Discussion for the Tau Labs android application

POI Tracking

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peabody124

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POI Tracking

by peabody124 » Sun Mar 30, 2014 6:20 pm

I had a chance to test the POI tracking mode in the android application this weekend. I wrote this ages ago but hadn't used it very much. So far the results are pretty good, I think.



If your FC also has a gimbal that controls pitch you can also track in that axis. Here is a video from below I did testing that:



I wrote up instructions for setting it up on the wik
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Re: POI Tracking

by KipK » Sun Mar 30, 2014 10:31 pm

Nice. :)
Can this also works to control third axis of the camera gimbal instead of the whole quad ?
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Re: POI Tracking

by peabody124 » Sun Mar 30, 2014 10:36 pm

Yeah, and without any changes. It's running through the camera tracking module as is.
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Re: POI Tracking

by metRo_ » Mon Mar 31, 2014 12:10 pm

Is the android sending to the controller it GPS position and it do the math or it send a yaw desire?
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Re: POI Tracking

by peabody124 » Mon Mar 31, 2014 12:14 pm

It sends it's position. In principle this could be easily replaced by a dump fob that is GPS + Radio.
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Re: POI Tracking

by peabody124 » Sat Apr 05, 2014 1:25 pm

So I had a chance to try with Oso Grande using a brushless gimbal. The gimbal is powered by SparkyBGC and talks to the flight controller via CAN, so it can send the desired pitch to see the target. The phone was connected via bluetooth to send its location. I was also using the previous POI mode so the heading was to look towards the phone.



It came out fairly well. There were a few moments where it looked in the wrong direction because of the phone offset error - this was much worse near buildings, unsurprisingly. Also we originally tried to take the phone altitude but that wanders around more than 10 m and is crap, so now it assumes the POI is on the ground.
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Re: POI Tracking

by metRo_ » Sat Apr 05, 2014 5:54 pm

Next: 3 axis gimbal :)
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Re: POI Tracking

by Oso Grande » Sat Apr 05, 2014 8:39 pm

metRo_ wrote:Next: 3 axis gimbal :)


And faster moving target. ;)
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Re: POI Tracking

by AlPackin » Sat Apr 05, 2014 9:17 pm

Oso Grande wrote:
metRo_ wrote:Next: 3 axis gimbal :)


And faster moving target. ;)


:D
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Re: POI Tracking

by peabody124 » Sat Apr 05, 2014 10:09 pm

metRo_ wrote:Next: 3 axis gimbal :)


I'll help anyone that wants to test that. The code should support it pretty much trivially. Not sure I want to go down that rabbit hole though. I get way too many toys just to prove they work.

Ideally I'll get my bigger UG-2 gimbal flying again shortly though and show this with the NEX.
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