Vassilis’ Projects

The boards have been received and ready for testing. The software is also coming together, I was able to find quite a few objects in the Propeller Object Exchange.

The following COGs are used (COG is a the 32-bit processing unit in the Propeller chip, there are a total of eight available)

• [1 COG] Servo output using the Servo32v3 object.
• [1 COG[ Servo input using the ServoInput object.
• [2 COG] Floating point math using the Float32Full object.
• [2 COG] Logger and high speed UART for real-time debugging. This is only used for testing, if more COGs are needed in the future it can be easily disabled.
• [1 COG] ADC driver using the MCP3208 object. I had to make quite a few modifications on this one to get it to average samples between IMU updates.
• [1 COG] The main loop with the IMU code, Kalman filters, PID loops etc. It executes every 20ms. For the Kalman filter I started with an implementation found in the object exchange but I had to make quite a few modifications to speed it up and get it to work using all three accelerometers.

This entry was posted on Saturday, December 6th, 2008 at 12:37 am and is filed under Quadcopter. You can follow any responses to this entry through the RSS 2.0 feed. You can leave a response, or trackback from your own site.