Comms, revisited

After the latest incident and the loss of my quad it became clear that I need reliability. So far I focused on physical reliability – if the quad is sturdy enough to take a light crash, if it’s well balanced, etc. But I kind of ignored the other 2 aspects – software and comms. Well – not ignored, more like I hoped for the best.

So the next issues to fix are:

  1. Solid comms for the commands (RC) and telemetry. The RFM22B is the perfect candidate for this:
    1. It’s lightweight and small.
    2. Very sensitive receiver (-104dbm @125Kbps)
    3. Powerful TX amp @20dbm
    4. 64byte FIFO so I can drive it directly from the raspberry pi
    5. SPI interface, which the RPI has enough
    6. Good penetration due to the low frequency (433Mhz)

With this setup I should have 5-10Km range, way more than the WIFI video like allows.
The issue will be the comms protocol as the device is half-duplex and the bandwidth is not that much. I made a quick calculation and it should take around 5ms to send an entire 64byte message. With a simple protocol where the GS is the master and the quad the slave, I can allocate 5ms slots to each in turn. This will give me a symmetric 7Kbyte bandwidth, -protocol losses lets say a 5Kbyte bandwidth per second. Should be enough for control and telemetry data.

2. Solid software, especially the GS. I intend to get a RPI3 and display and build a dedicated GS to replace my laptop. For now I will keep my PS4 controller but in the future I will aim to build an entire RC system with integrated touchscreen around the RPI.

I want to run the RPI without an X server and for this I will need a QT version that supports this. Don’t know if it’s possible though.
If this fails, I’ll stop using QT and do all the rendering and UI using something else but this will be quite painful… I’m used to QT and despite all it’s quirks it’s very powerful when doing quick UI work.

 

What I do know that works in the current setup is:

  1. The RPI2 is powerful enough to handle a quad with WIFI video streaming. It was using ~16-20% CPU at any moment with around 5 threads so no issues here
  2. The case I designed is very sturdy. It’s a combination of 10mm carbon fiber tubes for the arms and ABS plastic for everything else.
  3. Flight time with the current weight of 650grams is around 20-25 min with a 3000mAh multistar LiHV battery. Enough time to enjoy the landscape
  4. The motors + ESC pair are a nice match. RcTimer 1806 1450Kv and RTFQ 4-in-1 12A ESC seem to handle the load nicely. A bit underpowered due to the props – 7×2.4inches but I plan to move to 8×4.5 for the next quad.

 

So back to the drawing board for a while.

 

 

 

 

 

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2 thoughts on “Comms, revisited

    1. Thanks a lot for the hint. I managed to compile it with EGLFS support and run the GS on the raspberry pi, but there is quite some work ahead as there are several limitations in the embedded mode: Only one main window, full screen. No dock widgets, screen space is limited, etc. I consider rewriting the UI in QML to adapt it to touch screens.

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