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.
   



The implementation of RTL function


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