Hybrid Drone

Description

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.

Details

What I wanted to do was to build a prototype that could fly and navigate 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 that 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 "auto stabilization." Auto stabilization 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

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Build Instructions

Step 1

• PlutoX

• 3D-printed wheels and motor support

• 400 rpm brushed motors

• 600 mAh batteries

Step 2

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

Step 3

• If the PlutoX is DISARMED (i.e in the Rover mode)

• Check if it is auto-stabilized or not (auto stablization 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 drone's magnetometer and gets the yaw angle. With this, we can move the rover in straight line.

GitHub Link