Wash Uav Final Demo

Sean Reynolds

CX2

• • • • • Show Throttle Control Show Rudder Control Show Cyclic Proximity Control Show Hover with proximity Crash! 

Code

• • • • • • • • • • • • • • // accelerometers gyro #define AccelerometerMode 0 // throttle rudder #define ThrottleRudderMode 2 // user input #define LaptopInputMode 1 // mote holds heli control routines.

#define HelicopterControlMode 2 // control the swashplate with 3 servos #define HelicopterSwashMixing 0 // use proximity sensors as #define ProximityCyclic 1 // use accelerometer to demo cyclic control #define AccelerometerCyclic 0

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Code

void calculateOutput() { #if AccelerometerCyclic > 0 inputLeftRight = 90 + sensors.HoverElevator(); inputForwardBackward = 90 + sensors.HoverAileron(); #endif #if HelicopterSwashMixing > 0 degreeThrottle = inputThrottle; degreeAileron = 90 + (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) + (90 - inputForwardBackward); degreeAuxSwash = 90 - (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) - (2 * (90 - inputForwardBackward)); degreeElevator = 90 + (90 - inputBladePitch) - (2 * (90 - inputForwardBackward)); degreeRudder = inputRudder; #else if(!takeOff){ if(takenOff){ degreeThrottle = sensors.HoverThrottle(); } } degreeElevator = 90 + sensors.HoverElevator(); degreeAileron = 90 + sensors.HoverAileron(); degreeRudder = 90 + sensors.HoverRudder(); } #endif fixDegrees(degreeThrottle); fixDegrees(degreeElevator); fixDegrees(degreeAileron); fixDegrees(degreeAuxSwash);

Code

• degreeThrottle = inputThrottle; • degreeAileron = 90 + (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) + (90 inputForwardBackward); • degreeAuxSwash = 90 - (90 - inputBladePitch) - (2 * (90 - inputLeftRight)) - (2 * (90 inputForwardBackward)); • degreeElevator = 90 + (90 - inputBladePitch) - (2 * (90 - inputForwardBackward)); • degreeRudder = inputRudder;

B400

• • • Show Rig Show Control With Accelerometer Controller Demo Weapons System!

Problem Videos

• In case all else fails:

CX2 Throttle Control

CX2 Rudder Control

CX2 Cyclic

B400 Control With Accelerometer