Gyro Hovercraft using HK i86 Board and Arduino

Flying bedstead inspired Gyro Hovercraft using HK i86 Board Gyro Hovercraft using HK i86 Board and Arduino

Hover craft PC software Leasd on from the http://flitetest.com/articles/kalman-filter-for-arduino project using some of the same codebase

C# Code

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;

namespace HoverCraft
{
    public partial class Form1 : Form
    {
        int smouse_x = 0;
        int smouse_y = 0;
        int mouse_x = 0;
        int mouse_y = 0;
        bool mouse_down = false;
        Keys KeyCode = Keys.Escape;

public Form1()
        {
            InitializeComponent();
        }

private void Form1_Load(object sender, EventArgs e)
        {

mouse_x = (trackBar1.Maximum - trackBar1.Minimum) / 2;
            mouse_y = (trackBar2.Maximum - trackBar2.Minimum) / 2;

timer1.Enabled = true;

serialPort1.BaudRate = 38400;
            serialPort1.Open();

}

private void timer1_Tick(object sender, EventArgs e)
        {
            SendPacket();
        }
        private void SendPacket()
        {
            /*/calc checksum    
           int chk = 0;
           for (int i = 0; i < 11; i++)
               chk += TxVal[i];

sprintf(buf, "C,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,\n", TxVal[0], TxVal[1], TxVal[2], TxVal[3], TxVal[4], TxVal[5], TxVal[6], TxVal[7], TxVal[8], TxVal[9], chk);
        
            */

string SendPacket = "C,";

int aeleron = trackBar1.Value;
            int elevator = trackBar2.Value;
            int throttle = trackBar3.Value;
            int liftfan = trackBar4.Value;
            int yaw = trackBar5.Value;

int chk = elevator + aeleron + throttle + liftfan + yaw;

/*            
            Elevator = TxVal[0];
            Aeileron = TxVal[1];
            Throttle = TxVal[2];
            MainFan = TxVal[3];
            Yaw = TxVal[4];
             */
            SendPacket += elevator.ToString() + ",";
            SendPacket += aeleron.ToString() + ",";
            SendPacket += throttle.ToString() + ",";
            SendPacket += liftfan.ToString() + ",";
            SendPacket += yaw.ToString() + ",";
            SendPacket += chk.ToString() + ",\n";

if(serialPort1.IsOpen)
                serialPort1.Write(SendPacket);

LblPacket.Text = SendPacket;

//Read telemetery
            //sprintf(buf, "T%02X%02X%04X%02X%03X%03X%03X%03X%03X%03X%03X%03X%02X\n", PacketType, rssiDur, PacketCount, NoPacketCount, AnIn[0], AnIn[1], AnIn[2], AnIn[3], AnIn[4], AnIn[5], AnIn[6], AnIn[7], DigBits);

string  TelemeteryPacket = "";

if (serialPort1.IsOpen)
            {
                if (serialPort1.BytesToRead > 0)
                {
                    char ch = (char)serialPort1.ReadChar();

//serialPort1.ReadExisting()
                    while (serialPort1.BytesToRead > 0)
                    {
                        ch = (char)serialPort1.ReadChar();

if (ch == 'T')
                        {
                            ch = (char)serialPort1.ReadChar();

while (serialPort1.BytesToRead > 0)
                            {
                                if (ch == '\n')
                                    break;
                            }

if (ch == '\n')
                                break;

}

TelemeteryPacket += ch;
                    }

LblTelemetery.Text = TelemeteryPacket;
                }
            }

}

private void trackBar2_Scroll(object sender, EventArgs e)
        {
            //elevator
            mouse_y = 100- trackBar2.Value;

panel10.Refresh();
            panel3.Refresh();
           
        }

private void trackBar1_Scroll(object sender, EventArgs e)
        {
            //Aeleron
            mouse_x = 100 + trackBar1.Value;

panel10.Refresh();
            panel3.Refresh();
           
        }

private void trackBar3_Scroll(object sender, EventArgs e)
        {
            //Throttle
        }

private void panel10_Paint(object sender, PaintEventArgs e)
        {
            SolidBrush brush = new SolidBrush(Color.Aquamarine);
            Pen pen = new Pen(Color.White);

//e.Graphics.DrawPie(pen, new Rectangle(10, 10, 100, 100), 30.0f, 90.0f);

//e.Graphics.RotateTransform(45.0f);

e.Graphics.DrawArc(pen, new Rectangle(100 - 12, 100 - 12, 25, 25), 0.0f, 360.0f);

e.Graphics.DrawLine(new Pen(Color.White, 10f), new Point(100, 100), new Point(mouse_x, mouse_y));

e.Graphics.DrawArc(pen, new Rectangle(mouse_x - 25, mouse_y - 25, 50, 50), 0.0f, 360.0f);

string s = mouse_x.ToString() + " " + mouse_y.ToString();

e.Graphics.DrawString(s, this.Font, Brushes.Yellow, new PointF(10f,10f));

}

private void panel10_MouseUp(object sender, MouseEventArgs e)
        {
            mouse_down = false;
        }

private void panel10_MouseMove(object sender, MouseEventArgs e)
        {
            if (!mouse_down)
                return;

mouse_x = e.X - smouse_x;
            mouse_y = e.Y - smouse_y;

//int sbx = (int)(((((double)mouse_x + ((double)panel10.Width * 0.1)) / ((double)panel10.Width * 0.8))) * 100.0);
            int sbx = (int)((double)(mouse_x - 100) * 1.2);
            if (sbx < trackBar1.Minimum) sbx = trackBar1.Minimum; else if (sbx > trackBar1.Maximum) sbx = trackBar1.Maximum;

//int sby = (int)(((((double)mouse_y + ((double)panel10.Height * 0.1)) / ((double)panel10.Height * 0.8))) * -100.0);
            int sby = 0 - (int)((double)(mouse_y - 100) * 1.2);
            if (sby < trackBar2.Minimum) sby = trackBar2.Minimum; else if (sby > trackBar2.Maximum) sby = trackBar2.Maximum;

trackBar1.Value = sbx;
            trackBar2.Value = sby;

panel10.Refresh();
            panel3.Refresh();
        }

private void panel10_MouseDown(object sender, MouseEventArgs e)
        {
            if (mouse_down)
                return;

smouse_x = 0;// e.X;
            smouse_y = 0;// e.Y;

mouse_x = e.X - smouse_x;
            mouse_y = e.Y - smouse_y;

mouse_down = true;

panel10_MouseMove(sender, e);
        }

private void panel3_Paint(object sender, PaintEventArgs e)
        {
            SolidBrush brush = new SolidBrush(Color.Aquamarine);
            Pen pen = new Pen(Color.White);

string s = mouse_x.ToString() + " " + mouse_y.ToString();

e.Graphics.DrawString(s, this.Font, Brushes.Yellow, new PointF(10f, 10f));

//e.Graphics.DrawPie(pen, new Rectangle(10, 10, 100, 100), 30.0f, 90.0f);

//e.Graphics.RotateTransform(45.0f);

e.Graphics.DrawArc(pen, new Rectangle(100 - 12, 100 - 12, 25, 25), 0.0f, 360.0f);

e.Graphics.DrawLine(new Pen(Color.White, 10f), new Point(100, 100), new Point(mouse_x, mouse_y));

e.Graphics.DrawArc(pen, new Rectangle(mouse_x - 25, mouse_y - 25, 50, 50), 0.0f, 360.0f);

string s = mouse_x.ToString() + " " + mouse_y.ToString();

e.Graphics.DrawString(s, this.Font, Brushes.Yellow, new PointF(10f, 10f));
             * */
        }

}
}

"Flying Bedstead" 1955 Neil Armstrong knew it well

Gyro Hovercraft using HK i86 Board set to fixed wing mode tilts the tail EDF to stabilize yaw.

Parts

1 X 2 cell 1300mAh 20C Lipo

1 X 64 mm EDF

1 X 30A ESC

3 X 27 mm EDF

3 X 10 ESC's

Hobby King 2.4Ghz 4Ch Tx & Rx V2 (Mode 2)

Yaw on the 27 mm tail jet Ch6 on the 64 mm main lift jet which you can just set an leave it.

Looking at the Arduino code to use accelerometers to manage the control jets using the input from elevator and aileron, summed against the accelerometer X and Y

The idea is to test a station holding idea for a multicopter, based around 3 or 4 small EDF's with one of them tilting for yaw control.

The hardware


Arduino Nano on home brew board	HobbyKing RX	3 Axis Accelerometer

A simple sketch for the hover craft, reads 3 chans from a standard HobbyKing receiver.

#include

#define MAX_CHAN 12
#define MAX_IN_STR 200

char buf[255] = {0, };
String str = "";
char *p;    
String inputString = "";         // a string to hold incoming data
int rssiDur = 0;
int DigBits = 0;
int ComState = 0;
long PacketCount = 0;
long NoPacketCount = 0;

int Sample = 0;
int TxTemp[MAX_CHAN + 1] = {0, };
int TxVal[MAX_CHAN + 1] = {0, };

Servo servo[7];  // create servo object to control a servo

#define MAX_SAMPLE 10

int val = 0;    // variable to read the value from the analog pin

int AnIn[MAX_CHAN];
int AnInWOZ[MAX_CHAN];

int tick = 0; 
int pwm_count = 0;

int ch1 = 7;
int ch2 =  8;
int ch3 =  12;

int AeileronWOZ = 0;
int ElevatorWOZ = 0;
int ThrottleWOZ = 0;

int Aeileron = 0;
int Elevator = 0;
int Throttle = 0;
int MainFan = 0;
int Yaw = 0;

void setup() {
    
  inputString.reserve(MAX_IN_STR);
  
  pinMode(ch1, INPUT);
  pinMode(ch2, INPUT);
  pinMode(ch3, INPUT);
   
  // initialize serial:
  Serial.begin(38400);
  
  
  servo[0].attach(3);  // attaches the servo on pin 3 to the servo object 
  servo[1].attach(5);  // attaches the servo on pin 5 to the servo object 
  servo[2].attach(6);  // attaches the servo on pin 6 to the servo object 
  servo[3].attach(9);  // attaches the servo on pin 9 to the servo object 
  servo[4].attach(10);  // attaches the servo on pin 10 to the servo object 
  servo[5].attach(11);  // attaches the servo on pin 11 to the servo object 
  
   //Do a wind off zero
    AnalWOZ();
       
      
}

void loop(){
  
   for(int i = 0;i < MAX_CHAN;i++)
        AnIn[i] = 0;
        
    for(int i = 0;i < MAX_SAMPLE;i++){
        
      AnIn[0] += analogRead(A0);
      AnIn[1] += analogRead(A1);
      AnIn[2] += analogRead(A2);
      AnIn[3] += analogRead(A3);
      AnIn[4] += analogRead(A4);
      AnIn[5] += analogRead(A5);
      AnIn[6] += analogRead(A6);
      AnIn[7] += analogRead(A7);
      
      delayMicroseconds(200);
    }     
          
    for(int i = 0;i < MAX_CHAN;i++)
          AnIn[i] = (AnIn[i] / MAX_SAMPLE) - AnInWOZ[i];
          
          
          
          
    //Capture the Xbee comms        
    int CharCount = 0;
    
    while ((Serial.available()) && ((++CharCount) < MAX_IN_STR) ) {
      
      // get the new byte:               
      char inChar = (char)Serial.read(); 
      
      //Determine packet type
      if      ( (inChar == 'C') && (ComState == 0) ) 
        ComState = 1;
      else if ( (inChar == 'N') && (ComState == 0) ) 
        ComState = 2;
      else if ( (inChar == 'S') && (ComState == 0) ) 
        ComState = 3;
      
      // add it to the inputString:
      if(ComState > 0)
        inputString += inChar;
        
      if(inputString.length() >= MAX_IN_STR)
        break;
     
      //Detect end of packet
      if ( (inChar == '\n') && (ComState > 0) )
      {
         //Count packets
         PacketCount++;
         
         int NumChan = ExtractPacket();
         
         if(NumChan > 2) 
         
         //Tramsmitter     
         if( ComState == 1)
         {                      
            for(int i = 0 ;i < (NumChan-2);i++)
                 TxVal[i] = TxTemp[i];  
             
             DoTelemetery();   
             
             UpdateServos();            
            
         }//End of if( ComState == 0)
        
        ComState = 0;
        NoPacketCount = 0;
        
        break;
      } 
    }    
    
    //Count missing packets
    if((++NoPacketCount) > 50)
      SoftReset();
     
     
     
}

int ExtractPacket()
{
   
    int Lchk = 0;      
    int channel = 0; //initialise the channel count
    
    p = &inputString[0];
    
    while ((str = strtok_r(p, ",", &p)) != NULL) // delimiter is the comma
    {

TxTemp[channel] = str.toInt(); //use the channel as an index to add each value to the array
       
       Lchk += TxTemp[channel];
       
       channel++; //increment the channel
       
       if(channel > MAX_CHAN)
         break;       
    }
    
    p = NULL; 
    inputString = "";
 
    //Process in comming data
    if(channel > 2)
    {        
      //Remove the remote chk from the total
      Lchk -= TxTemp[channel-2];
      
      //Checksum
      if((Lchk - TxTemp[channel-2]) == 0)
          return channel;              
              
    }
    
    return -1;
}

void DoTelemetery()
{
  
  
  //Send back a telemetery packet    
  if((PacketCount % 5) == 0)
  {  
    rssiDur = pulseIn(5, LOW, 200);
    
    int PacketType =  12;
    
    sprintf(buf, "T%02X%02X%04X%02X%03X%03X%03X%03X%03X%03X%03X%03X%02X\n", PacketType, rssiDur, PacketCount, NoPacketCount, AnIn[0], AnIn[1], AnIn[2], AnIn[3], AnIn[4], AnIn[5], AnIn[6], AnIn[7], DigBits);
    
    Serial.write(buf);
    
    if(digitalRead(13) == false)
      digitalWrite(13, HIGH);   // set the LED on
    else
      digitalWrite(13, LOW);    // set the LED off              
  
  } 
}

void UpdateServos()
{
     Elevator = TxVal[1];
     Aeileron = TxVal[2];
     Throttle = TxVal[3];
     MainFan = TxVal[4];
     Yaw = TxVal[5];
     
    //Fan
    val = MainFan;
    val = map(val, 0, 100, 1, 179);    
    servo[5].write(val);
    
    
    //Yaw
    val = Yaw;
    val = map(val, -100, 100, 1, 179);    
    servo[6].write(val);

//X AXIS
    double XTrimGain = -0.5;
    int XTrim = (int)((double)AnIn[1] * XTrimGain);
    
    double XGain = 0.5;
    int XStick = (int)((double)Elevator * XGain);
    
    
    //Y AXIS BOTH FRONT MOTORS
    double YTrimGain = 0.5;
    int YTrim = (int)((double)AnIn[0] * YTrimGain);
    
    double YGain = 0.5;
    int YStick = (int)((double)Aeileron * YGain);
    
    
    
    
    
    //LEFT MOTOR
    val =  Throttle + XStick + XTrim + YStick + YTrim;
    
    val = map(val, -100, 100, 1, 179);
    
    servo[0].write(val);
    
    //RIGHT MOTOR
    val =  Throttle - XStick - XTrim + YStick + YTrim;
    
    val = map(val, -100, 100, 1, 179);
    
    servo[1].write(val);
    
    
    
    
    
    
    
    //REAR MOTOR ALSO YAW MOTOR
    //val =  Throttle - YStick - YTrim;
    //val =  Throttle - YStick - YTrim;
    val =  Throttle - YTrim;
    
    val = map(val, 0, 100, 1, 179);
    
    servo[2].write(val);
    
    
      
}

void AnalWOZ()
{
  
    for(int i = 0;i < MAX_CHAN;i++)
    {
        AnIn[0] = 0;
        AnInWOZ[i] = 0;
    }
   
    for(int i = 0;i < MAX_SAMPLE;i++){
      
      AnIn[0] += analogRead(A0);
      AnIn[1] += analogRead(A1);
      AnIn[2] += analogRead(A2);
      AnIn[3] += analogRead(A3);
      AnIn[4] += analogRead(A4);
      AnIn[5] += analogRead(A5);
      AnIn[6] += analogRead(A6);
      AnIn[7] += analogRead(A7);
      
      delayMicroseconds(200);    
    }

for(int i = 0;i < MAX_CHAN;i++)
          AnInWOZ[i] = (AnIn[i] / MAX_SAMPLE);
}

void SoftReset() // Restarts program from beginning but does not reset the peripherals and registers
{
  NoPacketCount = 0;
  asm volatile ("  jmp 0");  
}