Wow, it’s hard to believe we’ve made it this far. All the boards are packed up in a tight-fit, plastic box which protects all the components and also makes it super easy to upload the program via a small hole cut for the mini-USB on the Arduino Nano.
The small switch allows us to turn the link to the IMU off since uploading to the nano does not work when the serial link is connected.
Stay tuned for our first test of the autopilot in action!
~ the RADAR Team
Here I demonstrate our current setup with a test board. I’m demonstrating the closed loop operation with periodic trimming. I only showed the ailerons working, but the pitch control surface works as well.
The first part of the program “demos” the control surfaces, then checks to see if the IMU is connected. If it is not connected, it will not move on to the main part of the program. (This will be useful when we program the plane to take-off, as we do not want it to take-off without receiving positional data!)
The main part of the program uses a single line of code to control the roll, pitch, yaw, speed, and duration; like this:
myPlane.fly(roll, pitch, yaw, motor, time);
Inputting any particular values into the function will cause the plane to “hold” the given angles and speeds for the duration specified.
By creating this handy function, it will be now easy to chain these functions together dynamically to create complex maneuvers based on mathematical functions.