Aerial Mapping using dji mavic air

 Apps that is used is

1. Drone Deploy (www.dronedeploy.com)
2. Drone Harmony (https://droneharmony.com/)

Affordable image stitching

1. Maps made easy (https://www.mapsmadeeasy.com/)

1st trial on 19.9 and 20.9

Flown with dji mavic air with 100 images, 2 times flying, using drone harmony mobile apps, and stitch using drone harmony web for free, trial version. 

Flown with dji mavic air with 30 images, 1 times flying, using dronedeploy mobile apps, and stitch using drone harmony web for free, trial version. 

With the students postgrad and undergrad to see the mapping process using mavic air

The mapping setting

The plan catalog. I used Top Down for this mission

arduino output pwm

https://thecodeprogram.com/pwm-generation-in-arduino

Mini Crossbow antenna Tracker

MFD Mini Crossbow Antenna Tracker.

Setup

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Right Port

Bluetooth HC-05

Bluetooth HC-05  -   MFD Right Port

Tx - #1 (Right Port)

Gnd - #5 (Right Port)

5V - #1 (left Port)

Right Port Baudrate: 9600
Protocol: MAVLink

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Left Port

GPS M8N

M8N GPS - MFD Left Port

Red Wire - #1 (left Port)
Green Wire - #4 (Left Port)

Black Wire - #5 (Left Port)

Left Port Baudrate:9600 

Protocol: LocalGPS

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Markings for both Right and Left MFD Mini Antenna Tracker.

M8N Gps wires (Red, Green and Black) 
Blue wires is coming from bluetooth module. (HC-05)

GPS is mounted away and same direction with tracker.

GPS value from external shown as (L)

GPS value from aircraft without (L)

<<-- Left Port    Right Port -->>

Connection from bluetooth module

OPERATION

1) Connect drone to mission planner.

2) Turn on AAT by powering up power (3S to 4S only).

3) Connect HC05 via bluetooth (Password 1234)

4) Connect with Mission planner by method below: 

a) Click : Ctrl+F

b) Select Mavlink (mirror)

c) Set: COM 6 or detected port.

d) Baudrate: 9600

e) Click Connect

9) Check DLink in AAT Screen more than 0%.

10) Click Right Button on AAT to set HOME.

References:

1. https://www.manualslib.com/manual/2225230/Myflydream-Mini-Crossbow.html?page=1#manual

2. M8N breakout 

Video: https://www.youtube.com/watch?v=BVP0ny55STQ

Ardupilot VTOL

 

1. Install latest firmware for fixed wing. V.4.3.7

2. Mission Planner 1.3.80

3. Pixhawk Cube orange.

4. Set Q_Enable = 1 ; Quad Vtol Enable

5. Set Q_FRAME_TYPE = 3 ; H

Connections are:

MAIN OUT 1 = aileronR

MAIN OUT 2 = aileronL

MAIN OUT 3 = Throttle

MAIN OUT 4 = Elevator

MAIN OUT 5 = M1

MAIN OUT 6 = M2

MAIN OUT 7 = M3

MAIN OUT 8 = M4

RCIN = Receiver with SBUS

Do calibration

6. Accel calibration

7. Radio Calibration

8. FLTMODE_CH =5

9. BRD_SAFETYENABLE = 0

HERE3 GPS SETUP

https://docs.cubepilot.org/user-guides/here-3/here-3-manual

CAN_D1_PROTOCOL: 1 set virtual driver of CAN1 to DRONECAN

CAN_D2_PROTOCOL: 1 set virtual driver of CAN 2 to DRONECAN

CAN_P1_DRIVER: 1 set this parameter to enable CAN 1 bus

CAN_P2_DRIVER: 1 set this parameter to enable CAN 2 bus

GPS_TYPE: 9 set the communication protal type of GPS 1 to DRONECAN

NTF_LED_TYPES: 231 Set to DRONECAN for LED type

10. ARSPD_FBW_MIN = 17

11. ARSPD_FBW_MAX = 22

12. Q_ASSIST_SPEED = 14 (minus 3 ms from min speed)

13. Q_M_PWM_MIN = 1000

14. Q_M_PWM_MAX = 1900

Calibrate ESC

15. Q_ESC_CAL = 1

16. Max throttle stick

17. Connect battery

18. Reduce throttle

Check Servo output, set min same with value min of motor 1 2 3 4

19. Q_M_SPIN_ARM = 0.1

20. Q_M_SPOOL_TIME = 2

21. Q_M_SPIN_MIN = 0.15

22. Check Flight Modes (QStabilize for Multicopter mode, Manual for fixed wing)

 

Then test flight for qstabilize, and qloiter. Fly well, a bit of yawing, maybe of the weathervening set.

Next, control surfaces setup, 

flight modes (qloiter, stabilize, qstabilize),

Radio failsafe setup,

Power failsafe setup,

Groundcontrol setup.

Then,

Vtol mode setup.

Test flight transition.

Arduino mobile robot notes

How to set speed sensor for arduino

Walking Spider Robot.

 

APM Quadcopter Setup

 https://www.instructables.com/APM-Quadcopter-Setup/