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From: Zahrah B. <mey...@ja...> - 2007-02-13 17:59:32
|
Hi, Save over 50% on your medication http://www.ledrx .com Remove space in the above link Ignored our letter. We kept trying to talk to him about it at Hogwarts, but he was always making some excuse to get away from us. In the end, he turned pretty nasty, said Fred. Told us we were too |
From: Trammell H. <tr...@us...> - 2004-02-28 16:35:00
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Update of /cvsroot/autopilot/htdocs/images/rev2.5 In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7379/rev2.5 Log Message: Directory /cvsroot/autopilot/htdocs/images/rev2.5 added to the repository |
From: Trammell H. <tr...@us...> - 2003-07-04 02:53:18
|
Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv14046 Modified Files: index.html Log Message: Updated link to the data interpretation Index: index.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/index.html,v retrieving revision 1.103 retrieving revision 1.104 diff -u -d -r1.103 -r1.104 --- index.html 4 Jul 2003 02:31:25 -0000 1.103 +++ index.html 4 Jul 2003 02:53:15 -0000 1.104 @@ -106,7 +106,7 @@ <a href="images/nova_proto/command.1.png">Test 1</a>, <a href="images/nova_proto/command.2.png">test 2</a> and -<a href="http://sourceforge.net/mailarchive/forum.php?forum_id=296&max_rows=25&style=flat&viewmonth=200307&viewday=3">interpretation of the data</a>. +<a href="http://sourceforge.net/mailarchive/message.php?msg_id=5438268">interpretation of the data</a>. <li><b>IT WORKS!</b> The system hovered Dennis' Nova for several tanks of fuel, holding a position with full authority on the cyclic and |
From: Trammell H. <tr...@us...> - 2003-07-04 02:45:04
|
Update of /cvsroot/autopilot/htdocs/images/nova_proto In directory sc8-pr-cvs1:/tmp/cvs-serv9612 Modified Files: command.1.png command.2.png Log Message: Added north velocity Index: command.1.png =================================================================== RCS file: /cvsroot/autopilot/htdocs/images/nova_proto/command.1.png,v retrieving revision 1.1 retrieving revision 1.2 diff -u -d -r1.1 -r1.2 Binary files /tmp/cvsQTSeqO and /tmp/cvsAPMCys differ Index: command.2.png =================================================================== RCS file: /cvsroot/autopilot/htdocs/images/nova_proto/command.2.png,v retrieving revision 1.1 retrieving revision 1.2 diff -u -d -r1.1 -r1.2 Binary files /tmp/cvsIUpcRS and /tmp/cvseyM9oB differ |
From: Trammell H. <tr...@us...> - 2003-07-04 02:31:28
|
Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv11802 Modified Files: index.html Log Message: Added links to the navigation test charts. The interpretation link needs updating Index: index.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/index.html,v retrieving revision 1.102 retrieving revision 1.103 diff -u -d -r1.102 -r1.103 --- index.html 16 Jun 2003 22:43:05 -0000 1.102 +++ index.html 4 Jul 2003 02:31:25 -0000 1.103 @@ -100,6 +100,14 @@ <p> <h3>Latest news:</h3> <ul> + <li>Successful navigation tests: When the autopilot was engaged, +the cyclic stick became an absolute north/south position with 10 meters of +authority in each direction. +<a href="images/nova_proto/command.1.png">Test 1</a>, +<a href="images/nova_proto/command.2.png">test 2</a> +and +<a href="http://sourceforge.net/mailarchive/forum.php?forum_id=296&max_rows=25&style=flat&viewmonth=200307&viewday=3">interpretation of the data</a>. + <li><b>IT WORKS!</b> The system hovered Dennis' Nova for several tanks of fuel, holding a position with full authority on the cyclic and tail rotor. You can see it |
From: Trammell H. <tr...@us...> - 2003-07-04 02:04:08
|
Update of /cvsroot/autopilot/htdocs/images/nova_proto In directory sc8-pr-cvs1:/tmp/cvs-serv8965 Added Files: command.1.png command.2.png Log Message: Commanded and actual positions during navigation tests --- NEW FILE: command.1.png --- PNG A?Ím*³WÝ[T1°rlÁ¸i!B!äg¼Ïçýë¸0Ý»¡>·À_oÄ é\üÙÿÝl³*?'Pã[UÚ5Tk+¶I§®íݼ)YÛ{Bdùc*Xjù}(LtW·çòÛ^m¢ÉÚÏkͲ].µH¼àòÍJR=HoMú@y#vß4}Û´ÆØxl[ãþìýÄ&é]Ö&þò2daüCʶïÝC6k8¸³ÚÖÐÖ´þØ$÷ªaã ,Â6£xtyºTؤ2CyWÆEa¼@[[ÆI`äØ.çp¢f&p|å+ÀÆWcÌB`lë®[_ÁÅ(Ö½¸2êkË1¶|+ÜOT{·Â ².D wx*R§ÀÇë9ü&«7ÿO?ñt?Sçj4u ts-ñ1¡WF ÉÊúWC ºx|6ö/?¢óñx©Ï§M2¤|¼^nÏã¹×J>æEx02êðÓ%ò©ýÃ\Q<> pT*°ÜW§3ØL#Ƕè{÷ÀUuàktõô¿Xàc)ðu m ÝĽ uàËO\uÅ{Zá×ó°AµxÇV8&AèBr§B B B+òðPà ¡@ ¡@ ¡@ ¡@ ¡@ ¡@Xà®®^ ìvu6¼é4¨À÷ ¯«Ràã5ÞÝh;\¿ßN`mNßoÅà"ÛáúSe~÷\Øà®/Ä×Ûkuße[a¹µ|5Èã@gòÅ e1èo§@åñ3îdYé=2 ÖF:)PA(B:ýMSà 9ÚRå稤¸±ÀT!'¡WPà ¹°¦jA \ªí(PEº½¥@é#> TA iò \¹t%¾E($wñTª)0&ûýnýN²K1ùûòM1²q'Ìúm غ7ظnF(0bó~ÊU ³q+[C(º³H2>ß\ R` Q\\ñ§À9m° ÓP J`ÈPàýû'¶£-³ÛU[?Éê¨hcÚÑ/(pèÆ[jÜ8,®öÆá¿ý# Ô÷;M8Ä_¿ïþ¶ª_þú¦ ãJý¯i{ûÓØA;¶AÝðËì[?PRÛÿÇO7mö{ÎkDÙàrÚúþ!ú0Ò¢}¯Ú©)!ð3~=~ gæ¯@1VUYËäTÀe Þw2-Fg²ªXà±lNà²Ô¦?z.¿É8*p>p¦"»jÂG#ÓaL]¢%¡@Uféüª¸ú.²´ÀDS\ÀÕALqòk¸Þåâå¤@]n餮öûRÖ"p}?"0yAp4â%PÝmÉ<So¬NI®/°w·X¸0'sIzÙ×hV¼)Ì4É")0ièðêCùnJÀ²Í¿]Àþ'g-ÔÅÚ{rEÐAâ{ͯ«t»jÊF7Ç+¸¼@Kÿ¡%©B`[ø<D÷ Z¿* 5÷ú¬Sà¡oäù.WÓT+ð¤|«>' ܯ°" ÜïzE¹º5Pà|.^§\¨ A(AdØJÏãLàºz%PÔ÷¹vgÃ÷°ìä¸@7ÆõUÿ'v"ü×S®/3D¸,>in^þVàµZaqî~¡@ (sgø\sob(A(An"PÜM ÔC r@õ5ýêÊRws_EôQ P P P È]ÂDFn+°TÎB rW ¡@ ¹§ÀbÑwXèÉǬP .ë$¨Ë: ê²NBº¬P .ë$¨Ë:IEó§@Yg¨IàyYg @MÖ(0µöþ6±«×UF¸w²¨@õ Îþ¯RàF¸þ7ºâ{×?()òqwÁ:°äQà2ï¢À«t¸v²ØµT!ïkCx×ÿ¤À ÔPÀ²MÍ;G-·Á÷X¸¤Àyg¡Àí¼³PàvÞY(p;ï,u,xSÌ*ï *xbÞü©@ã/Âk·méþæÅð9Ûù8Æýk__Ù 3Ñ72Æ|ßêíÞàØÀõ0aùø 3βê¤Ó+ êÞ&sæ³Z÷/ü^~;CÈcJ1Ko¦éøg;O¶ì}½f\¥Û6|ì}øèýçïBjø;¬Íø9Æ}kÌ<DûÖ¸]o}ðåÝOïÆ6kÜþýqÑÞþ3n%a¹v>Õ9[ÝWÃz;ÖüìÔ߶n1ËèC°Uª}_#ùmÖÿ,;r'´ÀÒ£ÄöyÌa1ãH6§Å_Y1è`L í÷Å/Î((Ðnf2»ÁRµWáú ô¹~_²º÷ô)3 ÷v+;¹¯Øý$N¬üEN©ÉnS¡ÊFÌùúo¦.»¬!å^+,[ù`ñþj¤û¦¢ïi âîïl¨óÇç^ÇïNåVíÉîÉÅàÅß/Zг´ô¡âÌñ[8R1þÆ÷Ëå®cí/õ]_ຶ;íºÌõF ^¶8N ÂxéìuÔc@%P P P eVSÃãR På!Â)PF,ÂÒá(ê±. N2¢@Ö£=Ö)PÇI(A(A(A(A(A(A(A(A(A(A(A ,õÈë@ B B B B B B B B rTààM"eî®ãL ÔÀðÇ JCS 8ú$0M2¢@©Ã5ʨ{B2<LB B B B B B B B B B B B B B B ¢Úe LC B B B B rP`×°«ç À;G 4Â5ÊÈ ®)P ÕáZáeØá:ÍÑF®<¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ ¡@ )*P÷¤º @ ¡@ã !Â)0(ÐϤ@M¢DÚߨI¨]wǦ@ ±Çºu`ÕØ ëÇi(A(A(A(A(A(A(A(A(A(A(A(A(A(A(A(A(A(A(A(äOfߨÛN¢LTlmÿ×F׶£«Ê3Õ )P¹"÷¬ÍÞös>÷£× 6Õ]`o Äð0!r¡¶O Î76Ýø¨\¢!A¦az º"Ñö& 2vªËe4%Êl_M°Ú·áD¤³?~àãw>ÙCÈæ>4 «qéÌmlO·Ñ6Ñ<QqmÒa_8³Ùä> dØ©uM'5 §Ô&9d[aU" --- NEW FILE: command.2.png --- PNG õ B P B P B P B P B`AùÛ+°¨>û B P B P B P B P B P d~ ä8Td_ óÜ H9m 0«Ïþ u]c @ªp à8>Õ{k²¾ d¢Í}zãq{»ÉY1pÌT«sOëâúÏR«íýþÖn 3RÐ5áÜB¦ÖÒµêÑ»í»²Ì>]ýzUºpÚn®Hö ûÿh#Íäe¬ U ÐiBY ¿^ ³¦G @G`þWqS¾0µìÉ;ªÂQˤlÈþv(ì KÐ÷ã!H.{âe%ðf³0û\ù© ºEôÔ²'õ àúfßÄMêԺ˧Øe "ï´ Tì²'è ñ15æùôz^àä§Nݼ£ ®yÛU¤bÆö{Ò~ Á?·Ñ°Æ½ï§`¶éä Ðýó&ÐìÊØßof½ Z B P B P B P B PU B P B P U0õ´S B P B PµO6¤\4ËÌB P B P B P B P B P fÚÆôV©äV³÷«±J8kf3V*ÃV§k<ªÙA5{ÆBÊæm¹CU忶fKÂY3±böü³}6´^/{ 5Ósf6ur?9¤\\qÌ:·*s©)W 2¬fBQó¡ý*|Ìö*üxäÁTºÅÇëíQ0³+a¯Âù¢îæÌ; ·r~÷|嬾}óÌtÃðö.x{ØìÊÀ4sÌm'oܺ`¾apª0Ӭи3mÄX**ÇlÕÚÙú½3Ì÷`oV¿©kÒk¦Ve{aåƸ*cAAÝ\ÿÑ®ów²÷ |
From: Trammell H. <tr...@us...> - 2003-06-16 22:48:22
|
Update of /cvsroot/autopilot/htdocs/images/nova_proto In directory sc8-pr-cvs1:/tmp/cvs-serv19882 Added Files: trammell.jpg Log Message: Me flying it! --- NEW FILE: trammell.jpg --- ÿØÿà ÿÛ $.' 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From: Trammell H. <tr...@us...> - 2003-06-16 22:43:07
|
Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv19071 Modified Files: index.html Log Message: Added successful news Index: index.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/index.html,v retrieving revision 1.101 retrieving revision 1.102 diff -u -d -r1.101 -r1.102 --- index.html 9 Apr 2003 15:49:21 -0000 1.101 +++ index.html 16 Jun 2003 22:43:05 -0000 1.102 @@ -100,6 +100,18 @@ <p> <h3>Latest news:</h3> <ul> + <li><b>IT WORKS!</b> The system hovered Dennis' Nova for several +tanks of fuel, holding a position with full authority on the cyclic and +tail rotor. You can see it +<a href="images/nova_proto/bench.jpg">on the bench</a> +and +<a href="images/nova_proto/handsoff.jpg">in hands-off flight</a>. +There is also a +<a href="movies/hover1.mov">short Quicktime movie</a> of it (4.9 MB). +There are +<a href="http://sourceforge.net/mailarchive/forum.php?thread_id=2594676&forum_id=296">more details in this posting</a>, and more movies to come. +(16 June 2003) + <li> <a href="download.html">Release 2.5</a> is out. This code has many updates, including a new network layer, rev2.4 hardware support, diagnostic utilities, |
From: Trammell H. <tr...@us...> - 2003-06-16 22:37:43
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Update of /cvsroot/autopilot/htdocs/images/nova_proto In directory sc8-pr-cvs1:/tmp/cvs-serv18292 Added Files: bench.jpg handsoff.jpg Log Message: Nova on the bench with IMU+AHRS and inflight with hands off --- NEW FILE: bench.jpg --- ÿØÿà ÿÛ $.' 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From: Trammell H. <tr...@us...> - 2003-06-04 21:20:07
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From: Trammell H. <tr...@us...> - 2003-05-23 16:03:49
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{ QF¨{ë|¶æ"wàÑÈzºIvÛjçµIpÑÛ̾\¢EaÞÕS rX?®Q9%}¸#Ú,vëq¹H'8Ec£Õ´k=6ÞuÔ!dÛVäwæ/µ6ù¸¶Ø#¥r CNO½o[ÉZFHêG¡¥ÔÔZìñP1Ààtªj±%³ïRmÇÌ!vÍ? ;Ôðñjçs Ñ^âèvï*ýJ§ óÿ #Ä1ð{f¤ åm4Æhm²`âºìtÑh§6ÝÇ墨emàJý(óqÎsíb·ðqS7ûHÛç½@ÆfÍbv«rÜ,w©)Øã¥>uvPc"b1!e$Q¨DÅ©Ø:ä¼M6Ûw(¸ZíÂÅlb¸ÏFháN1ÒªÎĶy̹²{ÖÇâûGí-ð~+!ëZ^¥ñ ²§$#J±]ú5þâ$l¢9 >°®¨Æ)hsâ%Ë^Û*Tò*È ¶*O§ÇçZ¤|åG©§Ò¹H^d^zt®ºaÇk×7¼çîñC:ðJõ ;@¤ ö¥ÈÅM¼&p0{ÔÖÜ»ñ´í¨KsÛÞ¥¶ÛÎÓ§¿µ0c·rÀ $b¤;¤!8úT7gùUÎBåKö6»ÝiQe`-wÊr}h¹a)ùTi;F ñHAºÓh×#î[#`3~56®,`Fxu«Þ|Lé°äþ5Kâ@îÓ"I ´á[n©Åmxzxż²å3ëTîU¦ÓÆ:Ö6 x ÔìÕnävv èS çÄ·¡¤ ½7ï é"·!\þÌéäï\z×O ]AÁMAb\öÍV6æY]»ýÞõhÈÑeÆE4ÂÓ˸¾½«¥°Ì2àÑQ4và{ÑNáfUY%%{ÔåÖN«:SZ(ÇÎìiìbÎ@J íg9~uÂjgv ÿ ¨*É«$ ²²®v©À5ÍØÒ®q*×V62)ðØ®ONâaÞº2§¸¬(ÜL°¥Ü÷"XHj`ã$²ävõ¦¤k)&&#=W×±H² O¾i·,%cÛç´¥¼ªÁã$ÐeÔi³Ôãp>+uT¯ûB»Ë PyêMyïÝ]p£åR°nr|69[Iq«Måñ²$æ±Ût»á9ÞÖêùã9&ôq¸É?J:÷©ä; 3ë×ÜÕ"g[{å 2®Â£¸©æWÔmi¡ÞÝEÇ*¾ 2¾zà{×]áÉMpûEp~(çGÔR/3å0ãëÿ ¹$ö£AÙ¢HQ¤t4K, |ÐÕXù«)Nr½GZî$ÈEon(Ðí Ïz³g ¥ýíTÿ Ié]gl\¸ $õ ñoì×À9<qô¯2A¯L^â~4J03¼ÅF¼×>)hƦ9+«XDËò`W'§ß 6X¨8>õÙ®©&¡¢,òŬ\íÔ1¦ÖpW} JÇsãO Yé[Ø 2ß{=Eyí¢Þj¶VE#4òÚ½óé^âýrþóÃÖðÝ«}R¥± WfóØê¶Wºy"æÚA$l£îUή5{hkxÿ V¯C¡Úx§Â÷·5Üü4±Ø¤yA<18ô÷ü+Æà¬[¬} uEr>>¤´:XäçF l\ë÷÷º<\ò£YÀT :dþ5f GM÷O#ZÝ.§Ïºj,dAõ®kÅpyv\ wÆMo\Nª8Çs ¼þÒµÙWFv®,ÇIØ 2îÉn<?}o¥%óZÎ#uâC<sÆ gi6&ûPÙ2Y0Ú¹'õ?x§Ä °kx~ÊÐ¥¼J4co ÀôàòÛ9決{BË,yÚGPZΣØ÷ÒKcWÅ>Ô|©oyHµËFÄÉ^½>£ó¬}*Ý%Ô³Çhâê;Âx[¼×f²7#ýªÌÄT¥f1¼óBTújrVv¶ÎÄKèºqI¥Ï¥¬Ky1'ÍzgµEà}> OÄ/o¨i×÷ÖÍ̱ÙqÜqÏ»Õõ bÞ ukîn¡Êß+d ôÕoÂ>3Á:´ðF'2ÂbxØàÁûqC]¬%£2õûì¼OªÚ[[Ü[AænW"ÿ ü¤I¸ý3íºP9¯wsZÍE4n»LC'¡íPè ¥Ë¯[ůùí¦bâ¾[Z»«ßØêOgªYF¶¯0ò¤µ\F7gÞ²ô[«+?[\ji, Xʶ§?Zŵ¹bÛgWâûfhZeüÖâÅäv´D Ê3´8ðEzP·²HÐ`=Ír¶$Þ&¸MÅebÖûH\ñÃèV¬0IÉf³µ:i£m°Á<ö\Ô|-p%³²âVD Ǩú½@ùzêòÓn*TÚ-Ó*x]´ñT©smcrkyoÍêN`ÙÙ]M Ia*W '©õ¬u¬ÒpBî8öæ´íõ;¨(dûØlH5k} ÕÔáo ܯÎå;«ã"aYHekÐr6Ô«&hkrǵ{ÿ Å¿Ä-2;"Ýä*Ì»+Câ$°xÞæ; må«dvcÔVrHó*`a'ÌsSÝÉsI=*"Á#îàb)åpGsÛiÞ "o«JÎÜúà©«Dó_Öoí§·¸Ôf#£t t¬9ÜÛà'2cå´YíðTFy÷éP¢Åb£%¹â£~¦©¡¼¹N}:U¯¡ n½*L/b?:¹¥Cevoòw¶X¢ÝÜ%îJJíê2`w)sã,Urá´ç;F|ÁÜUé"Ù9u\+¤g8¨¬téoÌöÑЪ>vÀ8íõªZ» ¡¸iß2òJò}k>ôÈ<XåQ¾ZÜ/ÝçÕ;C5Ì*0p=ÍMìÊD2ÜQZpW;ñÐ+6m%C«Üô5©ö+\½â"c$JZ&ú3:Vó&1í :õ«iÎͺݱ<©¥Ï¹q¹ÞØÂdȸõÍbjº¯D027ãû¹ç d¥ÛÈ|ÉÔÓ$EEð/ZM¢ìI¯ 6MJIteÄ¢â9[snîsYöç¾Õy¢Ý¿jÙGèpÅEÒfz²d©ZÓ¤[MJ+f6¶;TÈ>µ8Z|ÖwB±ÖE®Ù7VÜu§.»k·$úb¹%#Ó½L¥iõ¦ºÈui¯ØíÃÐC§ß!vß ÞHÏ¥sçßMÄ@}é,Kêéÿ ¡}+xÈH8ër±ùy<UñXÕ õà{Vö1µÀdê+WÈ=½À©RÜw©tÑPÌêÜ;ô+Êâª^ÞË4L)çÖ¬x£1~T{$lóJXÇX$8~¦«Ï¤<Ͻ~Sê½Åt+¾!sMA-yf_SEH¯ÝO«ÄðäL ðEta85¶êãåD¨ÆHyE+KS¹¼ðÊJ¶r§¥iÙÜÂ@#Fà`ZuåÂýÞÙ¨dv¢WM¤äסgÊÏ ¡^5#ÌO=ªFé`*?Gè=ûµabaÂ8*òiIïëRÒÆòÐÒ¸Ûû ÉÓ#îÿ !{dÒöíQoç·ZzRRr3úS®Z'ñ©9éÒ¥!ÜØÓ0 óé]d6¸ÏJçt¦`}{×KÀ æÚ8a]«8¬é5;Ô_PPºÞ5ÝÔñyîÝ óÐ<`¢µ¢öG£Y»ßBå±P·æãOi(ÞB¥ éPÚK_ÒªøR¶`u,ÇéÀ:_=kl#y±*üëÍjè^¹ßýµª\Y¯<¥ê}ÎÖ®_JM¡ÚÉ@#¼¸$ã~hm¨T½-ZÛN·Ô$K»êØcd. ý~¸ª^[ã§AæþÎ;P&'Ê GÍ'+íÉÁé(ã' uÅSóN9$ScZD¦úMof['û»i~gï$}¸íYâR=ÿ ÂpYx Ò²Ù¬UÕ¡â1ë÷çp=+£ÁvPø×ÄW:½»ÝÝ6OQ¸õÎp3Ò©v©ÒtJÊÒ²¸æ0ÞXîêk§½ð»¢iß`F(t`Fzsé\ç|Wye6DÊ#òÕØê<yöý7S]ÇuZÔ¸óÀõÅRBo±ÊË Â?zöH¯|±QÈçÞ¸]{}3Çzv£|[;{ ò¹=úzã¯á]É7ójS°i=)ÈÏÖ°-âÒDwPjvóÉ{<èccQBÑeÿ ¨ûS+d<õ©Ræx"CÓ«Ú¢^)Õö6XcñªÎºgîÕCgç9©¾Ñ9|Ã0xíB«Ü_ÙôÉÿ ª¨S¸RNÈÀSF«0êëQÈö£aÏÚ»}FèYV\Àõ~B6ÝùV722 LcîqT«´c<ºágKöÂòÜ ¥u¨)%TðQY`> )¬&wI-'0¶AtéÏj2«¶[W4Htxµ¤[¶}4#*ÛC=ë:Ue¡£I£òçm<oy:ã¹q(ɤ¸ÙoîÕ\ZXÀ²²¦~P}ñMsòdtª©7'¨¸ªs»XÓcU¦UvK¥u?2©÷©W¹st«*C õ?J»®ßK¸òÁ<s4q¯Ï¶JÏÖ® Æ¢Ú7{Ô¶Ö2ɧ½Ö6ÁªÇø|W|RKB.zN¤Þx+ach^VA6ÒpÔظðßï'K¤Iä¨\}sUü!âÑ4Tò£ËÆ ÍO>XÜ+*êèÐÐÒø}ÄWGÖt>SÁ®oIÜìµt¡È ÷ëÔEÈ`òc8' Ñ%¤o(vÔÈVXÁYX±î)äS ôÍ Üv£f@úæ¤#8í@Q`3¥qÛ=è#$T#Û)6`t©qéF8äUsñÆM8/>Ô¸åT½F Õv'q*@â ÛëZ·2￵[hmPâ5$`câªÓ(ÝÒþVz×Go)L9^=Msº6<Ñ»¥uÁaULf§©rQ"²gÇy¨¹aòçÖ0U8B3ÒªKæJøB[ÐWYE³8MSûBå>M£:Q@bëeÃȱÛO5+ýàr½W@¨Ë3ÓHGâÛÓös60q\#'<×[âìù ÔîþUÈuëÏ¥CÜ!øÆ*]$ïTÝHz´3sÂ1iÌ»#h{tð^KjÆ8þx²AFê>¹ +¾·ûµÉ±?Jè,¬xȨ^Æ´ÚÞA²æ&¸Ããñ¨#дrû}³U£Õvn8ëSErmäßen¼µ tºg .fGOÑåQw´¯]½r7kÕ§³H£¯Éõ©.5ÍVåBIrUWhQ! ³IZÖ3}¬¢ÃÜÈdÇ?9¦ÜÝAù6ª#P9 U)/O»¸û+Êß7=ñéDåæA.ÜôÏzFH³~ue!b@ÇÓçl.jhÈ^U\fºôA Ïäåt´TÝ«¨I hÊ¿5m@Íî+(r6?ºiB¹ È\~´×M »'¦j¼"ü]%¥r2l«g4UÕÞÊå°ÒªÇ%séÍG<pÈ<¶^KÈöá8éNó¼èÕ 1.ÀTã¨ÅlàyD!%ÐÐ0Ïâ+Ó¦Þü,AC6ÜÂ=ëÆJKo?;£qÓ¥nh^,¾ÑfóâÑúþå¶Üîü£p§&ù8sVÿ y5²Ö>ªÀ¨È¥¸ÑLÈ®N?ÚÊ¥íb(:¨=jÓ|Fºsû½>5Ï©£Ù1êmÌØÁ©Â³îï\éñýþpQú(Í:?ê8PÄwÎÞ{!êt²xP ÈOª¶Ó*¡÷¬§ñ%åÔxå°9?-DoLä³JÌGµ]ϹºÚ¹1Î\µh*GªÍÓ=+:õ¾NÁ¼C¦¬p8È¥Ëä;3§_ ÄWéKëH¾P ó2GÌC»ï¸=*QâDHý©¶È¥Ê»+:ðÛn>l ÀSÃnFC}+ûz)0Zå³õ5,^ ®ù°F0hq] ÈÍhü5q+)ÛÚ¼1u$௨5iâY-ÁòîÁT!ûÕñ¼Á·3ÄÀò(.Ái¯.Ô ,«ùU¨Å ÌÑmX´Þ=iOÊÊG¨ïT\aÚe@PM,:ìqdÃrªÞ ÔòÅ©zO\Fß6)ðÞ3 chwAwydÖñ°gãÈÚGMÔF ¯¾¥¤e "åz¡÷ö§G¥ÎÍ,ã=kHøÃM¹F_¾MFþ4ÓÄaDò¥/fOû*mäl fÒäFåzVñ¦1Vl`cUTñ®ò":§Lâ± J¦ÊN6dTÇHcEN<c£¤ø))@»Öÿ O¡¹/Ô.xÒiWl¡,WéAÓ®Cí6JöìäÙ¹QTúb«¶6à#Ü=¨åhW<éW[Ih[¸¤M"èÚ½[D¹ÏqHÖq Ä©íÇLSå>t ¿êj4û}¾Ký:W³}óË è gn²3$i0)8_¨îxÙÒî_-ºúR˦ÜƸ0¾>뫦B Ýs)dû;Ç êE%+@UÑ\ymíJEÚ3}«×ZÂÞ0³|¿\U,n@; ÇJj,gó8òXLv¦cÞ?öÅ{,Úd",G´0ï[Cy{l}à(ölJW<|é«É ¯*§ÜrV68ë^Î-TQìïhÓìãr« Ü)¨çÏk2 >Ô¶k`UíÏ5 Dù@A@Ë; 2±?ìçÖ¼KʨàgµWPsqéW!QÁ¤Ýƽ¢®e\ÏÚy¾L9I'\®£Æ+³ªl-Î{T¡¢¤ gºó¤FÚ½m ÀþT.3ÚXÌCºþtUlªHÚß\\¨hä 2È:ä<3)R!÷¥ô¯`Ò;7B§ ×]X¶ây%ß`jZêGbõÊd:óYr)Jè/£ !eÆ bΧw+ÒªáÔ¦pL´æ#gñzóT´Bpàµz0jôõ2'4É!ààb©KóõéWpj¬kq¥R¸àp:½nã sU hß±éQ=ºËÈûÕ3"É»v~^s3Òã@î6;@mÊ9©PpʧozxiéOEusæsEÚ¡PÀ÷ ËzXO·$©Åî$_,½iseUdÊëIYöð¯´éc!|Øüèï#q »ÐSL¥ó³ä×½8G¹÷çwÒ¥ÌaJ®P¤Aós¸ç¥,;XÓ«B4YCì*bbHÊí8ç½4±Ll¼¹9ã5=ªý²Â{¬F\£ÒUÜH~G%ä|ªìñÅ5ï çÞ·q*Ã=cû÷¡±¹@y<zWBȪÞâ¢Ý6àCµ,rù PQÔR¸Ê½³"®Óò¥y ¶ñaÆ óhS"¦ ú欱ÉoJXÕ^Îÿ Ï8ÜRaòòa^ÄÈ·GåPPõuª×f&VkD ÛÇÝçήÚ+2:b½ éÑyv BÃ=mÙx^Þ6Y.dÞsÇÑE0WedÛ»(§VyÇ¥¸ì$B;eZu¼ê®r\õµ"ÛSñLÆF}óH eüÃ>ÝiSå½Í:L:èAàTÑ òÂËÛÖÆWh¢EÉbYºqLf¡ÛËÉ=*âIwÞ B¯)')? .' 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From: Dennis D'A. <den...@us...> - 2003-04-09 15:49:40
|
Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv25447 Modified Files: download.html faq.html index.html systems.html Log Message: Updated website with new hardware and software links Index: download.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/download.html,v retrieving revision 1.30 retrieving revision 1.31 diff -u -d -r1.30 -r1.31 --- download.html 20 Oct 2002 16:24:37 -0000 1.30 +++ download.html 9 Apr 2003 15:49:18 -0000 1.31 @@ -97,14 +97,12 @@ <!-- TITLE= autopilot: Do it yourself UAV kit --> -The latest software release was in 2.3 back in July 2002. There have been -numerous changes since then, to the hardware, the onboard software -and the simulator. We should make a new release now that things -have advanced so much further. - +The latest software release was in 2.5 in March 2003. There have been +numerous changes since then, to the <a href="http://www.rotomotion.com/prd_IMP.html">hardware</a>, the onboard software +and the simulator. <p> You can still download -<a href="http://prdownloads.sourceforge.net/autopilot/autopilot-2.3.tar.gz?download">the 2.3 release</a> +<a href="http://prdownloads.sourceforge.net/autopilot/autopilot-2.5.tar.gz?download">the 2.5 release</a> and the <a href="https://sourceforge.net/project/showfiles.php?group_id=36164">earlier releases</a>, but it is better to work with the CVS head. Index: faq.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/faq.html,v retrieving revision 1.17 retrieving revision 1.18 diff -u -d -r1.17 -r1.18 --- faq.html 31 Oct 2002 21:39:04 -0000 1.17 +++ faq.html 9 Apr 2003 15:49:19 -0000 1.18 @@ -172,11 +172,8 @@ <a name="1.1"></a> <li>1.1: <a href="#buy_it">Can I buy it?</a> <br> - Not at this time. The software and designs are available for -<a href="download.html">download</a>, -but you'll have to build most of the pieces. -Occasionally we do group orders for parts when new revisions of the -boards are designed. + <a href="http://www.rotomotion.com/prd_IMP.html">Yes</a>. The software and designs are available for +<a href="download.html">download</a>. <p> Index: index.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/index.html,v retrieving revision 1.100 retrieving revision 1.101 diff -u -d -r1.100 -r1.101 --- index.html 28 Jan 2003 05:31:30 -0000 1.100 +++ index.html 9 Apr 2003 15:49:21 -0000 1.101 @@ -99,68 +99,78 @@ <p> <h3>Latest news:</h3> -<ul> +<ul> + <li> +<a href="download.html">Release 2.5</a> is out. This code has many updates, +including a new network layer, rev2.4 hardware support, diagnostic utilities, +and more. (March 26, 2003) + </li> + <li> +<a href="http://www.rotomotion.com/prd_IMP.html">Rev 2.4</a> hardware is now available. +Updates include high-speed tail servo support, ground plane for reduced noise, seperate +xy and z sensor boards, tachometer support, and more. (March 20, 2003) + </li> <li> <a href="http://autopilot.sourceforge.net/cgi-bin/source?onboard/rev2/pcm.c">PCM decoding</a> is progressing. I've done some work to analyze a few frames and have produced <a href="images/pcm.png">an image of the PCM data</a> from my Futaba 8U (28 January 2003) - + </li> <li> <a href="download.html">Release 2.4</a> is out. This has the code that actually flew the helicopter a few weeks ago. (20 October 2002) - + </li> <li> <a href="http://autopilot.sourceforge.net/cgi-bin/source?onboard/rev2/ahrs.c">ahrs.c</a> that runs on the Mega163 at 25 Hz. Six state Kalman filter produces an attitude estimate from the accelerometer and gyro readings. (19 October 2002) - + </li> <li> <a href="bib.html">Recommended readings</a> from Aaron Kahn (15 October 2002) - + </li> <li> Flights with the seven state filter and compass. <a href="hudson.20021014">Images and details</a> (14 October 2002) - + </li> <li> <a href="/cgi-bin/source?downlink/ground/src">Ground station</a> written in <a href="http://fltk.org/">fltk</a> (10 October 2002) - + </li> <li> 16 bit -> 8 bit SPI bridge works (27 September 2002) <br> - + </li> <li> Successful autonomous flights! (22 September 2002) <br> - + </li> <li> 2.2 board flown under manual control (18 August 2002) <br> - + </li> <li> 25 Rev 2.2 kits shipped, 10 assembled so far (1 August 2002) <br> - + </li> <li> Group order for 2.2 boards (July 2002) <br> - + </li> <li> Rev 2.1 board demonstrates inertial sensors (July 2002 <br> - + </li> </ul> <hr> @@ -169,7 +179,7 @@ We're building a system for autonomous aerial vehicles for the hobbiest. The entire design and all software is available as Free Software, licensed under the GPL. The goal is to produce -a do-it-yourself autopilot kit that anyone can build and fly. +a do-it-yourself <a href="http://www.rotomotion.com/prd_IMP.html">autopilot kit</a> that anyone can build and fly. <p> Our initial target is 60 sized model helicopters and less than @@ -189,7 +199,7 @@ You may also want to view the <a href="faq.html">Frequently Asked Questions</a>. There is also -<a href="download.html">source code to download</a>. +<a href="download.html">source code to download</a> and <a href="http://www.rotomotion.com/prd_IMP.html">hardware to run it on</a>. Project details are available on our <a href="http://sourceforge.net/projects/autopilot/">sourceforge project page</A>. Index: systems.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/systems.html,v retrieving revision 1.36 retrieving revision 1.37 diff -u -d -r1.36 -r1.37 --- systems.html 21 Oct 2002 04:11:29 -0000 1.36 +++ systems.html 9 Apr 2003 15:49:22 -0000 1.37 @@ -131,7 +131,7 @@ The Rev 2 system consists of a Linux iPAQ for the computational engine, an 802.11 card for networking and a custom realtime board for servo control and inertial sensors. Specifics on the -<a href="rev2.2.html">rev 2.2 realtime board construction details</a> +<a href="http://www.rotomotion.com/rev2.4.build/rev2.4_build_toc.html">rev 2.4 realtime board construction details</a> are available. <br clear="all"> |
From: Trammell H. <tr...@us...> - 2003-02-27 15:14:36
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Update of /cvsroot/autopilot/htdocs/rev2.4 In directory sc8-pr-cvs1:/tmp/cvs-serv19186 Added Files: assembled.jpg Log Message: Scaled to half size --- NEW FILE: assembled.jpg --- ÿØÿà ÿÛ $.' 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From: Trammell H. <tr...@us...> - 2003-02-27 15:13:18
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From: Trammell H. <tr...@us...> - 2003-02-27 15:09:31
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Update of /cvsroot/autopilot/htdocs/rev2.4 In directory sc8-pr-cvs1:/tmp/cvs-serv16026 Added Files: assembled.large.jpg side.large.jpg Log Message: Views of the assembled 2.4-rc2 board --- NEW FILE: assembled.large.jpg --- ÿØÿáEExif %&'()*456789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz ¢£¤¥¦§¨©ª²³´µ¶·¸¹ºÂÃÄÅÆÇÈÉÊÒÓÔÕÖ×ØÙÚáâãäåæçèéêñòóôõö÷øùú $4á%ñ&'()*56789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz ¢£¤¥¦§¨©ª²³´µ¶·¸¹ºÂÃÄÅÆÇÈÉÊÒÓÔÕÖ×ØÙÚâãäåæçèéêòóôõö÷øùúÿÀ xü)rT²6î(ïW_ ö¦6±sÈè 8 >vúRgv4}&ȯ!¸ÍYF ´Å.£¤náO4Á*§ëLAF`ØoCUâG¹x)Àü©7aд«±qòiw/6¼LBä"¤·6zÔË,0czÐ33P9cÀÿ ìOAê÷Dû`©Óô¨WÌ]n²ÍJ +Ú/A?é8Ïð¨b½¾XüŸ#p üã¨ÿ :ÿ ox;8þO¥YÅ{jfrTï øiô÷vinaò¤.\`=@²JlÖìÄ«u pqÓ8Æ1T¾â$X osF1×Þ¢¹KîùÓ¨9=óøÿ [...1502 lines suppressed...] )[ÈXPÇ»Îþ* 27P!VF¶Y-«n8')#_²LLp(mÂB¤!9úÒ»n,ÑPÝcHãx;籤Øg¤AÆÒy bëlLÊíHË ÚÁï@¬: ¶Ó´DXÓÞåêí =(¬7vö§04I#|ÉÔÑp°ÒHÚRÃ9äw¡|Ë·û«@0I! $ûS ì8`ÿ NÖeCòÞ~âEu!ç |Ö0W6 ëEÁÒH<¹p6·LQ!28ðÞÅ3Çp塼ñÔ|{.¡q+È.Y®C4qÆâ)cÛ-QhÎQæÆ ·8#HÀÄþtJÞYêhçdIcÜ°#ø{ÐÑý¢7¹F³3cHU&õq¸B00Y#LðM -y\C»°aØÓ!.A»¤yúP%i?³®ßìì$Ó8I¶Ç20ÎO>´ ôXçe¬P¡°66)]¬¬89èh1±2JÈL,ÜñÆ*{å fXL¹í@ +d¶âH%;æo©¤òO8W8zR/´½ì0Ú«³ÀsRÃ?öo±G+8Â±ç£ HÞÚD{¨¹ °nbiµd}¯Óby¿ = ,ì¸û2 ye6IëB*£:Ǥ X&¤fJÞKeHÆM å/94à±vb[ÍÏÊ(Bni¸¹Qǵ bWÊí´ Ôp/²cÍÏÞÔP[l¬F² $åyb9ü)Xv_&]£ÇJo &Oú²JbI!pð;l#¯¡¤h³«Êа7/*9¥ÊL¨\wîh B-ÊÈ·Ä|£=é²Ã#as@Y ³²º6ã>´ M´¶§J°×&T\/|v©$ ê²D0GÞõ& %e'ý`<Sã vÛþeh;²ýÝ>&[i9¢ = ¤Kû© ݳBÎ1ÑÈõ#ÒUîQç>÷©>Ô IÃÌdò¥0$¸1,KUm¸ÉãKq"(¥RÒuaïH¥>Û9^JӼ߷G xÝíE E¶D >9¦D¢Öéê'0vûPÀ$`¸ìÌÆ<ç¶igI nè(褮£kÊ]pHÏjbuQ#Dàc w¤ ÄmL/ ó¿æÑ"óÌwÛ ù3Ó4ÂÄqÊÈL!Dí.KÒ7Æë¨Om4pE|X21éíL=Öf= /ðÓ#I¬ Þ6û`8lúÔQ¤n&K²Ë*ð2jF,½ÀK9ñ»½f±X#Dc Ü:S"Á&y³*Hnç*Vi¼Û£ÄDàí©%½û%¸±G3*üþÕÁ¶MpÓNv·µ0µbiµ¹Ò æUØ¿Äp)u"ÂÖÕ»±JÃó$¶TÒnÇÛ!Y×åöª¦%óY [3ô >¢$¸,å ù÷ +X!xd´ÜǬ2EM]¥¸UA÷8æ)ç½Hì!qÔzÐ"5-§¼°HäåqQ±Ë¼°7!Gja8°¶Þ°ç51xôéaº¶!¤î9 wë%øúGU`sßÛýók1¬iå®>QÛÞ¼Ú¤îò`f ´á¯âÊã DòY£2[³qÔùm%Ûlß6Xr(B%¹pdݤõ§´ê¤°`ð)Y&mÞ÷K»i1»Ý#GM!Ù )n]VRÉQ)^ãÉfÕ§Bq@]Ä´òç.ÏðõæË%Ó4îvÇØÓ,Ó-ÈÞÒ//Ä'ëQ~êÜñfQ÷õõ <Áfo2ð4qc!q÷¾c,¿g·m±1±¤²¢éò¢GêqØÓ|Ñ©Øpy\ò}éÈlM|áFÕÇÅËO)P¼; Ky#Ï!G\ñHÅæ+KÈ}i ÇF-í¢u°ÀÏðl¡®y}éy6ÄÌ#'Õ$l¦Ä$b>ð ÄÅö\uû ò +4÷çnÕù'ãÖ ,ÇsÀ}áéIÜÉöÎò>_Ph8Ô<ëæeb'æ§HÁ%d¶?'LúaaÎcxåGøÏ°¤òê6ºr g×hóº ;îØ$1¨çR£¬1Ì`ÈO^´ Q!¶gîààu¦$-n#º±n@ëQȯp}LòGJè!ÄØXÓ8 Ä6|ÜúñOP°° rÞkòç½"b±ç {RN}ÇzÄöÌ0Ü(£]pÓ ÂÏ4>ÉJù(AP1vÄ -çwÅÄtͳ˲ŻêiI0Ù eü)'÷as@0frmWËR[¸ --- NEW FILE: side.large.jpg --- ÿØÿáEExif %,'..+'+*17F;14B4*+=S>BHJNON/;V\UL[FMNK $$K2+2KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK $$K2+2KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKÿÄ¢ %&'()*456789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz ¢£¤¥¦§¨©ª²³´µ¶·¸¹ºÂÃÄÅÆÇÈÉÊÒÓÔÕÖ×ØÙÚáâãäåæçèéêñòóôõö÷øùú $4á%ñ&'()*56789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz ¢£¤¥¦§¨©ª²³´µ¶·¸¹ºÂÃÄÅÆÇÈÉÊÒÓÔÕÖ×ØÙÚâãäåæçèéêòóôõö÷øùúÿÀ @(¥(E:/Ö( ¢Ò % =éGZ )ÀPu CHkNË$`äüÀ*èhÄ·;#á@¢hÀ ÅPM# HÆFqî?:°R# ªtçi [...1463 lines suppressed...] i+!Æ r)@Ým'ó©wCHÈcAH'×ÖY¢vÐx|ÃèqÅ;rôòÈ©»ÊNñÈÁæ£+àRLm $£ 0$úâì09çoÔsJzç?ÛÐVÇåÏä*c2?J`ÓCyéÈô<ÿ ÷èÊ>iCòÜö+Ç×ëEú®Ç¹ûÙÇ¥8÷ÁúdÍËB³"gnpsït¦g~§µR}DÅÎ:7ò1JTcß÷VÔPÝJÒ¸ÎGü©¤ûÆãæàñ@=þciì~y>ãk1^§nhOR°ÐÛ¹=¿ 1<2î÷4ì &îÙ#Ñ©ÁÀR>úÑ h89'ÂGÌÁÿ A;p ôn ´7ªv¨9}ã4àOLí÷Î ¸4.ãÔñõþTõÉùOÕ±I»@2zh 꾡6I½G¨ã¯zzíÝ´&=ûçÞªí& #Û$È'= Rz{±ÉCÏ'ùT_(ê£ñ¥r¬º'å¾ØÅ?q<dý@Á¡ êÀc¹©ÇbØíÇóßr^ÁãÏqÏ4 r3¿#¹8'üh¸Ô`=JÉÉ%}³Ò Ï<Öl|bôVzÀg9ôÁ§,ÂrÙüiu+waå)ǹ8¦g ô4Ó±-r\ng±<ÒXroAÛQ ^þh.HäSóvÐ@G÷qJ9ÚA÷¯¨ }r*²©à°Ïlõü*¹; wÝ$=?*RsJéÉüé§a¥Ì zöÇä*E`O¹ïI¡Ûp»z!á¸Êà}zæ CMEÔ7çOI:¸~8rOð§øTMÂöHýizCAl}ùÅ82@'ó4^ãÕïÃüñHÅaøBóDd±ê:uÏéM¦mê=X~T¡={sEÝõVÔp!qF8ó3íKg ZèPvýhÝN9èGj<ǧA77¡ÿ äÐR³Î0O;/(ÂO?7#99ïpÜóÇÔÃ¥ôÍjr]ÓÔ:p¼sKü}j/býÜÏÿ §a4Ò°ýÜòsJ¬sß#¹çÿ `õ¼}éÞ`Ç? äPØ-4?uÉ>¹§I;»ã7)"6U8ç¾8ÍGbhÅ ýíäúõ4õ}¼n9ôÏ_ÎñQúR}IÇ·øQ`gé×ýîH®ùK¯jvb[Ï99ÏçHÙèOÃhÑFrúëÿ Ý@È:d}ñúÒ«¤ãüô¡·Ô,à0ãñ¡^FÜ=y©Z0±m¼³qÓz¹Ç±Û"©°µèJøùâäðØDzÒL¤î6@3Ã#LG 7c8>üÎM?í1úQr?»NÚÖÔ7p=ø4dõR Iè6èzÓõÿ OÒ¤õúRM-ÉqÜãÓ4à0%p{wl+\q»xÇdÁéÉ©°öØ0OÝ,O§'Z>lã±èzRä§J]£Ô{n(µ¸ÖFÈàþ\SJc'N*·°Rqê(*OÞRhICv6rGåÅ8§ýéN÷ÑTô§qèã9êiJú_ ß:íȧªôõéqLI(Ç~}Í=WøǦ9?©õ)X@êKgØÔ¨ àß·ÿ gúqüÿ X·VýiC}¹ü(º¸; ¬AÛü8ðÙÇÌ>¥+ö»WOAÅ1ãîJ¤'¡Ì½ê§á¡¸å[¦áMÙ·ßãò {ö*om×aϸ¥ÜÙù8õw°íbTr:0SôȧÈÆzvè(¹)=ƺ³qó§AQG~}é\¯Q<Âz¹ocÍê1øbºwCwçÓJÙÀ9Àô\ih7ÔüÙõÈý)ÀãÜS9Ü-9['C@R¢0ç çÛ Ò ¿0ËãÓúÒåæ'¡+n4y/bhó |
From: Dennis D'A. <den...@us...> - 2003-02-07 04:48:05
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Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv13914 Modified Files: simulator.zip Log Message: tuned model and added joystick axes mapping Index: simulator.zip =================================================================== RCS file: /cvsroot/autopilot/htdocs/simulator.zip,v retrieving revision 1.1 retrieving revision 1.2 diff -u -d -r1.1 -r1.2 Binary files /tmp/cvsDG2ox1 and /tmp/cvsqfTcy0 differ |
From: Dennis D'A. <den...@us...> - 2003-02-05 22:26:17
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Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv15612 Added Files: simulator.zip Log Message: binary distribution of WIN32 simulator and groundstation --- NEW FILE: simulator.zip --- PK O>ylÁJr2Î iWe¦¤.%f#!û`ÎF\ñlô>ñ¢òO¯ÐeÿE÷E¯âÕQº/%ÆKÉè8yiI¸øËÈ[}a|Ë«H¶0Öü!1t6òx5Á¿"M´Áýn/ÎÀÞéÌ$¸ Øuñbv¿ Ñm¤²!áJ®£÷ÛQ8}F&¸&¸E%ôþöKàg¿ñæÐ[¼ÞÌÀ#SO[2*-^ÂèÄÊßvz×1z<îãun½2FÏp*ÜN½ý.X÷f|?¢îw½R¼Ï¡3YÞÝzôR. DU¸=zÊð~;PáîÑ£WJùS(Qn·½%tÝ}ø¾"íã>=zK)k»ñ}À¡þ~ G¯®;Hõ¯ÂíÑ[¸®;rö¨üýXn!]·ºU¸}:ü-\DåÜ?}*ÜOõèRz«ñg¿ ·_Þ xOå|P {XÞuÔC> ÷¨½¥Toj*Ü¿êÐ[´Ò£v:¨Âý\רA¨ý©zûÅDzE^æè{Æè=9^ÑnÕñpÑ»ºN`ôhXG óÏä+Tädp4B,¤0=kâº^×÷4FB¬¤öR¤'´¹ÆLä§0.NÃuuÿÿëï~UÝ|ÓÍÖ[Hß$Íç¼¢Óíâ¯Ê÷]Å7Ûm£oÎÌçÛ.Ïwd訦|LÆÔ|_MÔ°xw3£ï#}AqÙ }.sH6É?*ûÍR×ÜeÎ W[Ðú*`¤î£qþFæ4öÝÍFÆ_¿IùѨxÄYè³l59XÇD'5i§Å¨ÜYNÚKÒ´Ø¢,îÏ /08¢HOS¬àí\)×L41Tèfå@Eán·pÈ Q4óÀÈ´UYÀ9²|ìnÃ5Wä.[»Ónkkëä(xÛQBmnÏáð >ßìöòsó}sùVËBóÎçó*®[åJîq)âÌ[SåcWx¬®ÿ.ªS<I¾wT1GÏÊ©Q¬4ÔµB°°)þÈ%2ÔÉ£rW§Ü°½!jä·¾¥>1J)ѳu2 ï\Flp=_WÎÏ7§ûâ±þ£[È÷QF¥ó ßMëÃóÃÖaÜÅ 4ùÉ×7¤wûÙÓÑÔ XÌ&Ws½!± ? 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From: Trammell H. <tr...@us...> - 2003-02-03 19:42:47
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Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv765 Modified Files: pcm.html Log Message: Added more details and some section headers Index: pcm.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/pcm.html,v retrieving revision 1.2 retrieving revision 1.3 diff -u -d -r1.2 -r1.3 --- pcm.html 3 Feb 2003 19:25:56 -0000 1.2 +++ pcm.html 3 Feb 2003 19:42:41 -0000 1.3 @@ -1,3 +1,102 @@ +<!-- START OF HEADER --> +<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN" +"http://www.w3.org/TR/REC-html40/loose.dtd"> +<html> +<head> + <title>autopilot: Futaba PCM decoding</title> + <meta + http-equiv = "Content-Type" + content = "text/html; charset=utf-8" + > + <meta + name = "Description" + content = "Autopilot for model helicopters, with 3 axis IMU/INS+GPS" + > + <meta + name = "Keywords" + content = "autopilot,pcm,futaba,pcm1024,futaba pcm,helicopter,heli,model heli,model helicopter,remote control,uav,unmanned aerial vehicle,rpv,remotely piloted vehicle,aerial robot,ins,imu,gps,inertial measurement unit,inertial navigation system,attitude reference,ahrs,stabilization,automatic flight control system,afcs,linux,avr,microcontroller,pcb,servo,transmitter,telemetry,automatic stabilization system,source code,ins mechanization,strap down,strap down ins,strap down imu,strapdown ins,strapdown,strapdown imu,autonomous,automatic,automation,rotorcraft,rotor craft,rate integration,navigation,tactical,strategic" + > + <link + rev = "$Id$" + > +<style type="text/css"> +<!-- +body { + margin: 0 0 0 0; + background: #FFFFFF + url(images/rotomotion.background.png) + no-repeat + fixed + bottom + right +} +--> +</style> +</head> + +<body + bgcolor = "#FFFFFF" + text = "#000000" + alink = "#00FF00" + vlink = "#AF00A0" + link =" #0000FF" + background = "images/rotomotion.background.png" +> + +<table + width = "100%" + border = 0 +><tr +><td + width = 300 + height = 100 +><a + href = "index.html" +><img + src = "images/clouds-banner.jpg" + width = 300 + height = 100 + align = "left" + alt = "[ Concept 60 hovering ]" + border = 0 +></a></td> +<td> +<h2>autopilot: Do it yourself UAV</h2> +<hr> +<a + href = "index.html" +>Home</a> +| +<a + href = "download.html" +>Download</a> +| +<a + href = "lists.html" +>Mailing lists</a> +| +<a + href = "gallery.html" +>Gallery</a> +| +<a + href = "faq.html" +>FAQ</a> +| +<a + href = "systems.html" +>Systems</a> +<hr> +</td> +</tr> +</table> + +<br clear="all"> + +<!-- END OF HEADER --> + +<!-- TITLE= autopilot: Futaba PCM decoding --> + <h1>PCM vs PPM</h1> <p> @@ -59,6 +158,8 @@ PCM model. Screen shots are of the Tek TDS2012 scope used to analyze the bit stream. + +<h2>Frame protocol</h2> <p> The PCM frame consists of four fields, each 28 ms long. Each field starts with a 2.7 ms sync pulse of either high or low polarity, follwed @@ -72,6 +173,63 @@ natural representation. <p> +On the wire, the frame is transmitted like this (with sync pulses +between each of the fields): + +<p> +<table + border = 1 +> +<tr> +<td> 0</td> <td> 1</td> <td> 2</td> <td> 3</td> <td> 4</td> +<td> 5</td> <td> 6</td> <td> 7</td> <td> 8</td> <td> 9</td> +<td>10</td> <td>11</td> <td>12</td> <td>13</td> <td>14</td> +<td>15</td> <td>16</td> <td>17</td> <td>18</td> <td>19</td> +<td>20</td> <td>22</td> <td>22</td> <td>23</td> <td>24</td> +<td>25</td> <td>26</td> <td>27</td> <td>28</td> <td>29</td> +<td>30</td> <td>32</td> <td>32</td> <td>33</td> <td>34</td> +<td>35</td> <td>36</td> <td>37</td> <td>38</td> <td>39</td> +<td>40</td> <td>42</td> <td>42</td> <td>43</td> <td>44</td> +<td>45</td> <td>46</td> <td>47</td> <td>48</td> <td>49</td> +<td>50</td> <td>52</td> <td>52</td> <td>53</td> <td>54</td> +<td>55</td> +</tr> +<tr> +<td colspan=56>PCM Frame</td> +<tr> +<td colspan=2>Sync</td><td colspan=12>Field 1</td> +<td colspan=2>Sync</td><td colspan=12>Field 2</td> +<td colspan=2>Sync</td><td colspan=12>Field 3</td> +<td colspan=2>Sync</td><td colspan=12>Field 4</td> +</tr> +<tr> +<td colspan=2>LOW</td> +<td colspan=3>1A</td> +<td colspan=3>1B</td> +<td colspan=3>1C</td> +<td colspan=3>1D</td> + +<td colspan=2>LOW</td> +<td colspan=3>2A</td> +<td colspan=3>2B</td> +<td colspan=3>2C</td> +<td colspan=3>2D</td> + +<td colspan=2>HIGH</td> +<td colspan=3>3A</td> +<td colspan=3>3B</td> +<td colspan=3>3C</td> +<td colspan=3>3D</td> + +<td colspan=2>HIGH</td> +<td colspan=3>4A</td> +<td colspan=3>4B</td> +<td colspan=3>4C</td> +<td colspan=3>4D</td> +</tr> +</table> + +<p> The bit clock is 150 us. There does not appear to be any syncronization mechanism other than the accuracy of the onboard clock. Bits are sampled roughly 25 us after a transition and there never appears to be a single @@ -88,11 +246,15 @@ sync pulse fields (3 and 4) which are nominally logical inversions of the first two fields. + +<h2>Data packets</h2> + <p> The data packet format consists of 2 bits of type selectors, 4 bits of position delta, 10 bits of absolute position and 8 bits of checksum. Bit zero is transmitted first: +<p> <table border = 1 > @@ -122,27 +284,68 @@ The checksum appears to be a sum of the position and other bits; I have not fully analyzed it yet. + +<h2>Checksum computation</h2> +<p> +To be written + + +<h2>Channel assignment</h2> <p> As mentioned before, each field has four data packets that we're calling A, B, C and D. The first packet in field 1 is 1A and so on. The position and delta channels for each normal data packet appear to be: <pre> -1A: Select=2 Channel 1 absolute, Channel 2 delta -1B: Select=0 Channel 3 absolute, Channel 4 delta -1C: Select=2 Channel 5 absolute, Channel 6 delta -1C: Select=0 ??? -1D: Select=0 Channel 7 absolute, Channel 8 delta +1A: + Select=0 ??? + Select=1 ??? + Select=2 Channel 1 absolute, Channel 2 delta + Select=3 ??? +1B: + Select=0 Channel 3 absolute, Channel 4 delta + Select=1 ??? + Select=2 ??? + Select=3 ??? +1C: + Select=0 ??? + Select=1 ??? + Select=2 Channel 5 absolute, Channel 6 delta + Select=3 ??? +1D: + Select=0 Channel 7 absolute, Channel 8 delta + Select=1 ??? + Select=2 ??? + Select=3 ??? -2A: Select=2 Channel 2 absolute, Channel 1 delta -2B: Select=0 Channel 4 absolute, Channel 3 delta -2C: Select=2 Channel 6 absolute, Channel 5 delta -2C: Select=0 ??? -2D: Select=0 Channel 8 absolute, Channel 7 delta +2A: + Select=0 ??? + Select=1 ??? + Select=2 Channel 2 absolute, Channel 1 delta + Select=3 ??? +2B: + Select=0 Channel 4 absolute, Channel 3 delta + Select=1 ??? + Select=2 ??? + Select=3 ??? +2C: + Select=0 ??? + Select=1 ??? + Select=2 Channel 6 absolute, Channel 5 delta + Select=3 ??? +2D: + Select=0 Channel 8 absolute, Channel 7 delta + Select=1 ??? + Select=2 ??? + Select=3 ??? </pre> <p> -To be added: Fail safe select values, checksum algorithm, more screen shots. + +<h2>Fail safe frames</h2> +<p> +To be written. + <hr> @@ -217,3 +420,56 @@ '0000001100' => 0x3E, '0000000111' => 0x3F, </pre> + +<!-- START OF FOOTER --> +<p> +<!-- END OF LAYOUT --> +<br clear="all"> + +<table + width = "100%" + border = 1 + bgcolor = "#A0A0A0" +> +<tr> +<td + width = "100%" +> +<a href="index.html" +><IMG + src = "images/logo-clear.gif" + width = "88" + height = "31" + border = "1" + alt = "Autopilot Logo" + align = "right" +></A> +<A href="http://sourceforge.net" +><IMG + src = "http://sourceforge.net/sflogo.php?group_id=36164" + width = "88" + height = "31" + border = "1" + alt = "SourceForge" + align = "right" +></A> +<a href="http://validator.w3.org/check/referer" +><img + src = "http://www.w3.org/Icons/valid-html40" + alt = "HTML 4.0!" + height = "31" + width = "88" + border = "1" + align = "right" +></a> + +<h6><a + href = "/cgi-bin/history" +>$Id$</a></h6> +</td> +</tr> +</table> + +</html> + +<!-- END OF FOOTER --> |
From: Trammell H. <tr...@us...> - 2003-02-03 19:25:59
|
Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv25486 Modified Files: pcm.html Log Message: Added more details on data packets Index: pcm.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/pcm.html,v retrieving revision 1.1 retrieving revision 1.2 diff -u -d -r1.1 -r1.2 --- pcm.html 3 Feb 2003 18:53:48 -0000 1.1 +++ pcm.html 3 Feb 2003 19:25:56 -0000 1.2 @@ -1,7 +1,15 @@ <h1>PCM vs PPM</h1> <p> -[ Image of PPM signal ] +<a + href = "images/ppm.jpg" +><img + src = "images/ppm.small.jpg" + width = 100 + height = 33 + alt = "[ Image of PPM signal ]" + align = "left" +></a> The PPM radio protocol is a very simple serialization of the servo PWM commands, separated by a 10 ms or longer syncronization pulse. In @@ -20,7 +28,15 @@ positions. For all these reasons, a better protocol is required. <p> -[ Image of PCM signal ] +<a + href = "images/pcm.png" +><img + src = "images/pcm.small.png" + width = 100 + height = 15 + alt = "[ Image of PCM signal ]" + align = "left" +></a> PCM replaces the pulse widths with a serial bit stream that encodes the servo commands as a binary value. An onboard microcontroller reads @@ -30,6 +46,9 @@ "fail safe" position if the transmitter is not heard from again after some timeout period. + +<p> +<h1>PCM internals</h1> <p> The actual encodings are considered trade secrets of each manufacturer and they are not compatible across different brands. We have reverse @@ -43,13 +62,158 @@ <p> The PCM frame consists of four fields, each 28 ms long. Each field starts with a 2.7 ms sync pulse of either high or low polarity, follwed -either six or eight bytes of frame ID, then by four data packets of 40 -bits each. Each of these data packets consists of four 10 bit words -that are encoded with a 6B10B system, to produce 3 bytes of actual data +either six or eight bits of frame ID, then by four data packets of 40 +bits each. Each of these data packets consists of four 10 bit MSB words +that are encoded with a +<a href="#6b10b">6B10B encoding</a>, +to produce 3 bytes of actual data per packet, 12 bytes per field and 48 bytes per frame. +From now on, we will assume that all data has been converted to the +natural representation. <p> The bit clock is 150 us. There does not appear to be any syncronization mechanism other than the accuracy of the onboard clock. Bits are sampled roughly 25 us after a transition and there never appears to be a single -bit alone (minimum pulse width is 200 us). +bit alone (minimum pulse width is 200 us). At first I thought the bit +clock was 300 us, but Coert L. showed me transitions that had to be sampled +at the 150 us rate. + +<p> +I've numbered the four fields starting with the first low sync pulse. +This is because the fail safe data are transmitted twice, starting with +the low sync pulse. However, since the data are transmitted twice, it +will overlap an entire frame regardless of which ordering you use. +There are two low sync pulse fields (1 and 2), followed by two high +sync pulse fields (3 and 4) which are nominally logical inversions of +the first two fields. + +<p> +The data packet format consists of 2 bits of type selectors, 4 bits of +position delta, 10 bits of absolute position and 8 bits of checksum. +Bit zero is transmitted first: + +<table + border = 1 +> +<tr> +<td> 0</td> <td> 1</td> <td> 2</td> <td> 3</td> +<td> 4</td> <td> 5</td> <td> 6</td> <td> 7</td> +<td> 8</td> <td> 9</td> <td>10</td> <td>11</td> +<td>12</td> <td>13</td> <td>14</td> <td>15</td> +<td>16</td> <td>17</td> <td>18</td> <td>19</td> +<td>20</td> <td>21</td> <td>22</td> <td>23</td> +</tr> +<tr> +<td colspan= 2>Selector</td> +<td colspan= 4>Delta</td> +<td colspan=10>Position</td> +<td colspan= 8>Checksum</td> +</tr> +</table> + +<p> +I have not fully analyzed the type selection bits yet, but they appear to +select between absolute data for servo Channels 7, 8, 9 and 10 in some +fashion, as well as indicating fail safe frames. +The delta value is treated as an offset from the previous absoluate +position frame for this channel, with a value of 8 meaning no change. +The position is treated as a 10 bit MSB value, hence the name PCM1024. +The checksum appears to be a sum of the position and other bits; I have +not fully analyzed it yet. + +<p> +As mentioned before, each field has four data packets that we're calling +A, B, C and D. The first packet in field 1 is 1A and so on. The position +and delta channels for each normal data packet appear to be: + +<pre> +1A: Select=2 Channel 1 absolute, Channel 2 delta +1B: Select=0 Channel 3 absolute, Channel 4 delta +1C: Select=2 Channel 5 absolute, Channel 6 delta +1C: Select=0 ??? +1D: Select=0 Channel 7 absolute, Channel 8 delta + +2A: Select=2 Channel 2 absolute, Channel 1 delta +2B: Select=0 Channel 4 absolute, Channel 3 delta +2C: Select=2 Channel 6 absolute, Channel 5 delta +2C: Select=0 ??? +2D: Select=0 Channel 8 absolute, Channel 7 delta +</pre> + +<p> +To be added: Fail safe select values, checksum algorithm, more screen shots. + +<hr> + +<a name="6b10b"></a> +<h1>Appendix 1: 6B10B encoding</h1> +Thanks to Coert Langkemper for his help in determining the encoding +pattern. Without his aid, this would have taken absolutely forever. + +<pre> + '1111111000' => 0x00, + '1111110011' => 0x01, + '1111100011' => 0x02, + '1111100111' => 0x03, + '1111000111' => 0x04, + '1111001111' => 0x05, + '1110001111' => 0x06, + '1110011111' => 0x07, + '0011111111' => 0x08, + '0001111111' => 0x09, + '0000111111' => 0x0A, + '1100111111' => 0x0B, + '1100011111' => 0x0C, + '1100001111' => 0x0D, + '1110000111' => 0x0E, + '1111000011' => 0x0F, + '0011111100' => 0x10, + '0011110011' => 0x11, + '0011100111' => 0x12, + '0011001111' => 0x13, + '1111001100' => 0x14, + '1110011100' => 0x15, + '1100111100' => 0x16, + '1100110011' => 0x17, + '1111110000' => 0x18, + '1111100000' => 0x19, + '1110000011' => 0x1A, + '1100000111' => 0x1B, + '1100011100' => 0x1C, + '1110011000' => 0x1D, + '1110001100' => 0x1E, + '1100111000' => 0x1F, + '0011000111' => 0x20, + '0001110011' => 0x21, + '0001100111' => 0x22, + '0011100011' => 0x23, + '0011111000' => 0x24, + '0001111100' => 0x25, + '0000011111' => 0x26, + '0000001111' => 0x27, + '0011001100' => 0x28, + '0011000011' => 0x29, + '0001100011' => 0x2A, + '0000110011' => 0x2B, + '1100110000' => 0x2C, + '1100011000' => 0x2D, + '1100001100' => 0x2E, + '1100000011' => 0x2F, + '0000111100' => 0x30, + '0001111000' => 0x31, + '0011110000' => 0x32, + '0011100000' => 0x33, + '0011000000' => 0x34, + '1111000000' => 0x35, + '1110000000' => 0x36, + '1100000000' => 0x37, + '0001100000' => 0x38, + '0001110000' => 0x39, + '0000110000' => 0x3A, + '0000111000' => 0x3B, + '0000011000' => 0x3C, + '0000011100' => 0x3D, + '0000001100' => 0x3E, + '0000000111' => 0x3F, +</pre> |
From: Trammell H. <tr...@us...> - 2003-02-03 19:14:50
|
Update of /cvsroot/autopilot/htdocs/images In directory sc8-pr-cvs1:/tmp/cvs-serv20387 Added Files: pcm.small.png Log Message: Scaled down image of the PCM data stream. Need to add scope shots --- NEW FILE: pcm.small.png --- PNG ¸®[)uQѲ,TÇ. |
From: Trammell H. <tr...@us...> - 2003-02-03 18:53:52
|
Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv11097 Added Files: pcm.html Log Message: Started writeup on the PCM decoding --- NEW FILE: pcm.html --- <h1>PCM vs PPM</h1> <p> [ Image of PPM signal ] The PPM radio protocol is a very simple serialization of the servo PWM commands, separated by a 10 ms or longer syncronization pulse. In order to decode it, simply wait for the sync pulse then clock the times between the falling edges until the next sync pulse. Code to do this is in <a href="http://autopilot.sourceforge.net/cgi-bin/source?onboard/rev2/ppm.h">onboard/rev2/ppm.h</a>. <p> However, PPM fails very badly due to local RF noise such as spark plugs or turbine ECUs. These can introduce spikes that cause servo jitter or even erroneous servo commands. At long ranges the analog pulse widths are less accurate as well, leading to jitter. The PPM radio receivers typically have no onboard computers and rely totally on the transmitter to generate the servo pulses. If you lose the transmitter, the servos stop holding their positions. For all these reasons, a better protocol is required. <p> [ Image of PCM signal ] PCM replaces the pulse widths with a serial bit stream that encodes the servo commands as a binary value. An onboard microcontroller reads the bit stream and generates its own servo commands from it. This MCU can hold the servos in position if the transmitter is briefly out of contact with the receiver and even set the servos into a preprogrammed "fail safe" position if the transmitter is not heard from again after some timeout period. <p> The actual encodings are considered trade secrets of each manufacturer and they are not compatible across different brands. We have reverse engineered the Futaba PCM1024 protocol and present our analysis here. This was done in a "clean room" fashion using a Futaba 8U transmitter and a modified HiTec RCD3500 receiver to extract the bit stream. The receiver is actually a PPM unit, but the RF front end is the same as the PCM model. Screen shots are of the Tek TDS2012 scope used to analyze the bit stream. <p> The PCM frame consists of four fields, each 28 ms long. Each field starts with a 2.7 ms sync pulse of either high or low polarity, follwed either six or eight bytes of frame ID, then by four data packets of 40 bits each. Each of these data packets consists of four 10 bit words that are encoded with a 6B10B system, to produce 3 bytes of actual data per packet, 12 bytes per field and 48 bytes per frame. <p> The bit clock is 150 us. There does not appear to be any syncronization mechanism other than the accuracy of the onboard clock. Bits are sampled roughly 25 us after a transition and there never appears to be a single bit alone (minimum pulse width is 200 us). |
From: Trammell H. <tr...@us...> - 2003-01-28 06:41:57
|
Update of /cvsroot/autopilot/htdocs/images In directory sc8-pr-cvs1:/tmp/cvs-serv6711 Modified Files: pcm.png Log Message: Fixed with better data Index: pcm.png =================================================================== RCS file: /cvsroot/autopilot/htdocs/images/pcm.png,v retrieving revision 1.1 retrieving revision 1.2 diff -u -d -r1.1 -r1.2 Binary files /tmp/cvs2xpE56 and /tmp/cvsAtrQS3 differ |
From: Trammell H. <tr...@us...> - 2003-01-28 05:31:34
|
Update of /cvsroot/autopilot/htdocs In directory sc8-pr-cvs1:/tmp/cvs-serv8263a Modified Files: index.html Log Message: Added link to PCM decoding Index: index.html =================================================================== RCS file: /cvsroot/autopilot/htdocs/index.html,v retrieving revision 1.99 retrieving revision 1.100 diff -u -d -r1.99 -r1.100 --- index.html 21 Oct 2002 14:50:49 -0000 1.99 +++ index.html 28 Jan 2003 05:31:30 -0000 1.100 @@ -101,6 +101,11 @@ <h3>Latest news:</h3> <ul> <li> +<a href="http://autopilot.sourceforge.net/cgi-bin/source?onboard/rev2/pcm.c">PCM decoding</a> +is progressing. I've done some work to analyze a few frames and have produced +<a href="images/pcm.png">an image of the PCM data</a> from my Futaba 8U (28 January 2003) + + <li> <a href="download.html">Release 2.4</a> is out. This has the code that actually flew the helicopter a few weeks ago. (20 October 2002) |
From: Trammell H. <tr...@us...> - 2003-01-28 05:29:45
|
Update of /cvsroot/autopilot/htdocs/images In directory sc8-pr-cvs1:/tmp/cvs-serv5951 Added Files: pcm.png Log Message: Image of the PCM data during stick twiddling --- NEW FILE: pcm.png --- PNG /IDATxíßkâ\ÇbÞDÓîÀîenQweü7ì öVéM©ºÚy¡ÔÛþ+q"õæ¥ýô-Ø[ÃÜDvsÎä¦qÖbß}çþÃsßÏ7¶Ü·îïêL³ñý~o9øø>¹J ûInH«jµ-z_8¸·q0ôÓpóQo1Íþ_¥ç׸þDÔ§Ìç¸~¿»döø`ïøFó¸Á§ã ¼¸p-&löàºO³¸øb0ñìZû!ÒCLá6 æjSY/ákôc0|µ×JO¸þ ÎÿÛ쥧C÷cèYc¸Öi\0\[iÜOkëpÓ£ð:Søb÷¬½HCú¸ÑZ·CWfó%Üøj~ e6êÐy\s®7ÙXºn¡ÍBF½ù;³nÂ7¦¤^ã¿ÆÝ¢Å7þô+4îæ£~QXGImMÎÌlº3¡5îz¡+³é®ñQñÜÀ¸nQlQSl÷ÇõÀM vôBhn| _'á?[3Õ=k|Å úýñu®Bè{½ÎÓÛ;qõ¯[ø××7kÿKaüAl²qù4gÓ Á¯}PF`ê0Á;.ü§÷¸Ã²(3|²AàÞOæ©^(þÓã6²A èmFÔØ¢dÓÓ4×èéBØ6{¡)®ÑÚÃ>ò¬¨k£¬`lFzì 0À³,^¢§±2-þãÀD HïPzÆ,ðÀöOÜ"«á"F!Àj³ñÓ^¢ôTÛö{ôîÁ ÑmÜáÈbU<#h\G+xÜ£Áw,°E{xG!ê7î;VÿÎøbÌÿá§Q0ÖÚk"PCµÎ¶àG÷Ud1¾>ðÚ3ð¸¯ANH.b¥àÝSgüañ|J®ËG æ½Ä#Èbë2>STVe¶â¹N¡¦PYâþ`kÕZaÍ5öQFOYk/Go3b÷«ù¯f5ÜWÈ¢óÓéWl±,~Vè¦ Î"i&ðjÆà [¶¿Íþ ,XàÇ( g¸|£<pÑsM¬fB|à£AÁhÈâ7 I¯=¬{p÷£íÿXpÀ~zÅ@gaì|g,R åã-²(¡<âoT%1FAÆy¼äé6à &1ÀB[Yà+Pa c¸B'YHt¸~@|]o%FS(6}4g¬§ã¨qí[¢7WqµqÂQSTYswx¶¨bðY¬#;,ÝÓE`± X2w8^ö)TÂ¥Â# fT áã¡Ã#FÔøG$kðÇ·Æj\üQuÏÄÚLc,{bIýÄpýØci Br¡~ÄÁò×zV3îGB¤RÁdI ·¾# %?ÄÊ(·òÜ%%Ón¹à´)¦ R¶ O <ýÜëGËA»=ên Ðê÷v(¢Uõ`¾Q¦GZ0ÖøèI Jx´ïj½jäã õnª5ãZÎ!Hë÷ ¿ª6rYu᧷êkñ¸×L×Ç©ÚFéá«L¢]Íf²,¸Á\¦m×F}sMóÁcntI¬ªc\¼p|äÃAj9tòxÊ_eORú}ß\í$ú ¡èüê¨NÂåÁÑóeËáJQÏîÔ)¹{¦[BêÏõ;Oªfâ.È)$8ApNü7 vÿ7Å©@3ç(»µmvàSÜæ´ÄöF>ýÙëGíô7 h\Üé´Ò#ÖO;0Êα§qÏùé©ÈÉúÜó¬uZ¶ÁÓuñ´så}k;Xã¢E JèèÇ8²bx(/1PËBFíÜÂ]ývOÔpW Ü=ßä¸âËëÃS²x>+¦PÊeo?*¢ö||äç»'ÈÂýiÆ f8ÿ¬t®ì뺡#'=E¸úqÈçnüfÅ}ÿç¹J6ôqÐÝEºü¿Ô9L±À¢5Q» cÑY)»ú²k?qÞA"¾¹ðåß\{ ¯ÖÝ ãgB\qÀ×><»ÃUJeÚ(ËYg5§j ¤«Ü>@ EtK£&4Åðâº3¥Qÿ¿áÎ¥o¯º |
From: Trammell H. <tr...@us...> - 2003-01-26 18:32:46
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