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CSU Chico Tilt Rotor Flying Machine, (Programming and CPU, 3 of 3).

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Carbon_Rod

Fri Jul 13 2012, 06:06AM

Registered Member #65 Joined: Thu Feb 09 2006, 06:43AM
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Posts: 1155

The xIMU AHRS algorithm (note the examples and pdfs):

Has been ported to the STM32

NI also has some samples of the Quaternion form for sparkfun's IMU

The freeIMU project has been ported to several boards

Patrick

Tue Nov 06 2012, 03:48AM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

I would appreciate any help in modding or finding existing code fro SLAM , i need it to be in C, ive heard of and seen a type of "tinySLAM" but ive been told it runs on linux or windows PCs only... Is this true? I really need a STM32 capable slam model.

i continue to look on my own.

I have found this:

it looks much more capable than what i need.

Pinky's Brain

Tue Nov 06 2012, 05:05AM

Registered Member #2901 Joined: Thu Jun 03 2010, 01:25PM
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It has some filesystem code to write images of the maps it constructs, but apart from that there are no major dependencies which would make it hard to convert it to run on a microcontroller.

Performance might be an issue, if it's designed for *nix it's probably designed for embedded computer boards like the beaglebone more than the STM32. I haven't tried to follow the algorithm though.

Carbon_Rod

Tue Nov 06 2012, 05:16AM

Registered Member #65 Joined: Thu Feb 09 2006, 06:43AM
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Recall the map data size, limited mcu RAM, and i/o speed of the disk..
The URG is overpriced, but can offer cm accuracy on some models (PM for tips).

...The oak stood strong in its resolve...

ROS is a mature system that relies on this library to do part of the heavy lifting.

It works well on linux, has 95% of the features you don't know you need yet, and offers built-in drivers for the unit you mentioned.

Cheers,
Rod

Patrick

Tue Nov 06 2012, 05:32AM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

Carbon_Rod wrote ...

Recall the map data size, limited mcu RAM, and i/o speed of the disk..
The URG is overpriced, but can offer cm accuracy on some models (PM for tips).

...The oak stood strong in its resolve...

ROS is a mature system that relies on this library to do part of the heavy lifting.

It works well on linux, has 95% of the features you don't know you need yet, and offers built-in drivers for the unit you mentioned.

Cheers,
Rod

im sure that oak comment was a slam at my wrong headediness...

Im not using the hykuyo devices for cost and wieght reasons...

Im not ignoring your advice Carbon Rod and i appreciate the scare tactics (if i win it will be becuase you, andrewM and steve mconnor have scared me to death 900 times.) but i have seen the WiFi and the desktops fail to fucntion so many times in 2011 and 2012 and these great 20k$ bots cant even make it through the window... i really need a embedded SLAM.

what SLAM features do you think ill need, yet dont realize yet? rememeber the course is a simple hallway with rooms and doorways, its not random or obsticle laden... Would it help it i drew the cousre out?

EDIT/UPDATE: found this for 55 USD, 25 Grams!!!

i just dont know how to interface to it !?

explanation between RPi and MK802II

Carbon_Rod

Tue Nov 06 2012, 06:17AM

Registered Member #65 Joined: Thu Feb 09 2006, 06:43AM
Location:
Posts: 1155

It will depend on your selected sensor, but some methods are computationally feasible on low end systems.

It is already known best practices separate path-planning/mapping (latency tolerant commands), localized guidance (prevents bouncing into walls/floor/sky), and sensor telemetry filtering (bandwidth reduction).

A $12 wifi plug weighs 2.17g, and in theory can add extensive resources with a fixed communication cost.

Force "n" mode on your router, and most signal interference issues will likely subside.

Patrick

Tue Nov 06 2012, 06:35AM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

the N wireless router were used, its complicated settings and code that are cuasing the failures not the transmitting/recieving router itself...

in august 2012 it seemed the routers stayed up and running almost constantly, but the machines/desktops just wouldnt syncronize for useful data. the machines that were flying often hovered, then with a 3 second delay flew themselves into walls then, while crashed in pieces on the floor, it then tried to execute a collision avoiding turn.

Carbon_Rod

Tue Nov 06 2012, 07:21AM

Registered Member #65 Joined: Thu Feb 09 2006, 06:43AM
Location:
Posts: 1155

There are only 11 wifi channels on north American routers...
Hint: your system can use Japanese driver bands to operate outside a local crowded spectrum.

...fixed channel, and full WPA2 links are recommended.

Note sure if the RTL8188 can enter master mode, but it could act as the router if supported.

Patrick

Tue Nov 06 2012, 05:14PM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

i just think including a WiFi router as a functionally required part, taunts failure in the face. If i use the Rpi, then theres no need for the router.

Pinky's Brain

Wed Nov 07 2012, 08:14PM

Registered Member #2901 Joined: Thu Jun 03 2010, 01:25PM
Location:
Posts: 837

You can get FPV antenna trackers for a little over 100$ BTW. Since in the US you are actually allowed to increase EIRP with high gain antennas this you should be able out drown out interference with that.

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