This movie demonstrates how the tricopter hovers autonomously inside a room. There are three LEDs fixed to the copter which are filmed by a webcam from below. A Matlab script then makes the copter hover in place.
Some thoughts on FPV camera tilt compensation
Almost every 'serious' FPV racer is tilting the FPV camera up in order to have a better image during fast flight. Angles between 10 and 35 degrees seem to be common. E.g. I am using 25 degrees. But tilting the camera with respect to the multirotors horizontal plane has a side effect on the controls (maybe you never thought about it, because you are so used to flying with this side effect). Just to make the effect easier to visualize: Imagine you drank a beer too much and now you suddenly think you are Charpu , Mr Steele or Mattystuntz . You mount your FPV camera with 90 degrees tilt (pointing up vertically) because your best friend told you that all the pros do it like this. In this case, your roll and yaw control will be interchanged: When you move your RC sticks to roll left, your copter will roll left, but looking through the FPV camera, it appears as if you are yawing to the left! And if you move your RC sticks to yaw left, your copter will of course yaw left, but the im...
Brilliant! May I ask, what kind of IR-LEDs you are using? It looks like you're screening the webcam against normal light with a photographic film. Is it that simple or have treated the film in some way?
ReplyDeleteHi!
ReplyDeleteYes it is that simple. The photografic film (negative) is only translucent for infrared light. The IR diodes I am using now (different from the ones in this video) have 100mA and I use always groups of 5 LEDs (20 in total). That gives a lot of light.