For the latest information see blog.
Everything is mounted to the helicopter, except the proximity sensor – Maxsonar-EZ2 was not working as expected.
Sensor board is mounted and BeagleBone calculates heli’s attitude, rates and accelerations. Sensor board is now programmed to accept GPS modem (uBlox), so INS can work as full INS. But all fallback modes are still available for testing and semi automated flight.
There have been some short test flights to evaluate helicopter vibrations, test manual control and to test heading controller. But for now I am using a test stand to develop R, P and Y controllers for semi automated (and later automated) flight. The stand is also used to identify helicopter and to create mathematical model.
Helicopter looks like this (yes, almost everything fits into the body):
And here is the controller.
For some flight results, see Test flights.