of up to 8 GB possible) |
| Wifi | Yes |
| Bluetooth | Yes |
| USB | Non host mode but yes |
| Serial | Yes |
| Camera | 3 megapixels |
Blimp Size Calculations
[edit | edit source]air is about 1.2 kg/m^3 helium is about 1/6th of that 6.2 ounces = 175.767043 grams then you'd need about 175 liters 180 liters = 6.35664001 cubic feet ((6.3566 * 3) / (4 * pi))^(1 / 3) = 1.14915539 a balloon with a diameter of 2.3 ft
Blimps for Purchase We could Use
[edit | edit source]I also found out they make latex 3 foot balloons we could use for only 7 dollars that I can pick up locally!
How to create a Propeller
[edit | edit source]http://eds.dyndns.org/~ircjunk/tutorials/mech/prop/prop.html
Servo Interface Design
[edit | edit source]macpod suggested: probably cheapest would be to use a arduino based unit to talk to the g1, and have it use a multiplexer or i2c servo controller. Look how diydrones does it.
Serial Connection Information
[edit | edit source]I am by no means a G1 god or guru. There are better people to ask and I do hope they'll chime in. I am however linked to that nickname that you dropped and so I feel compelled to answer. ( And no, I'm not nor have I ever been, a woman. ) The serial interface you're discussing does indeed exist on the HTC Dream (G1). I hear it's possible to build a cable that is a mini-usb on one end and a normal sized usb on the other. Between the two is a usb to serial device. It's just a nice way to have a set of pin outs and power; it's otherwise not a special cable. If you have or build such a cable, you'll then be able to access a few low level debuggers or boot prompts on the serial port. If you have the right setup, you should be able to connect the cable, attach to the usb serial device and set minicom to operate at 115200 8N1 (and with no software/hardware flow control). A photo of the mythical cable attached to my G1 is available here: https://www.noisebridge.net/wiki/Image:G1-two-usb-to-serial-cable.jpg This is the code for that interface (see the Android source): /kernel/drivers/serial/msm_serial_debugger.c From the source you'll see the following commands available when the phone is booted: pc regs reboot irqs kmsg version sysrq If you have the developer or engineering boot loader, you can do more... You can boot the phone with the camera button held down to access a serial boot prompt that looks like this: UART0:Cmd> So far I've only seen a single command 'set'. I didn't find very much useful information beyond that for the serial interface to the (first?) boot loader. Perhaps someone knows more about this? It may prove to be useful... Another interesting but unrelated (GSM) test function is available in the dialer program when the phone is booted by calling this number: *#*#INFO#*#* Best, Jake
Serial Hardware to Interface with G1
[edit | edit source]https://noisebridge.net/wiki/Noisedroid/FAQ#USB_to_Serial_interface_with_the_G1
Helpful Links
[edit | edit source]Android hacking
[edit | edit source]- https://noisebridge.net/Noisedroid
- http://www.android-unleashed.com/2009/01/root-your-android-g1-with-rc30-firmware.html
- http://forum.xda-developers.com/forumdisplay.php?f=448
- http://andblogs.net/2009/01/new-future-proofed-pre-cupcake-checkout/
HTC Pinout/discussions
[edit | edit source]- http://www.tracyandmatt.co.uk/blogs/index.php/2006/09/10/htc_hermes_usb_connector_pin_config
- http://groups.google.com/group/android-platform/browse_thread/thread/f03730e25cc3fe55
For the USB pinout, check http://pinouts.ru/Slots/USB_pinout.shtml. Now, converting to serial is (or should be due to the USB specs) more than just running wires from one connector to the other. There are chips used to do the conversion and they are pretty cheap (like $1/ each or less). You could be lazy and then get a usb-to-serial cable like this one, http://www.geeks.com/details.asp?invtid=800A-RS232&cpc=SCH, and put the mini-usb connector on it.
Open hardware/source DIY drones
[edit | edit source]- http://diydrones.com/
- http://paparazzi.enac.fr/wiki/Main_Page
- http://www.rcguys.com/66blimp.html
- | Drone connectors
Awsome People
[edit | edit source]- Macpod http://macpod.net/