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Thread: Teensy 3.1 FlightController Quadcopter Mavlink

  1. #1
    Junior Member
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    Dec 2014
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    Teensy 3.1 FlightController Quadcopter Mavlink

    Hello Guys!


    I just would like to share my project which i am working on right now. I developed new controll board which is really easy to set up,use and debug. I used as a brain of my quadcopter a Teensy 3.1(really great platform due to its 96Mhz overclock).
    As IMU i use mpu9150. For communication I used right now Bluetooth and rc controller. The interesting part of this project is, that I implemented there MAVLINK communication which is able to communicate and send data to MissionPlanner or QgroundControl and represent there all data on graphs. This also gives me a possibility adjust all mi p,i,d constants really easily. Link to That GUI which I am using is:

    http://www.qgroundcontrol.org/

    and mavlink protocol:
    http://qgroundcontrol.org/mavlink/start

    I also have possibilities as is seeable on the picture, use raspberry pi as communication bridge. It connects to wifi and sends information to qgroundcontroll over wifi(sockets).


    My next goal is implement raspberry pi with camera navigation. Using OpenCV libraries. If you have any question I am happy to answer.

    Click image for larger version. 

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    My code: https://github.com/JurajKabzan/Quadc...r/CopterTeensy


    I will add soon some video, but I have to switch Frame. My motors are not suitable for this size of frame(the have 1400KV), I am going to put them on f330 and make a rocket from small quad.

  2. #2
    Junior Member
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    Dec 2014
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    Hello Guys,

    I bring you new update.

    As i already said, i have plan to test it on smaller frame f330. So I decided to make my Flightcontroller little bit smaller. I did not use Raspberry pi for communication, but at this moment just Bluetooth( as is see-able on pics). There is really easy decision in code how you can decide, if you want to use just USB communication or bluetooth. You just need to change this line in /HIL.hpp https://github.com/JurajKabzan/Quadc...IL/HIL.hpp#L15
    Code:
    #define BLUETOOTH // change to USB if you want to use USB communication
    Than you just need to pair your Bluetooth with pc and use password 1234.

    Next updates are coming soon.

    In the case you would have some ideas what you would like to implement, just give me a hint! Thank you

    Click image for larger version. 

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  3. #3
    Junior Member
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    Dec 2014
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    BTW, I figured out that thanks to MAVLINK communication I am able to use to debug see parameters and edit them just with android device. With one of these APPS:

    https://play.google.com/store/apps/d...dplanner&hl=en
    https://play.google.com/store/apps/d...m.droidplanner

    ofc lot of functionality is not implemented yet.

    My tasks are add some camera control to quadcopters. This is still task which is not implemented on quadcopters for public yet. I hope till end of my University semester I will have working model done.

  4. #4
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    Dec 2014
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    Hello Guys,

    As I promised I add here one short video of my actual state, there is still some work on PID controllers but at this point is quite good. I hope you will like it!

    https://www.youtube.com/watch?v=tBAi...ature=youtu.be

    Also some picsClick image for larger version. 

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  5. #5
    Junior Member
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    Dec 2014
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    Hello Guys!

    I bring you new updates!!!!!

    My quadcopter is fling really stable!! I am shocked how it can be stable!!

    I am going to put there ultrasonic sensor to be able make it more stable even some heights and not be losing altitude!

    I did few changes in my project!

    First of all:
    • changed MotionDriver from v5.1 to V6.1
    • MAVLINKS INTERRUPTS
    • MPU settings changeble


    There are some more features in MotionDrive v6.1, which for somebody can but does not have to be useful.

    Really helpful change I did in Mavlink communication is:
    -You can set no kid of interrupt on any Mavlink parameter. It means every time you change that Parameter from QgroundControl, some interrupt function will be called. It helps to check different parameters, how they influence components(GYRO,ACCEL,MOTORS...)

    Now you can be during your flight from smartphone or PC change for example Low Pass Filter on gyro and accel readings and directly see what kind of influence it has on flight stability or . You can see also all readings on graph(see pics).

    This feature is really helpful for all people who wants,not just build quadcopter, but also build something related to gyro and accels. Not just for MPU9150 which I am using.

    I wrote really powerful library for MPU9150 which serves possibility to calibrate gyro accel or magnetometer really easily. You can every time decide if you want to use DMP or for more advanced users raw readings and than use some of the filters.

    I am happy to answer any questions

    Click image for larger version. 

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    I

  6. #6
    Junior Member
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    Dec 2014
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    Hello for more informations and more projects follow my webpage www.kabzanj.net

    In case of any informations do not hesitate to contact me!

  7. #7
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    7668 Standish Place Suite B,Rockville,MD 20855 United States
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    Hello Guys!

    Tabletexpress akaso f250a ,I hope you will like it!

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