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Remote Controlled Lawn Mower Lets you Sit Back and Enjoy The Show

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Lawn Mower

“Its hard to find people that actually WANT to mow their lawn.” A more true statement has never been made. [Kurt's] project turns an old lawn mower into a remote control lawn mower.

The first step of this build is to replace the front drive wheels with mini-bike tires which have built-in gear tooth sprockets. The rear wheels were then replaced with large caster wheels. The 12-24V DC motors and gear boxes used come from National Power Chair. While we have seen more complicated RC lawn mowers before, this project is a great way to get started. All that [Kurt] wanted was to make lawn mowing more fun, we believe that he has succeeded. This thing is very mobile and can turn on a dime. Check out the demo video after the break.

What’s next? Add a GPS, a Raspberry Pi, and a few other odds and ends. Tie it together with some clever programming and you will have your own autonomous lawn mower. Have you already created a completely autonomous lawn mower? Let us know!


Filed under: wireless hacks

Remote Control Anything With A PS3 Controller

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back

When looking for a remote control for your next project, you might want to look in your living room. Wii controllers are a hacker’s favorite, but wagging an electronic wand around isn’t the greatest for remote control planes, cars, tanks, and multicopters. What you need for this is dual analog controls, something every playstation since the 90s has included.

[Marcel] created a replacement electronics board for the Sony DualShock 3 controller for just this purpose. With this board, an XBee, and an old controller, it’s easy to add dual analog control and a whole lot of buttons to any project using an XBee receiver.

The replacement board is based on the ATMega328p uC, includes a Lipo charge circuit and power supply, and inputs for the analog sticks and all the button boards inside the DualShock controller.

Yes, we have seen an earlier version of [Marcel]‘s project before, but this time he’s added a few new features – the rumble now works and thanks to multiple people unable or unwilling to spin a few boards, [Marcel] has put up an Indiegogo campaign.

Video below.


Filed under: playstation hacks, radio hacks

Reading 2.4GHz Transmitters With An Arduino

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QuadThere are a lot of cheap quadcopter kits out there, sold ready to fly with a transmitter and battery for right around $50 USD. One of the more popular of these micro quads is the V2X2 series. They are, unfortunately not compatible with any other radio protocol out there, but [Alexandre] has managed to use the transmitter included with his V202 quad to send data to an Arduino.

Like most quads, the transmitter that came with [Alexandre]‘s V202 operates on 2.4GHz. Listening in on that band required a little bit of hardware, in this case a nordic Semiconductors nRF24L01p. Attached to this chip is a regular ‘ol Arduino running a bit of code that includes [Alexandre]‘s V202 library.

Right now, the build can detect if the quad is bound or not, and read the current position of the throttle, yaw, pitch, and roll, as well as all the associated trims. It’s just the beginnings of [Alexandre]‘s project, but his eventual goal is to build an Arduino bot based on the code, complete with RC servos. Not bad for a transmitter that will be utterly useless when the microquad eventually breaks.


Filed under: radio hacks

Sealed-System Bucket Loader Cleans Messes in Dangerous Places

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Cleaning up after a disaster is hard and dangerous. But the ROEBL project is trying to make it substantially safer by removing the human operator from harm’s way. The Remote Operated Electric Bucket Loader had a big double-fenced, cement barrier play area set up at Maker Faire and [Justin Gray] walked us through the project which concluded with a demonstration of the hardware.

For now the operator does need to be on site to see what the loader is doing, but a first-person video setup is planned for the future. Still, removing the operator from the jarring experience of riding inside is an improvement. And the sealed nature of the electric and hydraulic systems mean that it can operate in areas inundated with liquids like water or oil.

The video above has a 90 second demonstration at the end (while we all laugh like children at what really was a giddy display of power being thrown about by a handheld controller). The ROEBL website has a gallery where you can see the conversion process that started with a standard diesel machine.


Filed under: cons, tool hacks

High Altitude Glider Will Be Dropped From a Balloon!

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Glider from space

[House4Hack] and [HABEX] have teamed up to design and build a glider system that can be taken up 30-40km via a weather balloon, dropped, and flown home via FPV.

Of course, this has been done before, but you know what, it’s such a cool experiment, and so few people have done it… who cares! The goal is to hit at least 20km altitude, hope for 30km, and if possible — 40km would break records. For reference, the one we linked made it 33km up.

The plane is a Mini-talon V-tail, which was donated to them by their local hobby shop as a sponsorship. It features an ArduPlane Autopilot module, a 1.2GHz video transmitter, a long range 433MHz receiver for the control signal, and a telemetry data link at 433MHz connected to the ArduPlane. Two GoPro cameras make up its eyes, and it also has a custom release mechanism for letting go of the weather balloon.

They’ve performed a few tests so far on the system, including freezing the electronics using dry ice (-74°C), a release test, a maiden flight, and they plan on also testing the video range link, and a higher drop test (100m).

The big day is scheduled for June 14, in Klerksdorp, South Africa.


Filed under: drone hacks

A Wireless Computer Remote that Emulates a USB Keyboard

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PCRemote

If you are anything like [Antoine], you would love to be able to control your PC with a simple hand-held remote control from anywhere in your house. [Antoine] wrote in to tell us about his wireless computer remote that emulates a USB keyboard, making it suitable for any device that uses a USB keyboard.

His blog post is very well written and contains a ton of design information and background on the project. He initially wanting to easily control his PC’s music from anywhere in his house without needing to be within line of sight of his computer. The end result is a very handy remote that can be used to change music, video, and even launch applications on his computer. The system consists of a base station for his remote that connects to the computer and acts as a USB keyboard, and the remote itself. The base station uses V-USB on an Arduino to interface with the computer, and VirtualWire to handle the wireless protocol for the remote. For those of you who don’t know about VirtualWire (now superseded by RadioHead), it is a very cool Arduino library that lets you easily use raw wireless interfaces (also called vanilla wireless interfaces).

Without going into too much detail here (be sure to see the actual post for more information), the remote itself was redesigned after the initial proof of concept to maximize battery life. The final power consumption is very impressive, resulting in a battery life of more than two years! This remote system is very well put together and contains many aspects that can easily be reused for other projects.


Filed under: wireless hacks

Bare Bones Arduino IR Receiver

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TV Remote

Old infrared remote controls can be a great way to interface with your projects. One of [AnalysIR's] latest blog posts goes over the simplest way to create an Arduino based IR receiver, making it easier than ever to put that old remote to good use.

Due to the popularity of their first IR receiver post, the silver bullet IR receiver, [AnalysIR] decided to write a quick post about using IR on the Arduino. The part list consists of one Arduino, two resistors, and one IR emitter. That’s right, an emitter. When an LED (IR or otherwise) is reverse biased it can act as a light sensor. The main difference when using this method is that the IR signal is not inverted as it would normally be when using a more common modulated IR receiver module. All of the Arduino code you need to get up and running is also provided. The main limitation when using this configuration, is that the remote control needs to be very close to the IR emitter in order for it to receive the signal.

What will you control with your old TV remote? It would be interesting to see this circuit hooked up so that a single IR emitter can act both as a transmitter and a receiver. Go ahead and give it a try, then let us know how it went!


Filed under: Arduino Hacks

Controlling RC Toys With The Raspi

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signal

An interesting trick you can do with a a fast CPU and a GPIO pin mapped directly to memory is an FM transmitter. Just toggle a pin on and off fast enough, and you have a crude and kludgy transmitter. [Brandon] saw a few builds that turned a Raspberry Pi into an FM radio transmitter and realized a lot of toy remote control cars use a frequency in the same range a Pi can transmit at. It’s not much of a leap to realize the Pi can control these remote control cars using only a length of wire attached to a GPIO pin.

The original hack that turned a Pi GPIO pin into an FM transmitter mapped a GPIO pin to memory, cycled through that memory at about 100 MHz, and added a fractional divider to slightly adjust the frequency, turning it into an FM transmitter. Cheap RC cars usually listen for radio signals at 27 and 49 MHz. It doesn’t take much to realize commanding RC cars with a Pi is possible.

The only problem with this idea is that most RC cars use pulse modulation. For an RC transmitter to send the command for ‘forward’, a synchronization pulse is sent, then a series of pulses and pauses. The frequency doesn’t change at all, something the originally FM code doesn’t do. [Brandon] realized that if he just moved the frequency up to something the RC car wasn’t listening to, that would register as a zero.

All that was left was to figure out the command codes for his RC truck. For this, [Brandon] decided brute force would be the best option. Armed with a script and a webcam, he cycled through all possible combinations until the webcam detected a moving truck. Subtlety brilliant, if you ask us. Of course more complex commands required an oscilloscope, but now [Brandon] has a git full of all the code to control a cheap RC car with a Pi.


Filed under: radio hacks, Raspberry Pi

Hackaday Links: June 8, 2014

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hackaday-links-chain

Yes, dogfighting with RC planes is cool. You know what’s even cooler? RC jousting. Considering these eight foot long planes are probably made of foam board or Depron, they’ll probably hold up for a fairly long time. The perfect application of RC FPV.

Home automation is the next big thing, apparently, but it’s been around for much longer than iPhones and Bluetooth controllable outlets and smart thermostats. Here’s a home automation system from 1985. Monochrome CRT display panel (with an awesome infrared touch screen setup), a rat’s nest of wiring, and a floor plan drawn in ASCII characters. It’s also Y2K compliant.

Here’s an idea for mobile component storage: bags. Instead of tackle and tool boxes for moving resistors and other components around, [Darcy] is using custom bags made from polyethylene sheets, folded and sealed with an impulse sealer. It’s not ESD safe, but accidentally zapping a LED with an ESD would be impressive.

Need a stepper motor test circuit? Easy, just grab one of those Polulu motor drivers, an ATtiny85, wire it up, and you’re done. Of course then you’re troubled with people on the Internet saying you could have done it with a 555 timer. This one is for them. It’s a 555, some wire, and some solder. Could have done it with discrete transistors, though.

Someone figured out Lego Minifigs can hold iDevice charge cables. +1 for the 1980s spaceman.

Remember that “electronic, color sensing, multicolor pen” idea that went around the Internet a year or so ago? It’s soon to be a Kickstarter, and man, is this thing full of fail. They’re putting an ARM 9 CPU in a pen. A pen with a diameter of 15mm. Does anyone know if an ARM 9 is made in that small of a package? We’ll have a full, “this is a totally unrealistic Kickstarter and you’re all sheep for backing it” post when it finally launches. Also, this.


Filed under: Hackaday Columns, Hackaday links

THP Entry: The Everything RC Transmitter

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OSRC With few exceptions, most of The Hackaday Prize are things we really haven’t seen much of before: base-3 computers that have been relegated to the history books, extremely odd 3D printers, and fancy, new IoT devices are the norm. The OSRC is not a new project to us. We saw it once in 2011 and again a year later. What makes the OSRC an interesting project for The Hackaday Prize isn’t the fact that it’s the most advanced RC transmitter ever created. Creating that was evidently the easy part. The OSRC could use a big financial kick in the pants, and if [Demetris] wins, we’d guess he wouldn’t be taking that ride to space. Rather, he’d be taking the cash prize to get his ultimate transmitter into large-scale manufacturing and out into the wild.

While at first glance the base model OSRC seems expensive at about $6-700 USD, consider this: a six-channel transmitter from an excellent brand costs about $120 USD. Nine channels will run you about $400. The OSRC is a forty channel radio. The sticks are capable of force feedback, and of course the ‘pro’ model of the OSRC has that wonderful screen, capable of displaying video from an FPV camera, a GPS/map overlay, or an incredibly extensive telemetry display. There are multi-thousand dollar avionics for real airplanes out there that have a smaller feature set, and that’s not hyperbole.

A few months ago, [Demetris] was interviewed by the awesome people at Flite Test. That (highly suggested) video is embedded below.


SpaceWrencherThe project featured in this post is an entry in The Hackaday Prize. Build something awesome and win a trip to space or hundreds of other prizes.


Filed under: The Hackaday Prize

Multi Input IR Remote Control Repeater

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[Peter]’s folks’ cable company is terrible – such a surprise for a cable TV provider – and the digital part of their cable subscription will only work with the company’s cable boxes. The cable company only rents the boxes with no option to buy them, and [Peter]’s folks would need five of them for all the TVs in the house, even though they would only ever use two at the same time. Not wanting to waste money, [Peter] used coax splitters can take care of sending the output of one cable box to multiple TVs, but what about the remotes? For that, he developed an IR remote control multidrop extender. With a few small boards, he can run a receiver to any room in the house and send that back to a cable box, giving every TV in the house digital cable while still only renting a single cable box.

The receiver module uses the same type of IR module found in the cable box to decode the signals from the remote. With a few MOSFETs, this signal is fed over a three-position screw terminal to the transmitter module stationed right next to the cable box. This module uses a PIC12F microcontroller to take the signal input and translate it back into infrared.

[Peter]’s system can be set up as a single receiver, and single transmitter, single receiver and multiple transmitter, many receivers to multiple transmitters, or just about any configuration you could imagine. The setup does require running a few wires through the walls of the house, but even that is much easier than whipping out the checkbook every month for the cable company.

Video below.


Filed under: home entertainment hacks

Reverse Engineering a Wireless Studio Lighting Remote

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If you want to take a photograph with a professional look, proper lighting is going to be critical. [Richard] has been using a commercial lighting solution in his studio. His Lencarta UltraPro 300 studio strobes provide adequate lighting and also have the ability to have various settings adjusted remotely. A single remote can control different lights setting each to its own parameters. [Richard] likes to automate as much as possible in his studio, so he thought that maybe he would be able to reverse engineer the remote control so he can more easily control his lighting.

[Richard] started by opening up the remote and taking a look at the radio circuitry. He discovered the circuit uses a nRF24L01+ chip. He had previously picked up a couple of these on eBay, so his first thought was to just promiscuously snoop on the communications over the air. Unfortunately the chips can only listen in on up to six addresses at a time, and with a 40-bit address, this approach may have taken a while.

Not one to give up easily, [Richard] chose a new method of attack. First, he knew that the radio chip communicates to a master microcontroller via SPI. Second, he knew that the radio chip had no built-in memory. Therefore, the microcontroller must save the address in its own memory and then send it to the radio chip via the SPI bus. [Richard] figured if he could snoop on the SPI bus, he could find the address of the remote. With that information, he would be able to build another radio circuit to listen in over the air.

Using an Open Logic Sniffer, [Richard] was able to capture some of the SPI communications. Then, using the datasheet as a reference, he was able to isolate the communications that stored information int the radio chip’s address register. This same technique was used to decipher the radio channel. There was a bit more trial and error involved, as [Richard] later discovered that there were a few other important registers. He also discovered that the remote changed the address when actually transmitting data, so he had to update his receiver code to reflect this.

The receiver was built using another nRF24L01+ chip and an Arduino. Once the address and other registers were configured properly, [Richard’s] custom radio was able to pick up the radio commands being sent from the lighting remote. All [Richard] had to do at this point was press each button and record the communications data which resulted. The Arduino code for the receiver is available on the project page.

[Richard] took it an extra step and wrote his own library to talk to the flashes. He has made his library available on github for anyone who is interested.


Filed under: Arduino Hacks, radio hacks

Mutant Kitchen TV Computer

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In need of a kitchen entertainment system, [BoaSoft] headed to the parts bin and produced a project that can easily be called a mutant. That being said, we love the results!

Here’s the link to the original Russian language post. If your Russian is a bit rusty here’s a really awful machine translation. So let’s see if we can decipher this hack.

Sounds like [BoaSoft] had a broken Acer laptop on hand. Problem was the laptop can’t play over-the-air television (and similarly, a television can’t surf the net). The solution was to figure out how to utilized a TV tuner of unknown origin, combine that with the laptop and a computer monitor, then add back all the user interface you’d expect from an entertainment device.

The board shown in the first post of the thread is familiar to us. It seems to be based on the IgorPlug board which is a hack that goes waaaay back. This allows for the use of an IR media center remote and those input signals are easy to map to functions. The computer runs Windows Media Center which is already optimized for remote control but can use a wireless keyboard and mouse when more computer-centric functions are necessary.

With all on track the rest of the hack deals with hacking together a case. The laptop’s original body was ditched for some extended sides for the back of the monitor. [BoaSoft] did a great job of installing all the necessary ports in these extensions. Once in the kitchen everything is nice and neat and should stand the test of time.

[Thanks Dmitry]


Filed under: home entertainment hacks

Mechanical Bird Actually Flies by Flapping its Wings

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Turns out you don’t have to be a multi-million dollar corporation like Festo to create a remote controlled, flapping bird robot. [Kazuhiko Kakuta] is a medical Doctor of Allergy, and in his free time he likes to build flying mechanical birds with his son.

It has just over a meter wingspan, weighs 193 grams, and it flies by flapping its wings. The majority of its components are 3D printed. If that’s not impressive enough for you as is, consider this. It it has no sensors, no gyroscopes or anything — it’s all manually controlled by [Kazuhiko].

And this isn’t even the only ornithopter he’s done. He’s also created something out of an anime film, Castle in the Sky. He even sells the designs for one of them, to be printed via Shapeways.

Previously we’ve only seen an ornithopter this large like this one done by Festo, which makes [Kazuhiko’s] work even more impressive.

[Thanks Nickson!]


Filed under: 3d Printer hacks

Controlling a Block Camera with an RC Transmitter

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The world of drones and FPV remote-controlled aircraft is rapidly expanding, airframes are getting bigger, and the demand for even cooler AV gear is higher than ever. [elad] got his hands on a Sony block camera that is able to zoom in on a scene – great if you want to get close to the action while still flying a safe distance away. Controlling the zoom on these cameras is usually done through RS232, but [elad] made it work with an RC transmitter.

The camera [elad] is using is a Sony FCB-EX11D block camera with a standard SD resolution sensor. This camera has 10x optical zoom, making it a great solution to aerial surveillance, the only problem being the RS232 connection and the VISCA protocol. [elad] used an Arduino to listen in on the elevator channel from an RC receiver, translating that to something the camera will understand. The result is a controllable zoom on a camera that could easily take to the skies.

The entire camera package, with Arduino and electronics included, weighs in at about 100 grams. That’s about the same as a GoPro, and would fit perfectly on a camera gimbal. The only problem is getting a transmitter with enough channels or someone else to operate the camera while flying. Video below.


Filed under: drone hacks, video hacks

Hackaday Links: November 23, 2014

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The 2015 Midwest RepRap Festival, a.k.a. the MRRF (pronounced murf) was just announced a few hours ago. It will be held in beautiful Goshen, Indiana. Yes, that’s in the middle of nowhere and you’ll learn to dodge Amish buggies when driving around Goshen, but surprisingly there were 1000 people when we attended last year. We’ll be there again.

A few activists in St. Petersburg flushed GPS trackers down the toilet. These trackers were equipped with radios that would send out their position, and surprise, surprise, they ended up in the ocean.

[Stacy] has been tinkering around with Unity2D and decided to make a DDR-style game. She needed a DDR mat, and force sensitive resistors are expensive. What did she end up using? Velostat, conductive thread, and alligator clips.

You know the Espruino, the little microcontroller board that’s basically JavaScript on a USB stick? Yeah, that’s cool. Now you can do remote access through a telnet server letting you write and debug code over the net.

The Open Source RC is a beautiful RC transmitter with buttons and switches everywhere, a real display, and force feedback sticks. It was a Hackaday Prize entry, and has had a few crowdfunding campaigns. Now its hit Indiegogo again.

Speaking of crowdfunding campaigns, The Mooltipass, the designed-on-Hackaday offline password keeper, only has a little less than two weeks until its crowdfunding campaign ends. [Mathieu] and the rest of the team are about two-thirds there, with a little more than half of the campaign already over.


Filed under: Hackaday Columns, Hackaday links

Telepresence Robot Demo Unit Breaks Free of It’s Confinement

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What happens when you put a telepresence robot online for the world to try out for free? Hilarity of course. Double Robotics is a company that builds telepresence robots. The particular robot in question is kind of like a miniature Segway with a tablet computer on top. The idea is you can control it with your own tablet from a remote location. This robot drives around with your face on the screen, allowing you to almost be somewhere when you can’t (or don’t want to) be there in person.

Double Robotics decided to make one of these units accessible to the Internet as a public demonstration. Of course, they couldn’t have one of these things just roaming about their facility unrestrained. They ended up keeping it locked in an office. This gives users the ability to drive it around a little bit and get a feel for the robot. Of course it didn’t take long for users to start to wonder how they could break free from their confinement.

One day, a worker left the office door cracked open ever so slightly. A user noticed this and after enough patience and determination, managed to use the robot to get the door opened. It appears as though the office was closed at the time, so no one was around to witness the event. A joy ride ensued and the robot hid its tracks by locking itself back in the room and docking to the charging station.

While this isn’t a hack in the typical sense, this is a perfect example of the hacker mindset. You are given some new technology and explore it to the extent at which you are supposed too. After that, many people would just toss it aside and not give it a second thought. Those with the hacker mindset are different, though. Our next thought is usually, “What else can I do with it?” This video demonstrates that in a fun and humorous way. Hopefully the company learns its lesson and puts a leash on that thing.

[via Reddit]


Filed under: robots hacks

R/C Wheel Loader Clears Snow, Lifts People

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For some people, R/C cars just aren’t enough. [djMedic2008] has gotten his hands on a monstrous 1/5 scale wheel loader. The loader weighs in at 500lbs, and can lift up to 250 lbs. It was built several years ago as a prototype by [Richard] at Tiny Titan Earth Movers.

The design is based upon huge machines made by companies like Caterpillar and Komatsu. The 4WD system is driven a DC motor through a worm gear reduction. Bucket operation and steering are both operated by a hydraulic system driven by an electric pump. Just like the full-scale machines, the mini loader uses an articulated steering system. The front wheels are locked in place while the entire chassis bends at the middle pivot point. This allows for a much stronger solid front axle.

loader-gearAfter several years of hard life, the loader came to [djMedic] in need of some TLC. The biggest issue was that the rear axle bevel gear had lost several teeth. This gear is under enormous loads when the loader is turning. A gear made of harder steel was the easy answer. Thankfully, you can order high carbon steel bevel gears from Amazon. The repair video gives us a look at the design of the loader. The main components of the machine are welded up from steel sheet and tube stock. This means that [djMedic] won’t have a hard time finding spare parts for his machine once he puts it to work clearing snow, dirt, or anything else that gets in its way!

Click past the break to see the loader in action!


Filed under: misc hacks, tool hacks

Lego Avengers Assemble to the Helicarrier!

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The massive engineering-defying Helicarrier from the Avengers is a brilliant work of CGI. Too bad it’d never actually fly… Like… Never.

Luckily, that didn’t stop our favorite RC hackers over at FliteTest from making a scale model of it — that actually works! If you’re not familiar, the Helicarrier is a fictional ship, the pride of S.H.I.E.L.D’s air force, or is it their navy.

It’s a massive aircraft carrier with four huge repulsor engines built into it, borrowing tech from Stark Industries. The shear size of it is what makes it completely ridiculous, but at the same time, it’s also unbelievably awesome.

Unfortunately, repulsor technology doesn’t seem to exist yet, so the FliteTest crew had to settle with a set of 8 brushless outrunner motors, with two per “engine”. The whole thing is almost 6′ long.

It doesn’t handle that well (not surprising!) but they were able to launch another RC  plane off of it, mid-flight! Landing however… well you’ll have to watch the video.

This is the first of FliteTest’s new series called “Will it Fly”, and we’re pretty excited to see what they come up with next. But with that being said, we can’t say we’re surprised they were able to make it work. These are the folks who made a freaking flying toaster… and threw a butane afterburner onto an RC jet!


Filed under: drone hacks

Using RC Transmitters With Flight Simulators

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It’s winter, and that means terrible weather and very few days where flying RC planes and helicopters is tolerable. [sjtrny] has been spending the season with RC flight simulators for some practice time. He had been using an old Xbox 360 controller, but that was really unsuitable for proper RC simulation – a much better solution would be to use his normal RC transmitter as a computer peripheral.

The usual way of using an RC transmitter with a computer is to buy a USB simulator adapter that emulates a USB game pad through a port on the transmitter. Buying one of these adapters would mean a week of waiting for shipping, so [sjtrny] did the logical thing and made his own.

Normally, a USB simulator adapter plugs in to a 3.5mm jack on the transmitter used for a ‘buddy box’, but [sjtrny] had an extra receiver sitting around. Since a receiver simply outputs signals to servos, this provides a vastly simpler interface for an Arduino to listen in on. After connecting the rudder, elevator, aileron, and throttle signals on the receiver to an Arduino, a simple bit of code and the UnoJoy library allows any Arduino and RC receiver to become a USB joystick.

[sjtrny] went through a second iteration of hardware for this project with a Teensy 3.1. This version has higher resolution on the joystick axes, and the layout of the code isn’t slightly terrible. It’s a great project for all the RC pilots out there that can’t get a break in the weather, and is also a great use for a spare receiver you might have sitting around.


Filed under: peripherals hacks, radio hacks
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