Six Degrees Of Freedom Omnicopter With Ardupilot

Modern multirotors are very maneuverable but are mostly limited to hovering in a single orientation. [Peter Hall] has gotten around this by building an omnicopter drone with six motors mounted in different orientations on a collapsed tetrahedron frame.

The shape of the frame consists of six tetrahedrons all joined together at a single point. With a motor in each frame, the drone can produce a thrust vector in any direction, to achieve six degrees of freedom. The control system is the challenging part of this project, but fortunately [Peter] is one of the Ardupilot developers. Unlike a standard multirotor, it doesn’t need to tilt to move around laterally but can keep its orientation constant. One of the limiting factors is that the motors need to stop and reverse rotation for direction changes, which takes time. At slow maneuvering speeds this isn’t a major problem, but at higher speeds rotation is noticeably less smooth.

Because the drone is symmetrical all around, keeping track of orientation is challenging for a human pilot, but it’s perfect for an autopilot system like Ardupilot. In the video after the break, [Peter] demonstrates this by flying the drone around while the autopilot rotates it randomly. The 6DoF control system is open source and a pull request is live to integrate it into the official version of Ardupilot. The obvious application for this sort of drone is for inspection in and around structures.

This omnicopter is an entry into the Lynchpin drone competition by the celebrity [Terrence Howard]. We’re not quite following his claims regarding the scientific significance of this shape, which he named the “Lynchpin”, but it works for drones. Continue reading “Six Degrees Of Freedom Omnicopter With Ardupilot”

Autonomous Balloon Popping

Quadcopter drone for popping balloons

Taking on an autonomous vehicle challenge, [Randy] put together this drone which can locate and pop balloons. It’s been assembled for this year’s Sparkfun Autonomous Vehicle Competition, which will challenge entrants to locate and pop 99 luftbaloons red balloons without human intervention.

The main controller for this robot is the Pixhawk, which runs a modified version of the ArduCopter firmware. These modifications enable the Pixhawk to receive commands from an Odroid U3 computer module. The Odroid uses a webcam to take images, and then processes them using OpenCV. It tries to locate large red objects and fly towards them.

The vision processing and control code on the Odroid was developed using MAVProxy and Drone API. This allows for all the custom code to be developed using Python.

The Sparkfun AVC takes place tomorrow — June 21st in Boulder, Colorado. You can still register to spectate for free. We’re hoping [Randy]’s drone is up to the task, and based on the video after the break, it should be able to complete this challenge.

Continue reading “Autonomous Balloon Popping”