The first is that the atmosphere on Mars is very thin - equivalent to an altitude of around 35Km on Earth according to this source. I’m not an expert on Mars’ atmosphere or planetary conditions, but there are several aspects that you’d need to consider. The YouTube channel Veritasium has an excellent video discussing this project and the development of the helicopter design with the CalTech/JPL engineers who built the thing, which I think is well worth watching.
Gravitational force 38% as strong as on Earth.Ambient atmospheric pressure ~0.01 atmospheres ( one-hundredth of the atmospheric pressure at sea level on Earth).Operating conditions: ( again sourced from the Wikipedia articles linked to above and the YouTube video linked to below) Uses a blanket of CO 2 gas around the avionics and batteries as an insulation layer.Total battery capacity between 35-40 Wh.
#Cut fingers quad copter full#
Each full flight is expected to be Maximums at ~2400 RPM and rotor tip speeds Set of two counterrotating 1.20 m diameter propellers.1.8 kg total mass, including 273 g of batteries.Some fun facts about the craft: ( sourced from the Wikipedia articles linked to above and the YouTube video linked to below) It's a truly insane piece of engineering: The Mars Helicopter Ingenuity is a fully-autonomous helicopter that is planned to be used for aerial reconnaissance and surveying of the Perseverance rover's path. :) Between the environmental constraints ( atmospheric pressure, temperature, etc.) and physical requirements ( extreme radiation tolerance, etc.), this would be an incredibly difficult thing to make.īelieve it or not, there is actual flight hardware being prepared to do something just like this on Mars in the near future as a part of the NASA Mars 2020/Perseverance mission. If(_RECVR.m_Waypoint.You wouldn't want to be responsible for the design of such a project. This function is only needed for (semi-)autonomous flight mode like: void hold_altitude(int_fast16_t &iFL, int_fast16_t &iBL, int_fast16_t &iFR, int_fast16_t &iBR, Additionally it is hard to localize the correct position and calculate the distance caused by drift from it (just with GPS, but this is not precise).
Is someone having experiences with this? I mean with avoiding side drifts of the model because of whatever by software? The problem is in my opinion, that I don't know whether the position change is wanted (by remote control) or not.
This is why I recently added a routine which shall allow to hold the altitude. But this will likely only work if I have a hold altitude function, because changes in pitch or roll change the height, because the thrust is changed slightly. My idea was maybe to fuse GPS and accelerometer data to implement a function which shall help to hold the position. However I noticed, that the copter is hovering to the side (if not manually controlled), likely because of wind, not well balanced or turbulence.
#Cut fingers quad copter code#
This code shall stabilize the copter to be always in equilibrium. I wrote my own quadcopter firmware which is based on some older code.
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