The TrainingSphere is basically a coax drone based on the Raspberry board.
There is a very interesting project (Navio+) that is a porting of the ArduPilot software on a Raspberry board. Navio+ software is supposed to be used with their own board, but this board is very expensive and have a lot of features I don't actually need for this project. So I will try to create an APM that uses a different set of sensors specifically designed for indoor use, namely
- position will be based on the recognition of a given landmark
- altitude will be provided by a sonar
- as accelerometer I will the MicroStack accelerometer provided with the challenge kit
Given these assumptions, the plan for building the TrainingSphere includes the following steps
- Install Realtime Wheezy
- Install OpenCV on Raspberry board
- Install Blob detection library
- Make a simple blob detection application
- Make an application that can measure distance from a landmark of known size
- Test the sonar sensor
- Modify the ArduPilot code to accept input from the new sensors
- Modify the motor control output to provide a PWM that varies from 0% to 100% (currently the motor control output is a PWM that is compatible with any servo input)
- Build the TrainingSphere frame
- Add laser pointer
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