ArduPlane autonomous takeoff and landing
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- เผยแพร่เมื่อ 8 เม.ย. 2021
- A fully autonomous takeoff and landing demo. The plane is designed and scratch-built specifically to be flown by the ArduPlane system. It has large control surfaces and a landing gear with a lot of suspension travel to work well on my local flying field with is a bit bumpy. My goal with this project is to create a plane that can fly waypoint missions and takeoff and land reliably in autonomous mode. This video was recorded in September of 2020, and a will continue to experiment and improve the plane. Lidar altitude sensor and airspeed sensor is coming...
More info here on my website: axelsdiy.brinkeby.se/?p=1912 - วิทยาศาสตร์และเทคโนโลยี
Beautiful design. Love the suspension on the landing gears. And the nav lights on the arms.
Ditto.
I love the combination of old-school building techniques using balsa and and covering film coupled with the latest autonomous technologies. Great job.
Well done! Arduplane is absolutely amazing...
Great job, amazing
thanks for sharing
also thank you so much for sharing the landing gear files with us.
Amazing!
nice suspension!!! nice design!!! GJ
Fabulous achievement!!!!
I am assuming that you are only using the gps for landings, no speed sensor and lidar? If yes, could you share your way point data at the landing points and parameters such as:
Auto landing parameters.
Land_flare-alt =7
Land_flare_sec =5 (decent @2m/sec). Flare will take place at 6 meter.
Land_pf_alt=10m
Land_pf_sec=5sec
Land_flare_cd = 0 deg
Thanks
Riz
Done...you're my hero
That was very clever. Well done. I wouldn't know where to start. 👍👍
Thanks 👍
Nicely Done!
Thanks!
Nice job!
Works well!
Nice job,keep experimenting.
Thanks, I will. Lidar and airspeed sensor are planned...
Really really nice. I saw the next two landing videos with the LIDAR. Seems you don't realyy need the LIDAR and the airspeed.
Amazing landing gear!!!!!!!!!!!!!
Can i use just the bottom part?
Meiner Meinung nach, geht es hier nicht um Design, sondern darum, Träume wahr werden zu lassen.
Very well done! I've often wondered about the success of Arduplane's auto landing as it seems like more of a "controlled crash" because the plane doesn't appear to flare on landing.
you can program in a flare on ardupilot i done it with a wing however to get that accurcy you may need lidar installed
I know ArduPilot has settings for a rangefinder altimeter.
Maybe you don't need a full lidar but just a linear rangefinder laser. Ultrasound would be even cheaper (you don't need range if it's just to assist landing) but I'm not sure if it would be accurate enough.
Its faveolus 👍👍👍
Does the auto landing mode allow for transmitter stick nudging? Like rtl and auto mode does?
That was AMAZING! The autonomous landing was so satisfying to watch!
Great job! I'm thinking about doing the same but ArduPlane is a bit advanced for me (Just started with iNAV FC's). I hope I could have one of my planes do the same!
Absolutely sick work! Keep it up.
Thanks! INAV is a good start! Also, keep in mind that you can run ArduPilot on many different flight controllers. You don't need a Pixhawk. Give it a try in the future :)
hello, I'm from Brazil, I'm starting to study these programming for pixhawk in the mission planner to fly a gasoline aero. anyway , do you think it is possible to take off autonomous flight in a gasoline model airplane ??? and another doubt. Is it possible to program an autonomous takeoff from one place and also make an autonomous landing in another location using a gasoline engine ??? is it more complicated like that??
Do you think this could work with an EDF?
Amazing project! I start learning Ardupulot. One other thing's that show up is the plane landing gear setup. You make from 3D printed parts and rc cars shock absorbers?
Thanks. Yes, the landing gear if 3D printed with a couple of carbon fibre pods and RC car chock absorbers. You can find the landing gear on Thingiverse here: www.thingiverse.com/thing:4850791
if you are not measuring airspeed, what are you doing then with your physical model?
This looks great! I've been trying to get an RC plane in the air for a couple of years already, but my wings never seem to produce enough lift. I wish my planes flew as well as this one
Maybe your plane is too heavy or underpowered? Or the CG is wrong. Keep trying!
Look into KfM airfoils, lots of performance with just sheets of foam
Brilliant! how precise was the landing point?
I'd love to know and also how precise is the GPS sensor
wow. copious skillz, m8
Amazing job... even if I think that WITHOUT airspeed data things can go wrong easily.
Yes. I totally agree. All sensors are needed to get a reliable system. I have fitted the plane with both a downward-facing Lidar and an airspeed sensor now. Just need to do more testing and tuning...
@@AxelsDIY yep... I have had my pitot tube jamed during a flight... my 4G disco managed to land by itself with the gyros and accelerometers only, but it pissed me off.
(I’m the kind of guy who prefer using stuff rather then building them... then the Parrot disco, with only light modifications: 4G cellular networks, batteries, stereoscopic 3D hud for fpv, independent tracking system).
hello can you give us the link to buy that beautiful landing gear? thanks
You can now buy it. It's my own design. But you can 3D print the parts and built it yourself. Scroll down a bit on this page for the download link: axelsdiy.brinkeby.se/?page_id=1922
Congratulations, great job, the landing gear you designed works great. Can I ask you a question? were the mechanical parts of the trolley made with the 3d printer?
Thanks. Yes, it is 3D printed. You can see more and also download STLs on my website here: axelsdiy.brinkeby.se/?page_id=1922
@@AxelsDIY Thank you for answering me, I renew my congratulations again for your ingenuity. I'll take a look at the link.
Nice, i am trying to execute the same using px4. but i am facing serious autoland overshoot which is very problematic for me. any idea how can we cater that ?
Maybe you are making an approach that is too steep. The plane must be able to slow down and keep that slow speed during the descent. The plane should not have much energy left when the flare starts. Try moving the waypoint before the touchdown point further away making the slope shallower. You can also try to decrease the landing speed, but be very careful not to stall the plane. I think it is important to know the plane very well. Fly it manually and do a lot of landings to get a feel for how it behaves and what angles and speeds work best. It helps a lot while trying to adjust the autopilot parameters. Keep in mind that you can also look in the logs to see speeds etc when landing manually.
Whar radio is that next to Pixhawk? Any info bout the antenna for that. Bra jobba!
Next to the Pixhawk is a 3DR 433 Mhz telemetry radio module. It is used to communicate with the ground-station. The antenna I use is home-made. It consists on a thin metal wire on the front of the vertical stabilizer, and also metal wires acting as ground planes on the horizontal stabilizer. I have tried a few different antenna configurations. It is hard to get good range since I am only allowed to use 25mW power where I live.
@@AxelsDIY What kind of a range you get with it. We have the same 25mW max here in Funland.
@@mil-fpv4931 About 500 meters clear line of sight, maybe a bit more. Enough to cover the entire area I fly over. That is using my own DIY dipole antenna on the ground as well. You can see that antenna in this video: th-cam.com/video/48wrjNI0IZ8/w-d-xo.html I have found that making my own DIY antennas gives much better results than using the stock ones that come with those radio modules.
would arduplane continue its waypoint mission if its out of range from the transmitter and mission planner?
Yes. It is possible to configure it that way. But I have mine configured to return home in case of signal loss.
Amazing!!!!!!!!!!!!!!!!!
Thanks for sharing! Do you have details of the landing gear?
Thanks! I uploaded the landing gar design to thingiverse. You can find it here: www.thingiverse.com/thing:4850791
@@AxelsDIY thank you so much for sharing the landing gear files with us
Hello, boss, has the link sharing been cancelled? The link shows 404.
@@AxelsDIY Hello, boss, has the link sharing been cancelled? The link shows 404.
Hello, I have a small question. Do you know if it's possible to communicate with a Raspberry Pi using Ardupilot? I'd like to make an autonomous drone that flies to waypoints sent over 4g from an app on the phone.
Yes. That is probably possible. Check the ArduPilot documentation for "companion computers". That is definitely an advanced topic though. Make sure you have the drone flying great and you know exactly how it works first before you start working on that.
@@AxelsDIY alright, thanks a ton. I've been flying RC planes for many years now but never messed with ardupilot)
@@CBXrr thanks so much!
Can you share your param pls?
It is avalible on my website here: axelsdiy.brinkeby.se/?page_id=1922
This is not landing.
It fall from sky like brick.
But because weight 1kg only and have good suspension - it was ok.
Seriously? C'mon man.
The suspension is mostly because of the bumpy field. Vertical speed at touchdown is around 0.3 meters per second or less.
Hello sir,
I have watched your video and also deal with UAV project.My team reading to competition.Our mission is determining red circle object in first circle and drop the ball in second circle. We think we need to use pitottube for determine airspeed clearly and after we do projection from UAV to ground. As I saw form your video, without pitottube we can landing very healty, but i want to ask you İs inner IMU and gps enough for determining airspeed clearly ? if not we will buy pitottube but its very expensive in our county. If i find the method for determine airspeed without use pitottube I Will prefer it.
Have a nice day.
.
And on the left wing, isn't the pitot tube peeking out? Little liar! :)
Yes, that was the first pitot tube. But it was not used at all in this video. That tube was connected with a long hose to the fuselage, where I wanted to place the actual sensor. But it did not work very well. I don't even think the sensor was installed for this fight. Take a look at this video if you have not already: th-cam.com/video/48wrjNI0IZ8/w-d-xo.html There you can see that the pitot tube has been replaced by a new one, and the sensor is placed very close to the pitot tube inside the wing instead.
@@AxelsDIY This is a joke, please don't be offended! I also had to lengthen the wires to the airspeed sensor, not the tube, otherwise the accuracy was poor. Landings of your plane are very, very good!
@@Alistratov1971 👍