rcpilot-devs — R/C Pilot Developers

Re: [rcpilot-devs] Introduction

[Michael J. P. <mi...@vi...>]

Hi Scott,

Great to have you on board. I love the draganfly and was looking at their commercial grade one a while back until I saw the price tag on it!
It has a way of curbing one's enthusiasm pretty quickly.

I've been flying RPV for about 2 years now playing with several diferent systems along the way.
At one point I decided to get to where I want to be at a cost I'm willing to spenc I would need to develop my own system.

Basically this project is just getting started, I wrote the autopilot last fall and have flown with it several times.
The next module that needs to be completed is the altitude hold. As I was working on it I decided having a way to transmit data back to the ground would be useful for tests. So I started building a 1200 baud FSK modem. Althought I have a working version on the breadboard, we noticed that to be really useful we will need at least 4800 baud, and prefferably 9600 baud for useful telemetry. I have a few feelers out there looking for people to take on that task.

A couple of weeks ago I started the ground station software and have been mostly concentrating on that.

Also a bit of a "on the side" plane locator module that works with PCM. Simply an audio beacon. I'm at the prototype phase with that one. The main reason for it, is that at the start of last season I lost a plane due to a power failure (either the battery or switch came disconnected I think) and never located where the plane went down. I lost a lot of stuff and did not want a repeat of that for this season.

I've been concentrating on the ground station lately and Peter has been working on the TCP/IP stack for it to communicate with AGWPE (an audio packet driver).

Val is an active RPV flyer (planes and helis) who also designed a diversity switch that I would like to get documented for this project at one point. ;-)
He has a great site at http://www.cyber-flyer.com/

Dave is an aeronautical designer that is designing an electric pusher double boom plane for this project.

Also Richard and Mike are working on a web site for the project.

There are a couple of other people that are dormant at the moment but who have shown interest to contribute to the project when their schedules free up a bit.

And that's basically where we are at. If you would like to actively participate in a specific module, let me know what interest you.
For the PIC stuff I've decided to go with "C". Simply because it allows more people to follow and contribute to the project. Assembler has a way of scaring people away! ;-)

Cheers,
Mike

P.S. I'm jealous of the access to the CNC stuff!!!!




*********** REPLY SEPARATOR  ***********

On 28/02/2004 at 4:18 AM Scott Pierce wrote:

>Hi All,
>
>I just wanted to introduce myself.  I'm Scott Pierce, majoring in Computer
>Science and I enjoy working with electronics and robotic projects.  I'm
>interested in the topic of Autonomous RC Aircraft.  I have been flying RC
>planes for about 13 years and am currently working on a quad rotor
>helicopter much like the Dragonfly (www.rctoys.com).  I have the
>circuit/code about 90% finished and have been working on designing the
>physical body for the helicopter for some time now.  Eventually I'd like
>to
>make the helicopter either autonomous or have the ability to send it
>serial
>data and command it to go to specific way-points and perform other
>miscellaneous maneuvers.  So, I figured I could apply what I've already
>learned and implemented in my own projects towards the RC Pilot project.
>I
>can program PIC Micros in ASM and C, as well as programming PCs in VB,
>C/C++, and Java.  I also have a good background in CNC Machining and have
>access to and can program a CNC Mill, Lathe, Turret Punch, and Water
>Knife.  I look forward to working on this project with you.
>
>Sincerely,
>Scott Pierce
>
>
>
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[rcpilot-devs] Introduction

[Scott P. <web...@ca...>]

Hi All,

I just wanted to introduce myself.  I'm Scott Pierce, majoring in Computer 
Science and I enjoy working with electronics and robotic projects.  I'm 
interested in the topic of Autonomous RC Aircraft.  I have been flying RC 
planes for about 13 years and am currently working on a quad rotor 
helicopter much like the Dragonfly (www.rctoys.com).  I have the 
circuit/code about 90% finished and have been working on designing the 
physical body for the helicopter for some time now.  Eventually I'd like to 
make the helicopter either autonomous or have the ability to send it serial 
data and command it to go to specific way-points and perform other 
miscellaneous maneuvers.  So, I figured I could apply what I've already 
learned and implemented in my own projects towards the RC Pilot project.  I 
can program PIC Micros in ASM and C, as well as programming PCs in VB, 
C/C++, and Java.  I also have a good background in CNC Machining and have 
access to and can program a CNC Mill, Lathe, Turret Punch, and Water 
Knife.  I look forward to working on this project with you.

Sincerely,
Scott Pierce 

[rcpilot-devs] RFC for AX.25 Private Unnumbered Information Frame Type

[Michael J. P. <mi...@vi...>]

I started a rough layout for the RFC.

Feel free to comment and add info.

Mike


--------------------



                                                                                                                           Michael J. Pawlowsky
Request for Comments:	                                                                                       Montreal, Quebec, Canada
Category: Informational	                                                                                       February 25, 2004



                                                  Private Unnumbered Information AX.25 Frame




Status of this Memo

This memo describes a new frame type for the AX.25 (Amateur Packet-Radio Link-Layer Protocol). This technique is experimental for the amateur UAV community.
Discussion and suggestions for improvement are requested. Distribution of this memo is unlimited.


AX.25

(Description of AX.25)




Abstract

For telemetry information to be useful in amateur UAVs the data refresh rate needs to be as high as possible. Current limitations imposed by over air data transfer rates make obtaining a refresh rate sufficient to be used for real time navigation difficult. By reducing some of the unnecessary portions of the AX.25 UI frame, we can increase the refresh rate significantly. The current UI Frame with no data in it requires 160 bits.
By removing the Address and PID fields, a savings of 120 bits can be achieved.

As an example using an information field of 48 bits the new total size for the frame would be 88 bits as opposed to 208 bits.  Using the UI frame at 1200 baud the maximum refresh rate obtainable would be approximately 5.8Hz. Using the new PUI frame type a refresh rate of approximately 13.6Hz is possible.

We may eliminate the address field since these frames are intended to be received by a single party. The PID may be eliminated as well since no layer 3 protocol is used.

(Suggest a new control for this frame type)




The Private Unnumbered Information Frame Format

The current format of the AX.25 UI frame is as follows:

Flag         | Address     | Control | PID     | Info.       | FCS    |Flag
01111110 |112/560 Bits| 8 Bits   | 8 Bits | N*8 Bits | 16 Bits | 01111110

The proposed format for the PUI is as follows:

Flag 	   |  Control |   Info.       | FCS     | Flag
01111110 |   8 Bits  |   N*8 Bits |	16 Bits | 01111110




Reference

[1] AX.25 Amateur Packet-Radio Link-Layer Protocol Version 2.0
October 1984.  Available from TAPR http://www.tapr.org/tapr/html/Fax25.html




Contributors

Val Petrov
Marlise Meyer



Author's Address

Michael J. Pawlowsky

[rcpilot-devs] TestServer ofr rcgs

[Michael J. P. <mi...@vi...>]

I created a class in rcgs to test the app. It's called TestServer.
I will add to it shortly, but basically what it will do is send out random telemetry data that is reasonably feasible in a flight.

One of the things I do need is a CRC class.
I was wondering if you have one already in your stuff Peter or should I go looking for one.

Mike

[rcpilot-devs] Next steps for the GUI

[Michael J. P. <mi...@vi...>]

>This all makes sense. The only thing I'm still not clear about is where
>the surrounding geographical data comes from -- like the city map in the
>example. Is there a SOAP service somewhere for generating the background
>map based on the current GPS coordinates?

The maps come from a local directory. The user needs to provide the maps with an info file that gives the Lat/Lon for the upper left and lower right corners.
Look in the res/maps folder. The maps are quite easy to find. They are used for APRS. Or you can easily create your own using a geo data server.

>As far as the GUI is concerned, it sounds like once you have a list of
>features, and a set of mock objects for simulating/tesing communication
>with the plane, it shouldn't take more than 20 hours or so. Keep me posted.

I think it might be a bit longer than that. Let's just say I would not put a bid in on a contract at 20 hours for it!
There won't really be a formal definition document. Unless someone wants to write one.
I think it will work more with tasks. Simply create tasks for the stuff we need and discuss it on the devs list.
Tasks can be grouped in the sections so it should work.

-----

Also I put up some info regarding the AX.25 protocol used to transmit telemetry data.
I put it up right now for discussion purposes only to try and get a few people to participate in the definition.
This is one area that needs to be well defined.

Cheers,
Mike