[Canberrauav] antenna tracking

Mike McCauley mikem at airspayce.com
Sat Mar 1 09:10:16 EST 2014

Hi Matt and Andrew,

nice to meet you Matt.

Im pleased to report that after a long struggle I now have the antenna tracker 
supporting 'ballerina', so even if the tracked vehicle circles the antenna (or 
the antenna is moving and turning on a vehicle, it still tracks. You can place 
the mount in any orientation wrt North and it tracks. The time lags in yaw 
reporting when the antenna slews from one side to the other made this much 
harder than I expected.

Also have a basic mavproxy_tracker module.

Im testing with a simple alt-azimuth mount, driven by 2 servos, and a Flymaple 
as the controller.

Theres still lots to do, but Im pretty happy with the basics so far.

Testing with the real antenna mount would be very desirable ASAP. I dont know 
anything about the mechanical arrangements of your mount, so I dont know how 
we may have to modify the code to support it.

Andrew, I will email you with a discussion of further steps/ideas and 
questions over the weekend.


On Saturday, March 01, 2014 08:26:48 AM Andrew Tridgell wrote:
> Hi Matt,
> I'd like to introduce you to Mike McCauley. Mike is the author of the
> Flymaple port of APM, and has recently started working on the
> AntennaTracker sketch that we started a while ago. He has it running in
> SITL controlling an antenna mount.
> Mike has also volunteered to help out with CanberraUAV for this years
> OBC. I'm really delighted to see some progress on the tracker!
> I think we should look at getting a bigger 5.8GHz ground antenna now,
> and then test it with your antenna mount and the Mikes code. The best
> antenna I've been able to find is this one:
> http://store.freenet-antennas.com.au/product_info.php?products_id=650&osCsi
> d=d1677d27292bd2aa03f1aac5d6ac883a
> http://ubiquitiwarehouse.com.au/product_info.php?products_id=75&osCsid=cc24
> dbcde5818bbb1adcff161604282e
> that would give us much higher gain, and give us dual-polarization MIMO
> with a RocketM5. It will need to be very well mounted to cope with wind,
> but if we can get the mounting right then this will give us a fantastic
> link.
> I also think we should get two more Rocket M5 radios, one for ground
> with the above antenna, and one for the Porter in the air.
> I've yet to find an ideal antenna for 5.8GHz in the plane. Still
> looking.
> Cheers, Tridge
Mike McCauley           VK4AMM                   mikem at airspayce.com
Airspayce Pty Ltd 9 Bulbul Place Currumbin Waters QLD 4223 Australia   
Phone +61 7 5598-7474                       Fax   +61 7 5598-7070

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