Iris modification

Smaccmpilot requires some modifications to the stock Iris+ before it can be used for a stabilized indoor flight.

Parts

Depending on your application (stand alone vs. full demo flight) you will need the following parts:

Stand-alone flight:

Demo flight:

All Stand-alone flight parts plus:

Optional:

If your quadcopter is not holding heading properly, you will need:

Lidar Lite v3

Available here

Lidar Lite

Lidar uses a laser beam to precisely measure distance, and we are using to measure the quadcopter’s altitude. No firmware update is required as the lidar ships ready-to-go.

Mounting instructions here.

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PX4Flow camera

Available here

PX4Flow

PX4Flow contains a camera and a STM32F4xx microcontroller that calculates optical flow measured in the camera image. The module also contains a gyro, so the flow can be derotated and a sonar for range measurements, so the flow can be measured in absolute units.

Smaccmpilot uses PX4Flow sonar measurements as another inputs to our altitude estimator, because we want to have redundancy in case one sensor fails. Smaccmpilot doesn’t use the optical flow information at the moment, because there is no postion stabilized mode, but it is one of the possible extensions.

NOTE: no firmware update should be needed, although we noticed that some versions of the PX4Flow ship with firmware that is different than latest stable master. Generally you shouldn’t need to update the firmware, but in case you experience problems, have a look at the wiki page.

Mounting instructions here.

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Pixy Cam

Available here

Pixy cam

Pixy Cam is optional because it requires using a TK1 as a mission computer. The Pixy cam needs a special firmware - upload firmware-1.0.2beta.hex using PixyMon app. The camera recognizes targets of specified color, and can be trained to any color by pressing the button while connected to power.

Mounting instructions here.

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TK-1-SOM Module

Available here

TK-1 SOM

TK-1 serves as a mission computer during the flight, providing communication between GCS and the autopilot, and other high-level functions, sucha as capturing and transmitting video signal from the onboard camera. It runs sel4 and a Linux Virtual Machine. TK-1 is necessary for a full demo flight.

Mounting instructions here.

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TK-1 Daughterboard

The TK-1 daughterboard was developed by Data61 and provides CAN, PWM, power management etc. More info can be found here, and the source files are available on bitbucket

TK-1 daughterboard

This daughterboard cannot be directly purchases at the moment, but the source files are available so it can be replicaed if needed.

Mounting instructions here.

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Wifi dongle

Available here

Wifi dongle

Wifi dongle is necessary because TK-1 doesn’t have a wireless connectivity on its own. It is possible to use a different Wifi dongle, we had good results with TP-Link N150 Wireless High Gain USB Adapter (TL-WN722N). The Wifi plugs into the USB hub.

Mounting instructions here.

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USB hub

Available here

USB Hub

USB Hub goes to the top of the TK1 and is necessary for connecting the Wifi dongle and the Pixy cam, because the TK-1 doesn’t have enought USB ports. Indeed you can use a different USB Hub, we tested Anker 4-Port USB 3.0 Ultra Slim Data Hub.

Mounting instructions here.

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Connectors

Connectors

A handful of connectors (I recommend shopping on ebay as you can buy them dirt cheap)

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Tupperware

Tupperware

Best obtained from your local store - the size that works best is *6" x 4" x 2“* (L x W x H). The tupperware contains and protects the sensitive electronics of the mission computer.

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External compass

Available on ebay (search for “3DR Compass”).

External compass

In case you experience lot of intereference and the heading estimate is not good even after magnetometer calibration it might be a good idea to try to use external compass. This compass is identical to the one hidden in the top cover of Iris, but it comes on a stand-off so it can be mounted further away from interference.

NOTE: The unit is powered from GPS connector, so even though Smaccmpilot doesn’t use GPS, you either have to connect both GPS and I2C cables (follow the instructions here) or solder the I2C VCC to GPS VCC on the compass side.

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