A new video of the mission #21 autonomous flight of my Cularis UAV done on April 2011. The mission is composed of 4 waypoints and the Cularis UAV have done a full autonomous flight of about 4 Kms during more than 2 runs in closed loop. I have done some fine tuning in the PID setup. After this mission the battery level was about 70% (Lipo 3S 2650 mAh NanoTech)...

The weather conditions was: Wind 7 Km/h from ESE, gusting 13 Km/h

The Cularis UAV autopilot setup is:

- Autopilot: Ardupilot (Atmega 328)@16MHZ + ArduIMU flat v2

- ardupilot v2.8.1 (JLN) + arduimu v1.8.3 (JLN)

Sensors: (arduIMU on board):
•3 Axis Accelerometer (ADXL335)
•3 Axis Gyroscope (LPR530AL + LY530ALH)
•3 Axis magnetometer (HMC 5843)
•1 pressure sensor (air speed sensor)
•1 GPS U-Blox5 GS407

Video cameras:
•1 GoPro HD Wide (forward view)
•1 FlyCam One v1 (downward view)

Real time telemetry:
- Low speed with Multiplex M-Link
- High speed datalink with Xbee pro

More infos at: diydrones.com/profile/JeanLouisNaudin

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