Hello all. For several years I was engaged in the hobby of the "invention" of an autopilot, I decided to share. The carrier board with
sensors and a controller you can see below:
The autopilot is made on the basis of a debug board. The circuit consists of a debug board and a periphery:
The project with the source code of software for the controller can be found here:
GPILOT.zip. Software provides the work of sensors using
8 interrupt handlers, timers, TWI (I2C), SPI, UART, RTTC, PWMC. A route for GPS write to the SD-card, as the flight is written
once a second, supported by FAT12 or FAT32. The route data is written to the SD card, which also writes flight data once a second.
One of the test models is shown in the figure below.
This is the Wing Dragon Sportster, the 1.18M swing, the take-off weight on the passport is 650g, actually measured 750g, with
autopilot 840g. (As seems, an overload present) More details with the project can be found in my profile. The concept of constructing
an autopilot for a radio-controlled unmanned aircraft on the basis of a cheap controller and modern inertial position sensors find here
You can. The concept is verified on a virtual model using the X-Plane 6 simulator and on a real model wich have a pushing screw and
an electric motor. A variant of the flight algorithm along the route using GPS is proposed. Tests were carried out, graphs were
constructed and flight data and video data were discussed. The program for calculating the plane alignment using a programmable
calculator for Android and an example of its use. All sources are available from modeling to the design of the printed circuit board.