Ikarus Team Sevilla Ikarus OSD Manuale utente
Ikarus OSD
Full GPS Navigation system
FPV/UAV
User Manual v0. 2
© Ikarus Team Sevilla 2010
Introduction
Thank you for using "Ikarus OSD”. "Ikarus OSD" is the result of more than two years of
development and testing, both laboratory and in the flight field by a team of radio control aircraft
enthusiasts, flying FPV, electronics and computers to try to obtain an economic OSD for FPV that
respond the best to the needs of the other users and lovers like us in this hobby, providing safety,
comfort and fun.
The initial objectives were:
•OSD system with navigation aids that allowed FPV flight showing on-screen information
(battery level, height, speed, heading for home, etc) if you do not want to use a computer.
•Providing safety, being able in case of reception failure, return the aircraft to the initial flight
zone until the pilot safely resume control.
•Send telemetry to the computer with all the aircraft's information, to enable its decoding with
aircraft real-time position, showing it on the computer screen as a flight console (with the least
possible additional hardware), allowing to delete such information from the video image,
reducing this way the intrusion to a minimum.
•Allow sending certain information to OSD from earth to modify, for example the flight plan,
and why not, replace the R/C radio st by a joystick, thus completing the duties of the flight
console.
Short listed the possibilities offered by the OSD:
•Five fully configurable screens: Three flight, Failsafe and Summary.
•Handling two cameras.
•Camera PAN servo travel expander.
•Route with multiple waypoints (up to 31)
•Ground Telemetry (using a video capture and a laptop).
•Flight tracking over the map.
•Autopilot with return home and waypoint navigation.
•Possibility of "Elevon" or "V-Tail" mixing.
•Failsafe (automatically activates the autopilot and return home)
•Record log file with the GPS flight data
Listed below are a little more detailed some aspects of "Ikarus OSD”. We hope you like and
enjoy it as much as us. Please contact us for questions and suggestions.
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Normal Mode and PPM Mode
The difference between normal mode and PPM mode is in the type of signal that OSD will
expect in the control input. Whether your receiver is PPM or PCM, if you connect the OSD to a
receiver servo output, you should use "normal" mode. Exceptionally, some receivers provide a PPM
output combining information from all channels as they get it from the radio. In other cases, even not
directly provide by the receiver, can be easily obtained from a circuit point (of a pin in the decoding
chip that output signals to each of the servos).
If your receiver is PCM, since the signal received by the radio is not PPM, the signal may not
be used. However, you can use an encoder / multiplexer circuit that receives the signal and mix
multiple channels into a single PPM signal. Some of these circuits are published for free on the
Internet, and also its firmware, based on the Arduino platform.
In any case, with the help of an external stabilizer, you can use the autopilot functions, driving
only the tail and motor channels (leaving aileron and elevator under the control of external stabilizer).
Servos travel expander
Normally the operating range provided by the R/C transmitters gives the servo a travel of about
0 degrees approximately (1100us - 1 00us). However, for the PAN camera control this is
insufficient. The servos on the other hand allow a much wider travel, close to 180º. Using the travel
expander function, may increase the travel of those servos without any additional hardware.
Properly adjust the gain factor (Ikarus OSD) and the lower and upper limits (R/C transmitter) in
order to achieve the highest possible path, without being force the servo outside their limits. For a
smoother motion, we recommend to try to adjust the widest range at the R/C transmitter, and use a
multiplication factor as small as possible.
Camera Select
Ikarus OSD allows the use of two different cameras. Using a video switch, you can select of
which camera you want to get the video signal at any time. This allows a camera for normal flight,
while the second camera gives us an overhead view of the land over we fly.
To simplify operation, and because of the limitations in channels number, in almost every
mode the secondary camera is linked to the third screen of the three possible flight screens. If you
are going to use only one camera, you can indicate it in the OSD setup menu to always keep the same
selection.
Note that although only using a camera at anytime, the two cameras will be power at all times.
This way you can quickly switch between cameras without waiting for them to power up and provide a
stable video signal. Since the two cameras are not synchronized, maybe in the change from one to
another will lose some video frames until the receiver adjust to the new syncs.
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Autopilot
To control the autopilot, "Ikarus OSD" integrates 4 PID controllers, two of them for the aircraft
stabilization (pitch and roll control) and two for the heading and altitude control. If you use the
"normal" or "non-PPM" mode, only used the last two. The heading and altitude controls will drive
rudder and motor channels, while stabilization will control ailerons and elevator. Additionally, the
output of the heading and altitude PID can be used to change the attitude of the aircraft, and therefore
the degree of pitch and roll to be taken.
Usually it's not necessary to use the full PID (Proportional-Integral-Derivative), but simply the
Proportional (P control) or Proportional + Integral (PI control). The output of all the controllers may be
restricted in travel, and also may limit the value that integral takes.
If you are unfamiliar with a PID controller, in Internet you will find a large number of
references of its operation and adjustment techniques. To begin, start by adjusting only the P factor
(leaving the I and D gains to zero). A very high value will cause the plane to oscillate. A very low
value will cause the signal control insufficient. Once behaving properly, but note that you have
difficulty completing the desired point (for example, has good control of altitude, but always remains
slightly above or below the exact height indicated), increase the factor I progressively without reaching
oscillations (do not forget that the integral limit is not set to zero).
Mixing
To adequately manage the different types of aircraft, you may need to use one of the mixtures
that "Ikarus OSD” supports . This requires the use of PPM mode. While piloting in manual mode, the
OSD will just send the information from the PPM signal receiver to the servos, so mixing it's made at
the R/C transmitter side. However, when you want to use the autopilot, you must set the mixing
properly.
Typically, traditional aircraft with ailerons, rudder and elevator no need to use any type of mix.
However, for flying with flying wings and V-tailed aircraft, you must choose the appropriate mixing
mode.
•Normal: No mixing. We have, ailerons, elevator, rudder and motor on different
channels.
•Elevon: Used in flying wings. In this case, the same control surfaces will serve as
elevator and aileron, so both channels are mixed.
•V-Tail: The V-tail, mixing the rudder and deep
Telemetry
Telemetry consist in sending aircraft's information to the ground station. Among the
information that is sent from the plane is the aircraft's position (longitude, latitude and altitude),
heading, aircraft attitude (pitch and roll angles), the speed and rate of ascent or descent (vertical
velocity). Also sends the voltage level of the two batteries, the level at which you receive the radio
signal (RSSI), and the coordinates of the next waypoint. With all these data, the flight console can
placed on the map the plane and the point you are going to. It may also correctly update the various
virtual instruments (speedometer, altimeter, compass, artificial horizon and variometer) to show the
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aircraft flight information.
This telemetry may be sent to the ground station by two different systems to be chosen from the
OSD setup menu. Normally, "Ikarus OSD" embeds the telemetry information in the form of a bar code
located on the left side of the image. The flight console will periodically capture the image being
displayed to decode this information and update the flight instruments.
Alternatively, you can use a radio modem to send such information. In this case, you must
indicate to the console, the serial port to which the modem is connected to. On the plane, connect the
modem RX pin to the serial port TX pin in "Ikarus OSD”. This serial port is used also by the GPS (RX
pin), so modem speed needs to match the speed of the GPS used.
All telemetry information decoded in the PC is stored in a log file in the folder specified for
that purpose.
Uplink (still in development)
Allow you to upload some information to aircraft during the flight. To do so, insert the uplink
module between the transmitter and transmission module. This module will also enable the PC to
replace the transmitter, this way allowing the use of a joystick connected to your PC to fly the plane.
Recommendations
It’s recommended that you start getting familiarized with "Ikarus OSD" and its functions step
by step. Start using "Ikarus OSD" as an OSD. Once you are familiarized with it you can start setting
the autopilot. To use all the features of the autopilot, “Ikarus OSD” need a receiver that output a
complete PPM signal. If your receiver doesn’t output a PPM signal, you can use "Ikarus OSD"
autopilot with the help of any other Flight stabilizing system, leaving "Ikarus OSD" autopilot control
only the plane’s tail and throttle.
A bad configuration of some options, especially regarding the operation of the autopilot
can cause the plane to behave inappropriately and may end with the plane crashing with the
ground. Make sure you have totally understood the OSD operation. Before first flight, make a
rigorous preflight check, verifying that you can activate and deactivate the autopilot intuitively.
Check that while operating on autopilot, the response in each control surfaces is adequate and
that any of the channels it’s inverted. During the settings of the various PID controllers’ gains,
make sure that the plane it’s high enough to recover safely by manual control if plane doesn’t
behave as expected. Please respect the recommended safety measures for model aircraft
practice and don’t fly near people or populated areas.
Pay special attention not to make short circuits between power and ground lines. In the
particular case of the power signals from the cameras and video transmitter, when this is taken directly
from the battery of video, the currents can flow are very high, causing the destruction of some tracks
on the circuit, or even the batteries. Always be careful not to reverse the connectors, and not confuse
one with another port.
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Getting Started
•“IkarusOSD” takes power from the video battery, regulated at 5v. Even to set it from the
USB it's necessary to provide external power.
•.The connection to the computer via the USB port is made only from the start menu. Once
you are on the flight screens it will require a restart to return to the main menu.
•The main menu does not appear if motor battery is already connected. This way, if it
restarted during flight by an occasional failure in supply, it would pass directly to the flight
window.
•Make sure you have selected the correct voltage for different cameras and video transmitter
before connecting to the OSD. Powering a 5V device at a higher voltage may make it
unusable.
•Connect the GPS receiver to “Ikarus OSD” gps port. Note that the supply voltage is 5V in
this case. If your GPS it's working at a different voltage (typically 3.3V) it must adapt first.
•To start using “Ikarus OSD” is only necessary to use a single channel on R/C transmitter.
Connect the receiver to the "CTRL" input. Configure the control channel modes initially to
"Slider / Dial", "Switch 2" or "Switch 3" (recommends last one).
•The remaining ports for connecting servos can be leave unconnected initially. These servos
will be power by the voltage received by the servo "CTRL" input, and not by the internal
regulator.
•Although not using the autopilot, you can connect the IR sensor to display the artificial
horizon and get familiar with it.
•Pay special attention not to exchange or reverse the battery motor and video connections.
The third pin in video battery connector, connects directly to the motor. You can burn the
current sensor if you connect it to that pin. You can use this pin with the help of a jumper to
power the entire system with a single battery. This is not recommended, so you can cut it
for safety.
•To use the telemetry signal embedded in the video, select that option in the setup menu. You
should see a bar code on the left side of the image (you may need to disconnect the USB
and restart the OSD). Set by the adjustable resistor the intensity of white bars, until you see
clearly, without actually distorting the image. If the bar code displays cut up or down,
change the starting line telemetry, to see it centered. Once on the flight screen (in the OSD
and in the PC application), click "Fix Modem." The red "led" in the console should turn
green, indicating proper decoding.
•From the PC Application, together with the access to all OSD settings, also has some
Wizards to facilitate the tasks of calibration (intensity, RSSI, IR Signal, Servo travels, etc.).
•If you connect too many devices to internal controller (video TX) verify that the board can
dissipate heat properly and the thermal protection don not jump after a prolonged period
(egg 20 minutes).
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Ikarus OSD Connections
Here you can see identified the different "Ikarus OSD” connectors , and the function of each of
the pins of these connectors. Please pay special attention when you connect the rest of components. In
some pins may have 12v voltages that could cause irreparable damage to the GPS , R/C receiver, video
cameras and video TX. Make sure you understand the function of each pin. Take special care not to
cause any short circuit between different power outputs, could damage the circuit.
Top View
Top vie
1. Connections for camera (1 and 2) and video transmitter.
2. Motor and Rudder input connections (No-PPM) / Elevator, Aileron and Pan Output (PPM).
3. Motor, Rudder and tilt output connection. (Tilt only in PPM).
4. Potentiometer to adjust the intensity of telemetry on video.
5. USB connector for configuration.
6. Reset (Yellow and Black) / Debug (not used by end user).
7. IR sensor connector for stabilization (3.3V).
8. GPS Connector (5V) and servo control input (IN Vservo) + RSSI.
. Video and Motor Battery connector
10. Voltage selector for video cameras and transmitters.
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Left side vie
1. Camera 2 connector
2. Camera 1 connector
3. Video transmitter connector
4. Servo PAN output ( only PPM mode)
5. Tail servo input (non PPM) / Ailerons servo Output (PPM mode)
6. Servo motor input (non PPM) / Elevator servo Output (PPM mode)
7. TILT servo output (PPM mode only)
8. Tail servo output
. Motor servo output
Within each connector the three pin to identify would be:
•G: Gnd
•V: Vcc.
◦Camera and video TX: 5V regulated internally or Vbat as selected.
◦Servos: 5V obtained from the receiver. Not regulated internally.
•S: Signal (Video or PWM servo, as appropriate).
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Right side vie
1. Servo control Connector
•G: GND
•V: Vcc → it's used to power the servos
•S: PWM channel control signal / PPM frame
•R: RSSI (received radio signal strength indicator)
2. GPS connector
•G: GND
•V: GPS Power (5V)
•I: GPS Input
•O: Telemetry serial output
3. Motor battery connector
•G: GND
•V: Motor battery input (Voltage sensor)
•I: Current sensor input (0-5v)
4. Video battery connector
•G: GND
•V: Video battery input (2S y 3S). Power internal regulator.
•3V': It's connected with Pin 3V internally. You can put a jumper between 3V 'and 4V
to use only one battery (motor). Not recommended. If you are not used, can be cut
for safety.
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5. Voltage Selector Camera 2
•R: 5V regulator
•S: VCC Connection for camera 2 (common)
•B: Direct connection to video battery.
6. Voltage Selector Camera 1
•R: 5V regulator
•S: VCC Connection for camera 1 (common)
•B: Direct connection to video battery.
1. Voltage Selector TX Video
•R: 5V regulator
•S: VCC Connection for camera 1 (common)
•B: Direct connection to video battery.
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