ArduPilot Mega 2.5 Autopilot Project

grabcad

Attached is a ZIP file of SOLIDWORKS CAD files for the ArduPilot Mega 2.5 autopilot kit that I modeled, along with some supporting accessories We utilized this kit in my Senior Design Capstone Project in 2013. The objective was to integrate the kit into an airframe and tune the PID controllers to the particular airframe, as well as code in some custom functionality to the Arduino that would allow it to release a target designator on a programmed waypoint I was responsible for helping with the project planning and tuning, as well as developing the custom Arduino code We first tested the autopilot separately as a telemetry unit, then began testing it for stabilization purposes (tuning the inner loop), then began testing it for autonomous guidance purposes (tuning the outer loop) We achieved automatic takeoff but never attempted automatic landing although the APM does have that capability. Auto-landing requires accurate GPS info and some type of additional sensors, typically ultrasonic range-finding sensors that we did not have in the budget or timeline In all we had 13 successful test flights and successfully deployed the payload with a fair degree of accuracy. Unfortunately we later had a servo malfunction that brought the plane down on our 14th flight. Many thanks to Pepperell airfield for letting us use their private airport. The airframe is a Senior Telemaster. It had a massive LiPo battery and Scorpion electric motor loaned to us by our Professor, who is also the pilot. What a fun project to work on! Feel free to use the APM models if you happen to have any of that gear If you are interested in learning more, feel free to watch the YouTube video attached or linked below: https://www.youtube.com/watch?v=IS6fkmBuazs