Step 19: Ground Station

Picture of Ground Station
The ground station transmits the commands {throttle, pitch, roll, yaw} to the quadrotor based on user inputs. It consists of three parts: a user input device, an XBee radio as discussed in the previous step, and some software to map input device axes to commands.

Input Device: Logitiech Gamepad

I chose to use a Logitech Dual Action gamepad as my input device. The first image shows how the Logitech gamepad's joystick axes get mapped to the four quadrotor commands. Experienced RC pilots might recognize this joystick layout as Mode 2. Unlike an RC radio, the throttle stick on the gamepad will be spring loaded. This makes it a little more difficult to hold altitude, but it's not too hard to get used to.

You can use any other USB HID device as the controller, but you'll have to modify the ground station software to correctly map the joystick axes to the commands. I've also tried a flight simulator joystick. I didn't like the feel as much, but this was back when I was first learning how to fly it.

You can also use a standard RC flight transmitter. In this case, you don't even need a computer for interfacing. An Arduino can read the pulse position modulation (PPM) signals from the transmitter's trainer port, and send out commands via XBee. Here's a guide on how to map signals from the transmitter's trainer port to the XBee.

Interfacing Software:

If you do decide to use a USB HID controller, you'll need some software running on a computer to interface with the controller and to send commands to the XBee radio. This software can also grab telemetry from the quadrotor and display it, or log it for later analysis.

I wrote a simple ground station program in Visual Basic, which is included in the project documentation (Step 1). The executable is in the 4pcb_EXE folder and the source is in the 4pcb_VB folder. To run the executable, you'll need the .NET Framework runtime files, which can be downloaded from here. If you're interested in modifying the ground station software, you can use Visual Basic 2010 Express, which is free.

My ground station is nowhere near as functional as it could be. First, only some of the trims are active and they don't save their values when you close the program. It also only logs the telemetry (in a text file called 4pcbdata.txt). It could do so much more - like display a virtual 3D quadrotor on the screen that mimics the orientation of the real quadrotor.

The .NET-based ground station will only run in Windows. If you're on a different OS, you can still write ground station software in any programming language that can interface to HID game controllers and a virtual serial port (so, pretty much any language). One easy option is Processing, an application/GUI programming language with and Arduino-like IDE. There is a third-party library for Procssing called ProCONROLL which interfaces to HID controllers. I wrote a very quick Processing/ProCONTROLL-based ground station for controlling robots that could easily be modified to send the command packet needed for the quadrotor.