- Drupal Broke, so we've moved back to the "old" website for now.
(20 Dec 2005)
- 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.
interpretation of the data.
- IT WORKS! 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
on the bench
in hands-off flight.
There is also a
short Quicktime movie of it (4.9 MB).
more details in this posting, and more movies to come.
(16 June 2003)
Release 2.5 is out. This code has many updates,
including a new network layer, rev2.4 hardware support, diagnostic utilities,
and more. (March 26, 2003)
Rev 2.4 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)
is progressing. I've done some work to analyze a few frames and have produced
an image of the PCM data from my Futaba 8U (28 January 2003)
is out. This has the code that actually flew the helicopter a few weeks ago.
(20 October 2002)
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)
Recommended readings from Aaron Kahn
(15 October 2002)
Flights with the seven state filter and compass.
Images and details
(14 October 2002)
(10 October 2002)
16 bit -> 8 bit SPI bridge works
(27 September 2002)
Successful autonomous flights!
(22 September 2002)
2.2 board flown under manual control
(18 August 2002)
25 Rev 2.2 kits shipped, 10 assembled so far
(1 August 2002)
Group order for 2.2 boards
Rev 2.1 board demonstrates inertial sensors
What's going on here?
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.
Our initial target is 60 sized model helicopters and less than
$500 in parts. So far we've been very successful -- one of our
2.2 boards has hovered a Concept 60 for several minutes at a time
under attitude command from the safety pilot.
It isn't totally autonomous yet, but the demonstration has proven
that the inertial measurement unit (IMU) and Kalman filter approach
How do I get involved?
If you're interested in helping out, please sign up for the one of the
You may also want to view the
Frequently Asked Questions.
There is also
source code to download and hardware to run it on.
Project details are available on our