A Danickav collaboration - excellent things will no doubt come of this

Hey, thanks my man! Tons of possibilities but the pi might need an upgrade for faster frame rate to close the loop on…faster..systems

Hey, thanks and glad you enjoyed!!

Thanks so much :)

Yea, this currently works as more of a ‘nudge’ in the right direction-I think it’ll work pretty well on the big elranoplan because the dynamics are slower and smoother Already looking into a faster computer to slap the code on for a future application

Definitely my fault for hitting her lol but she was a good sport and accepted a shopping trip after as compensation

Thanks, I’ll check it out!

Teensy 4.0/4.1 is still 'state of the art' in the arduino world, so no risk of it going obsolete anytime soon. Only thing is that it's in high demand / short supply at the moment, so grab one if it's in stock because it'll be out of stock soon!

@@NicholasRehm Ok! "added to cart!" thanks! It occurred to me that the control scheme for Tom's faux Osprey design is somewhat similar to my ongoing micro-ROV prototype. Its a project affiliated with NOAA and National Geographic that I wonder if you might consider offering your insight on? I'm thinking about redesigning now to accommodate a Teensy.

Thanks!!

Welcome aboard, I think you’ll see plenty of Think Flight on this channel in the future

Thanks Davi!

Thanks for stopping by Pat

That’s a great idea

You have my attention

Hey thanks! Yes, the teensy almost feels like a cheat code in the world of my crappy arduino code

@@NicholasRehm Raspberry Pi's so hard to come by - ordered a couple Teensy and they arrived within a week.

Great idea for a future project

@@NicholasRehm oh wait! Does the mean I'm responsible for putting this idea in motion!?!

Thanks for the suggestion, I’m also looking at the latest gen odroid for more cpu intensive stuff

Yup

Hey thanks man, might need to consult you on a custom 18650 pack in the future

lol shut up I’ll send you the ups tracking number later today

@@NicholasRehm this is gonna be too much fun

It was a bit easier to hold pitch attitude constant to avoid tight coupling with airspeed, which is much harder to accurately control (especially without a pitot :))

Yea I considered that to speed things up, but distance measurement is pretty important-otherwise a pid controller on left/right location of a color in the camera frame will not be tuned for all following distances. Also, I already had apriltag tracking working, and was running out of steam on this project haha

I would say with as little as 0 modifications this would work on a car! I actually considered testing on an rc car but building the ekranoplan was too much fun to pass up

It was actually the last of my depron stash which turned out to be pretty brittle--the wing upgrade did end up being the dollar tree stuff

Yes, very interested in the OAK camera if only I was smart enough to get it working with my system…

When’s your defense? Best of luck

@@NicholasRehm Thanks - its in September :-)

I gotta find a better way to protect them from the ground after the last incident lol

@@NicholasRehm alright, I'm trying to jump in this world with y'all. I'm almost there man

Yes I overclocked the pi to 2GHz--which necessitated that big heatsink and cooling fan on top. Looking into other single board computers and also AI-enabled cameras with embedded compute hardware, so stay tuned for developments on that

Differential thrust

It's the usbcam ROS package and opencv in python to record

Good stuff!

It’s all a compiled C++ package, apriltag_ros wiki.ros.org/apriltag_ros

The detection is done on the greyscale image, and I basically just overlaid the solution on the color image before recording it onboard. So yea it does use up a few extra cpu cycles but not during actual detection where the load is the highest

It’s a tfmini plus

This one was was entirely eyeballed, you’d be surprised what you can get to fly without any aerodynamic knowledge. The more you build the more you learn what works and what doesn’t

Start with a test stand and dial in your P and D gains so it responds well without any oscillations or 'jitters' which are the result of overtuning. Then dial in a little bit of I gain but never too much. Then give it a flight and some manual step inputs and observe the response...too slow (P-term too low), overdamped (D term too high), drifting (I-term too low). If you're talking about tuning gains for autonomy/navigation, step one is get a quad flying in angle mode that hovers hands-off the sticks, then slowly increase your position/velocity controller P and D gains, and be ready to take back manual control quickly... Best of luck

TFMini Plus from sparkfun: www.sparkfun.com/products/15179 Arduino library to interface with it: github.com/budryerson/TFMini-Plus And the PID code I wrote is at 04:46

@@NicholasRehm Amazing project thanks man, do I plug the Lidar sensor straight into the flight controller ?

@@zero00tolerance well, you would need to add the bits of code from the arduino library to initialize the sensor on a free serial pin. That basically entails copying a little bit of the library's example code to be able to get the sensor data into the flight controller code. Once you're reading data in the main loop, it's all yours to decide what to do with it i.e. write a little pid controller function to stabilize on a set altitude

If you shoot me an email I can send you the cad drawings of the tails/fuselage and the wing dimensions

@@NicholasRehm Just sent :)

Also looking into the latest gen odroid for more CPU intensive stuff

Who gonna pay for that

@@NicholasRehm then why don't you just raise money by doing youtube videos to get one ?!?