Solo Flow
cc-by-nc
1 Parts list
Flow module: https://northox.myshopify.com/collections/frontpage/products/px4flow
Lidar: http://www.lightware.co.za/shop/en/drone-altimeters/51-sf11c-120-m.html
Housing: https://drive.google.com/open?id=0B-Aj3TOtcq6MakxMTU92S05zRnc
Breakout board: https://oshpark.com/shared_projects/JAZFqfYG
Accessory connector: TX2430R6STN1E
Clikmate: 5023820670
Mounting screws: M2 x 30mm x4
M3 x 14mm x2
2 Flow firmware
http://download.ardupilot.org/downloads/wiki/advanced_user_tools/px4flow-klt-06Dec2014.zip
3 Q Ground
http://qgroundcontrol.org/downloads
4 Solo Firmware
Latest Beta: Rebase Master….
5 Parameters
RNGFND_GNDCLEAR 5
RNGFND_MAX_CM 5000
RNGFND_MIN_CM 5
RNGFND_SCALING 1
RNGFND_TYPE 8
SERIAL2_BAUD 19
SERIAL2_PROTOCOL 9
EK2_ALT_SOURCE 1
EK2_GPS_TYPE 3
EK2_MAG_CAL 2
FLOW_ENABLE 1
FLOW_ORIENT_YAW -9000
AHRS_GPS_USE 0
ARMING_CHECK -14
RNGFND_GNDCLEAR |
5 |
RNGFND_MAX_CM |
5000 |
RNGFND_MIN_CM |
5 |
RNGFND_SCALING |
1 |
RNGFND_TYPE |
8 |
SERIAL2_BAUD |
19 |
SERIAL2_PROTOCOL |
9 |
EK2_ALT_SOURCE |
1 |
EK2_GPS_TYPE |
3 |
EK2_MAG_CAL |
2 |
FLOW_ENABLE |
1 |
FLOW_ORIENT_YAW |
-9000 |
AHRS_GPS_USE |
0 |
ARMING_CHECK |
-14 |
|
|
6 Setting up your Flow module
http://ardupilot.org/copter/docs/common-px4flow-overview.html
7 Video tutorials.
Getting the flow firmware: https://www.youtube.com/watch?v=1vrcw3YA5ig
Flow Upgrade: https://www.youtube.com/watch?v=uubicYyGJV8
Focusing the flow: https://www.youtube.com/watch?v=1MCfdDwOiNk
I2c wiring: https://www.youtube.com/watch?v=wszLl0_1FRo
Assembling the leg back in: https://www.youtube.com/watch?v=dYxEw3bt47A
Assembling Flow module into housing: https://www.youtube.com/watch?v=oM0vYgC3P98
Assembling Lidar into housing: https://www.youtube.com/watch?v=AI6w7EJ-SLc
Connecting the Flow to I2C: https://www.youtube.com/watch?v=akxxWxE846w
Connecting The module to Solo: https://www.youtube.com/watch?v=Bu87On11Frk
8 System Limitations.
Flow on Solo has limitations that must be considered. Some of these are temporary, some are long term.
8.1 Hardware limitations
Focusing is critical on the flow, the system cannot cope with blurry images, this can cause drift, or rapid movement…. So be aware that hovering close to the ground can lead to undesired results, likewise stability at heights can be affected.
Low light. Light is critical for the system to work. Adding a downward facing light (IR is OK) can assist here.
Pulsing light. Attempting to use the Flow in an area lit by Fluorescent or pulsing Lights will lead to undesired results.
Use over water. Flow doesn’t work well over water, it will either follow the water itself, or the sky above, either way, it can lead to unexpected results, and can cause the relative position to end up quite a long way off.
8.2 Software limitations
Arducopter is not yet optimized for use with flow. At the current time flow only works if you turn the GPS OFF….
There is work intended soon to remove this limitation and allow the use of flow and GPS together to allow for autonomous navigation where the GPS signal may be intermittent. Ie, a Cable cam, under a bridge.
Some functions are starting to be added, but are not reliable yet.
RTL, Break, and Autonomous modes.
Use at your own risk as these features come out.
OVERALL, THIS IS EXPERIMENTAL>>>>
9 Future use cases…
Flow will come into its own when we can do a cable cam, from an indoor location, to an outdoor location, predictably, every time…. To be able to run a cable, under a bridge…. Under trees…
to automatically use Flow when you arm, so you do not need to wait for GPS, and seamlessly transition when GPS is denied.
10 Why are we releasing this?
The heart of Solo is ArduPilot, ArduPilot is all about innovation. So to encourage more people to run on the cutting edge, is what we are all about.
Happy modding!
11 Other settings of interest…
FENCE_ALT_MAX |
2 |
RTL_ALT |
0 |
FENCE_ALT_MAX 2
RTL_ALT 0
this stops the copter flying above the 2 meter limit…. This is really handy for indoor flight…
12 Ongoing work
If you are a company who is interested in this technology, feel free to contact us, we are looking for someone to sponsor the ongoing integration of the Flow into the system.
This tutorial uses the old flow module, the new module, the 2.0, uses CANBUS as the protocol, it also uses a more powerful chip, and adds target acquisition to the system, allowing for precision landing etc. The new hardware is optimized for a wider angle lens, allowing for better target tracking.
This instructional, and all methods is released under the cc-by-nc licence, please contact me via the email below if you wish to commercialise this.
Email, info@ardupilotinitiative.com
