Thursday, 30 January 2014
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Wednesday, 29 January 2014
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Tuesday, 28 January 2014
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Sunday, 26 January 2014
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Saturday, 25 January 2014
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Friday, 24 January 2014
The Arduino autopilot that Jack built
Jack's boat is a 1983 Robert Perry designed 40 Nordic Yachts sloop with a vintage (1986) Wagner compass steer autopilot. So why build an Ardunio based system?
In Jack's words, "I always wanted to have an autopilot with modern capabilities and thought about building one using PC based programming but couldn't figure out how to handle the interfaces with inputs and outputs. About three years ago my son showed me an Ardunio a friend had loaned him. Wow, that was exciting and now I have it to a point where it is a working system."
There is a display to view data, and a DC motor drive system for the hydraulic pump. A nine degree of freedom IMU (Inertial Measurement Unit) with a magnetometer, gyro, and accelerometer along with a rudder position sensor.
The other Arduino is handling the data from the IMU, rudder reference, DC hydraulic motor drive, and the data display. The two Ardunios communicate with each other using serial data ports, and a fast software routine called "Easy Transfer".
Don't let the small 4" x 2" size fool you. There is considerable computing horse power in this little board. 16 analog inputs, 54 digital input and output pins, 14 of which can be used as PWM (Pulsed Width Modulated) outputs. Add to this 4 serial ports USB port, and a 16 MHz clock, all driven by an Amtel AT2560 RISC (Reduced Instruction Set Computer) processor.
Jack used a Honeywell hall effect sensor to build the rudder reference. As the rudder turns, the shaft in the sensor rotates, and the voltage changes. The voltage output varies from .5VDC to 4.5 VDC.
The difference in this system is the solenoid valve that when open allows manual steering, and when closed the pump does the steering. The pump is managed with a Pololu Qik 2s12v10 serial DC motor controller.
Jack, like Robert is also standing on the shoulders of giants. Ardunio software is open source and is licensed under Creative Commons. This means a vast array of software is available for free use with attribution. For example in Jack's software module A_GPS routine that is parsing the NMEA sentence RMC (position, speed, track) you see the line "GPS Reading based on code by Igor Gonzalez Martin. 05-04-2007." Instead of having to start from scratch, there was existing software that could be just tweaked, if needed at all to use. This is the miracle of the open source community. In the case of a marine autopilot there was a lot of existing usable code, but a good chunk Jack had to write himself.
BOD is a NMEA 0183 sentence that has the origin and destination waypoints, and the bearing between them to the destination. CTS is the direction you need to steer to get back on your original course line.
Rule one! Your autopilot is not allowed to just make up a new bearing to get to the waypoint. It's supposed to keep you on your original course line (BOD). CTS is not the direction the bow is pointing, but the direction you want to travel in. As an example, a sailboat may have to crab upwind to maintain the desired course.
This is done by calculating a XTE (Cross Track Error) correction factor that is added or subtracted from the existing bearing to waypoint. Using this correction a new heading can be derived to take you towards your original course. I've simplified this a lot, but this is a tricky bit of calculating software.
There are still some things not yet completed, and assorted minor software issues. Jack has Raymarine wind instruments that speak Seatalk. Rather than write a routine from scratch to parse Seatalk, I have a Raymarine Seatalk to NMEA converter lying around someplace that I'm going to send him. This will speed up development of this wind integration portion of the system.
When running a route, the vessel doesn't start the turn until you have arrived at the waypoint, and this can cause a overshoot on the next leg when turn angles are large. It corrects itself, but it would be better, if the turn started prior to waypoint arrival. There have also been some intermittent system freezes when a new route has been completed, and there are also some issues with the GPS's 1 second update speed. Some of this might be correctable with a faster 10Hz GPS. Have no doubts, that Jack is a persistent guy, and these warts will be found, and removed.
Jack Edwards Ardunio marine autopilot drop box link. You will also find his email link there.
Product phot0s are from the Pololu and Sparkfun websites.
All other diagrams and photos are by Jack Edwards.