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Bingo! I have some initial results! It took a bit of work but after some tweaking I was able to get half-decent hover. The entire system actually uses a combination of human operator input and optical flow (actually a variation of it) to navigate. So when the human operator moves the control sticks,...

OK here is the second iteration: https://lh5.googleusercontent.com/-wDb3gDqdUhg/UyHb-BoXiYI/AAAAAAAAAI8/H8lSXHcXhKU/w1143-h857-no/CF.JPG There is a single square board holding and STM32F4. It talks to four chips mounted in the sideways directions. These are different chips than from the first iterat...

Tobias- Thanks for the reply about the power. I haven't tried it yet with a full battery but will do so before making the next iteration. OK This past Saturday I put it all together and got my first few flights. Everything is held together with masking tape. (Duct tape is too heavy.) The two wires s...

I heard back from Tobias- Apparently the I2C2 initializer is not complete yet. No worries though- I have the 6DOF model which means there are extra pads (from the unpopulated barometer) to which I was able to solder two wires to access I2C1. With that, I got the entire thing up (with my sensors powe...

Looks like I hit a snag. I want to use the external connector to connect the CF's processor to my sensor suite using I2C. From the schematic, it appears this is I2C2 (whereas I2C1 is used for the internal IMU), and that 10k pull-up resistors are included. (I verified this with a multimeter.) Inside ...

Just a brief update. For the control I'm using a simple control stick board I made for a prior project. It is basically a pair of joysticks and some buttons connected to an Arduino Mega (chosen only for it's size). https://lh5.googleusercontent.com/-93HWwf7JKEc/UuqMGAIsVLI/AAAAAAAAAHM/pmXvXxjINAM/w3...

2) It also seems that eulerYawDesired is a desired yaw rate. This is degrees per second, right? Is CCW (looking down from above) positive yaw? Yes. It is supposed to follow the aircraft principal axis but we might have screwed it up if I recall correctly. This is something we intend to correct but ...

Thank You for your answers above, Tobias. A risk factor is that I will power this directly from the battery since the Teensy 3.1 has it's own 3.3V regulator which I want to keep separate from the other chips. Hopefully the battery keeps the potential up enough for the 3.3V linear regulator to work w...

May I please pose a few questions for those intimately familiar with the CF firmware: 1) It seems that eulerRollDesired and eulerPitchDesired are the desired roll and pitch pose angles for the CF. Does "zero" mean pure horizontal, and are the units in degrees (not radians)? 2) It also seem...

OK I've started assembling the vision system. I'm going to use 4 WhiteOak image sensor chips. (These are new image sensor chips that we got back from the fab pretty recently but haven't publicly announced yet.) Each WhiteOak chip has a mode that allows operation with 3 wires or with 5 wires. I'm usi...