Easy IMU Pilot is a simple autopilot based on ArduIMU2+ flat.

The stabilization code is based on Jose Julio's works.

Hardware needed

• ArduIMU+ V2 (100$)
• FTDI Cable (20$)
• A RC receiver with PPM hack (25$)

Optional: for telemetry * XBee Pro x2 (2x38$) * XBee Explorer USB (25$) * XBee Explorer Regulated (10$) Optional: * Micro Maestro 6-channel USB Servo Controller (25$) * Triple axis magnetometer HMC5843 (55$) * GPS u-blox 5 GS407 (90$) (not yet implemented) * Pressure sensor SCP1000-D11 (45$) (not yet implemented)

Features

• Both fixed and rotating wing
• 100Hz AHRS update rate
• 50Hz (up to 100Hz) servos update rate
• 20Hz telemetry
• Programmable loop speed
• PID for pitch, roll and yaw
• Pitch of roll to compensate altitude loss in turns
• XBee for communication (uplink and downlink)
• Gains tuning with knob on the remote control
• Serial TX buffer
• Uplink for easy gains setting
• Binary data message
• Realtime plot of data

Planning

• Ground Control Station (developed in Java)
• GPS (altitude control, navigation ...)
• Pressure sensor (precise altitude control)
• Better ADC reading implementation (filter)

A flight with a flying wing:

http://www.youtube.com/watch?feature=player_embedded&v=k-hdAQox580' target='_blank'>http://img.youtube.com/vi/k-hdAQox580/0.jpg' width='425' height=344 />.

And with the MAVION VTOL:

http://www.youtube.com/watch?feature=player_embedded&v=z14B_iEsoyQ' target='_blank'>http://img.youtube.com/vi/z14B_iEsoyQ/0.jpg' width='425' height=344 />.

You can also try motor speed which allows you to measure the speed of your brushless motor. You just need to plug a gate of a transistor (usually the PMOS) of your ESC to the ADC of your favorite Arduino board. Reading at 10Hz with a resolution of 0.1%