LibrePilot Forum
General Category => Showroom => Topic started by: karla on November 12, 2018, 10:49:37 am
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Hello all!
This project was to add FPV capabilities to a fantastically engineered speed boat, enhance the range of operation, get a RTB function for failsafe and open for waypoint autonomous stuff. It worked out fine I think.
(https://forum.librepilot.org/index.php?action=dlattach;topic=4483.0;attach=7868;image)
(https://forum.librepilot.org/index.php?action=dlattach;topic=4483.0;attach=7896)
https://www.youtube.com/watch?v=QIUCQocaLZc
Boat/Motor/ESC: Traxxas, Spartan Race Boat
https://traxxas.com/products/models/marine/spartan-tsm
Battery: 2 x 5500 mAh LiPo 3S, mounted in series (6s).
Top speed: 44+ knots, 80+ km/h, 50+ mph
FC HW: OpenPilot Revolution Nano https://librepilot.atlassian.net/wiki/spaces/LPDOC/pages/26968079/OpenPilot+Revolution+Nano
FC SW: LibrePilot next 16.09 (r735)
https://forum.librepilot.org/index.php?topic=4445.msg30591#new
Radio receiver module: OpenPilot OPLink Mini 433Mhz, replacing Traxxas stock 4.2Ghz receiver)
Antenna: End fed, dipole 1/2 wave length
https://forum.librepilot.org/index.php?topic=4199.msg28510#msg28510
GPS: DJI NAZA-M LIGHT (likely a clone)
. First need to replace the Traxxas proprietary battery connectors into standard XT60 (see picture)
. FC and OPLM is installed in a water resistant plastic box in the roof of the boat cover.
. GPS/MAG unit is mounted above deck far aft away from ESC and power cables
. FPV cam with 5.8GHz vtx mounted on top of the boat cover (removable)
. LED (WS2811) installed on top of the cover showing system health/warnings
https://librepilot.atlassian.net/wiki/spaces/LPDOC/pages/12812390/Setup+WS281x+Led
(https://forum.librepilot.org/index.php?action=dlattach;topic=4483.0;attach=7875;image)
Note: both FC + OPLM unit can be fitted in the waterproof case where the Traxxas radio was located.
I just wanted easier access to them and don’t intend to race or run at top speed but rather do FPV and Waypoints things.
https://www.youtube.com/watch?v=_lAWO9whsDU
Here is a waypoint run.
https://www.youtube.com/watch?v=pkOa3uQBlSU
The modification/installation of LibrePilot was really easy.
Just to follow the Vehicle Setup Wizard for Boat.
(https://forum.librepilot.org/index.php?action=dlattach;topic=4483.0;attach=7870;image)
When choosing boat vehicle, after saving and rebooting it will show car, but the settings are saved okay for the boat.
Just found two tunings needed:
1. the default values of the PID settings for YAW is too high and this boat will start oscillate driving over say 70% throttle.
I use stabilization AxisLock for YAW.
Defaults should be reduce by 30%. And the TPS should be activate.
Please have a look and use these settings:
(https://forum.librepilot.org/index.php?action=dlattach;topic=4483.0;attach=7900)
2. the default values in the GroundPathFollower, Velocity limits are too low to provide enough speed for the rudder to work in RTB mode. Use these instead.
(https://forum.librepilot.org/index.php?action=dlattach;topic=4483.0;attach=7898)
Attached is the UAV file (3.0).