Here you'll find all the source code and many notes used in Vicacopter. You need to be an expert in PIC assembly & the VicaCopter source code to actually get it to work, but this is not an incomplete snapshot of an early state which can't hover. This is the actual source code flying our autonomous T-Rex 450. There is no support or warranty.

Vicacopter uses inertial guidance + GPS to hover. A neural network makes hovering using 1Hz non-differential/non-carrier phase GPS possible. More stable results in 4Hz GPS are also supported. Flybar & tail rotor damping is done using the IMU. A second neural network controls the swashplate mixing.

Airframe #1 was a Corona 120. That is no longer manufactured, so now she is a flybarless T-Rex 450. What VicaCopter can do:

Autonomous hover.
Change altitude & position from stick commands.
Attitude hold or full position hold.
Waypoint following.
Rigid head & tail rotor damping.
Software revo mixing.
Neural network or hand coded CCPM.
Camera trigger.

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