This project started when I found out about the 5 DOF IMU from SparkFun. I always wanted to experiment with an IMU and Kalman filters so I decided to build an IMU based flight stabilizer. I also recently got in to FPV and was looking for the next platform after my EasyStar. A Quadcopter was the perfect platform, easy to build, can launch from my back yard and it should be able to carry a decent payload. Also developing the control hardware and software sounded like a nice challenge.
The same IMU stabilizer can also be used to stabilize my EasyStar, however I will first test it on the Quadcopter.
Of course this is not the first project of its kind (Tom’s site is worth mentioning) but none of the existing projects was exactly what I wanted to do. So my objectives for this project are:
- Develop an IMU stabilization board using the SparkFun IMU, with enough processing power to run the Kalman filters, servo controller, PID loops and data logger.
- Tuning PID loops in no fun without a data logger, so enough memory to record a few minutes of data at high speed will be required.
- Spare I2C buses for interfacing with peripheral boards and maybe the EagleTree eLogger.
- Video transmitter (I already have a 900MHz 500mW system, including a ground station).
- Heli gyro for yaw control (the IMU can only be used to control roll and pitch).
- EagleTree eLogger with GPS, OSD and altimeter sensor.
- Spektrum AR7000 receiver.
- A nice to have would be an artificial horizon on the OSD, one approach I am considering is designing an additional OSD that would only be used to generate the artificial horizon. The EagleTree OSD will be used for the display of all other information.
- The IMU board will be based on the Propeller chip from Parallax. This device has eight cores and can operate at frequencies up to 80MHz with very little power consumption.