|The implementation of RTL function|
Δευτέρα, 5 Σεπτεμβρίου 2011
AUTONOMOUS - REMOTE CONTROLLED VEHICLE
It s a simple implementation of ardupilot ver 1.0 with a few add-ons. FTDI usb to serial interface is used to program the ardupilot, an RF data link at 9600baud transmitts positioning and other data , and standard 35 MHZ r/c equipment is used for vehicle control and activation of autopilot. Oziexplorer is used as the logging and mapping interface (for real time position indication) via a simple trick : Distance to home (to launch point) is injected into GGA NMEA sequence instead of altiude (by regenerating the sequence and transmitting it via rf )
Unfortunately due to the complete lack of suspension and because of the ultra simple steering mechanism of the extremely cheap (6 euro's ) jeep model, when RTL (Return To Launch) function was implemented, it produced a funny track to home as shown in the last capture from Ozi interface.