September 11, 2018 by SHIVANI SALIAN
Generally we have only seen drones fly, but how cool would it be if we can maneuver it on the ground as well!
When you love drones as well as rovers you would want to have both of them together. Just by adding a set of wheels to my already existing PlutoX drone and with the help of some simple coding, I developed this hybrid drone.
What I wanted to do was to build a prototype that can fly and walk on the ground as well so in short a combination of drone and rover. That is when I decided to make my project using PlutoX controller which controls a drone and it also has an add on breakout board which i used to add extra functionalities like rover mode.
Due to small wheels it becomes difficult to keep the heading of the in straight direction for this I have used something called as AutoStabilization. AutoStabilization uses the drones magnetometer data and keeps the heading straight. Heading can only be changed using the phone(Controller).
To open drone experimentation to the world, Drona Aviation are crowdfunding for PlutoX on Indiegogo. Support us and help us bring it to life: https://igg.me/at/flyplutox/tinkerers
Hybrid
1 FINALIZING COMPONENTS REQUIRED
PlutoX
3D printed wheels and motor support
400 rpm brushed motors
600 mAh batteries
2 GETTING THE HARDWARE READY
In this project I decided to use PlutoX drone due to it’s hardware modularity. Adding most structure is easier. For my project I needed something that will hold the wheels so that I can use my drone as a rover.
Using this wheel support I can easily clip the motors for rover onto the frame
3 GETTING THE SOFTWARE READY
If the PlutoX is DISARMED (i.e in the Rover mode)
Check if it is Auto-Stabilized or not (AutoStablization helps the rover to maintain the direction with the help of Magnetometer )
If it is Auto-Stabilized, indicate by turning on the Left LED, get the heading from Yaw angle.
If not Auto-Stabilized, indicate by turning on the Right LED
Get the RC input and perform error correction(Error correction - only if Auto-Stabilized)
Set the direction and PWM input for motor M2 and M3
Motor Direction
Forward - M2 and M3 both forward
Reverse - M2 and M3 both reverse
Right - M2 forward, M3 reverse
Left - M2 reverse, M3 forward
If the PlutoX is Armed it operates in Drone mode
Auto-Stabilization - Using smaller wheels in rover mode sometimes becomes a disadvantage as it gets difficult for the drone to move in a straight line/forward direction.
Auto-Stabilization uses the data from drones magnetometer and gets the yaw angle. Using this we can move the rover in straight line.
3D Printed Wheels
https://github.com/DronaAviation/PlutoX-Sample-Codes/tree/master/PlutoX-Hybrid
