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 Post subject: Re: Rocket Payload
PostPosted: Mon Dec 21, 2009 2:51 am 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
You certainly can.

Tutorials would be great.


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 Post subject: Re: Rocket Payload
PostPosted: Mon Jan 11, 2010 2:18 am 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
This is what I want to do with the accel reading

Gee = accel_reading/ 5.6 '27mv/g and 4.88 mv/Adc count
acceleration = Gee * 32.2 'Acceleration ft/sec
velocity = velocity + aceeleration * .15 '.15 is the timestep

I am not looking for accurate data logging here but a means to determin phase of flight. On Pad, Launch detect, Motor Burnout and Apogee. 4 bits all set to 0000. When on pad bits will be 1000 at launch detect 1100 and so forth.

So adding error it becomes

Gee = accel_reading/ 6 '27mv/g and 4.88 mv/Adc count
acceleration = Gee * 32 'Acceleration ft/sec
velocity = velocity + aceeleration * .15 '.15 is the timestep

That still leaves me with the timestep? Any better ideas?


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 Post subject: Re: Rocket Payload
PostPosted: Fri Jan 22, 2010 3:53 am 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
Have been working on this here is what I have:

Code:
for counter = 1 to 500
 
 adin ax0, baro         
 adin ax1, accel
 
 delta = Accel_at_rest - accel        'Find differance between at rest reading and sample
 
 accel_float = tofloat delta                    'Convert to floating point
 gees = accel_float/5.6                         'Find Gees 5.6 counts = 1 Gee
 acceleration = gees * 32.17                    '9.8 for m/sec 32.17 ft/s
 velocity = (velocity + acceleration) * 0.25    'Timestep = 15 samples/sec
 
 int_velocity = toint velocity                   'Convert float to int
 int_acceleration = toint acceleration           'Convert float to int
 
 'serout S_out, i9600, [ real acceleration, " ", real velocity, " ", sdec int_acceleration," ", sdec int_velocity, 13]
 
 hserout ["W 2", 13]               'Ready SD to write
 
 hserout [dec baro, ",", dec accel, ",", sdec int_acceleration,",", sdec int_velocity, 13, 10]  'Send data
 
 gosub Check_Return_Command         'Check return command
 
 if counter1 = 15 then              'Sample gps 1/sec or every 15 counts
  gosub GPS_LN
 
  else
   counter1 = counter1 + 1
 
 endif
 
 next


Things are starting to look good. I am going to mount in a rocket and get some motors ready. Hopefully have a few test flights soon. Just have to wait for a break in the North Dakota winter.

I have alot of commenting of code to do once done I will post it all.


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 Post subject: Re: Rocket Payload
PostPosted: Tue Jan 26, 2010 3:43 pm 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
Here is the code for the first flights.

Code:
E02      con      12338   'Buffer overrun
E03      con      12339   'No free files
E04      con      12340   'Unrecognized command
E06      con      12342   'Command formatting error
E07      con      12343   'End of file
E08      con      12344   'Card not inserted
E09      con      12345   'MMC/SD reset
E0A      con      12353   'Card write protected
EE6      con      17718   'Read only file
EE7      con      17719   'Not a file
EE8      con      17720   'Write falure
EEA      con      17729   'No freespace
EEB      con      17730   'File not open
EEC      con      17731   'Improper mode
EED      con      17732   'Invalid Open mode
EF1      con     17969   'Handle in use
EF2      con      17970   'File does not exist
EF4      con      17972   'File already exists   
EF5      con      17973   'Path invalid
EF6      con      17974   'Invalid handle
EFB      con      17986   'Bad FSINFO sector
EFC      con      17987   'Unsupported FAT version
EFD      con      17988   'Unsupported partition type
EFE      con      17989   'Bad partition information
EFF      con      17990   'Unknown error

combined     var word       'Combine 2 byte error code to word
stuff       var byte(2)      '2 byte error code from SD
check       var byte      'First charicter of error code
value1     var byte      'Error loop counter
index        var byte      'Error lookdown table index

baro         var  word      'ADC baro reading
accel        var    word      'ADC accel reading
counter    var  word      
counter1     var  byte

Accel_at_rest     var  word   'Accelrometer at rest reading
Baro_at_rest     var  word   'Baro at rest reading
threashold      var  word   'Liftoff detietion threashold

delta            var  sword      'Differance of accel reading and at rest reading
accel_float     var  float      'Floating point value from delta
gees          var  float      'Calculated gee 1 g = 5.6counts
acceleration   var  float      'Floating point value for Gees * 32.2 for ft/sec 9.8 m/sec
velocity      var  float      'Floating point value (Accel + velocity) * timestep

int_velocity        var Slong   'Interger value for velocity
int_acceleration     var slong   'Interger value for acceleration

GPS_status       var    byte(15)         'Set up array to store GPS Status data
Long_Nav       var  byte(57)        'Set up array to store GPS Long Nav. message   

index = 30                  'Set SD lookdown value to an out of bounds value

value1 = 0                  'Set variables to 0
counter1  = 0
Accel_at_rest = 0            
Baro_at_rest = 0

gees = 0.0      
acceleration = 0.0   
velocity = 0.0

'-------------------------------------SD Start up ------------------------------------------

enablehserial      'Enable hardware uart

sethserial h9600   'Set baud to 9600bps

hserstat 0         'Clear uart buffers      

serout S_out, i9600, ["Waiting for SD to initiliez", 13]


sdinit:

 high 1                  'Power on SD (Positive logic control)
 pause 500               'Pause for initilization

 value1 = value1 + 1      
 
 if value1 > 20 then gosub startuperror            'DIvide by 10 to get average If more than 10 tries reset SD

 hserstat 4, sdinit                           'If no data goto sdint

  hserin [check]                              'Read in byte from uart Sd sends > after valid command
 
  If check <> ">" then sdinit                  'If not > then try again
   
 serout S_out, i9600, [ "Start SD sync ", 13]      'Recived > ready to sync
 
 
 
SD_sync:
 
 serout S_out, i9600, [ "SD sync ", 13]
 
 hserout [27]                           'Send esc to SD(SD command to clear buffers)
 value1 = 0            
 
  waitcommand:
 
  value1 = value1 + 1
 
  if value1 > 20 then goto SD_sync            'If more then 20 tries and no data resend command
 
  hserstat 4, waitcommand                    'If no data got to waitcommand

  hserin [check]                           'Read in byte from uartSd sends > after valid command
 
  serout S_out, i9600, [check, "   stsync", 13]
 
  if check = ">" then                        'If byte = >  then no error
   hserstat 0                           'Clear uart buffers
   goto Config_SD_Settings
 
  elseif check = "E"                     'If byte = E then error
   hserin [str stuff2]                     'Read in remaing 2 bytes of error code
   serout S_out, i9600, ["Error", 13]
   gosub errormessage

endif   
 
 goto SD_sync

Config_SD_Settings:

  serout S_out, i9600, ["Config SD", 13]
  hserout ["S 1 1", 13]                      'Change SD timeout to 100ms
 
  gosub Check_Return_Command               'Check return command for >

Check_Status:
 
 serout S_out, i9600, ["Check Status", 13]
 hserout ["Z", 13]                        'Check status for missed error messages
 
 
 waitcommand_Status:
 
  hserstat 4, waitcommand_Status            'If no data present then loop

  hserin [check]                           'Read in byte Sd sends > after valid command
  serout S_out, i9600, [check, "Status", 13]
 
  if check = " " then                        'If byte = >  then no error
   hserstat 0                           'Clear uart buffers
   goto Open_Files
 
  elseif check = "E"                     'If byte = E then error
   hserin [str stuff2]                     'Read in remaing 2 bytes of error code
   serout S_out, i9600, ["Error", 13]
   gosub errormessage

  endif

 goto SD_sync
 
 
'-------------------------------------SD Start up Subroutines------------------------------------------
 
 startuperror:
 
  serout S_out, i9600, ["Startup Error", 13]
 
  low 1            'Power off SD
  pause 500         
  high 1         'Power on SD
  value1 = 0
 
 pause 500
 
  return
 
 errormessage:
 
  serout S_out, i9600, [str stuff2, 13]
 
  combined.lowbyte =  stuff(1)                'Combine 2 byte error code to word for lookdown comparison
  combined.highbyte =  stuff(0)
   
  lookdown combined, =, [EEA, E08, E0A, E09, E03, EE6, EE7, EEB, EEC, EED, EF1, EF2, EF4, EF5, EF6, E02, E04, E06, E07, EE8, EFB, EFC, EFD, EFE, EFF ], index

  serout S_out, i9600, [dec index,  " index", 13]

  if index <= 3 then                             'Evaluate index and act accordingly
    serout S_out, i9600, ["Main Error", 13]
    goto SD_sync
 
   elseif index <= 14
    serout S_out, i9600, ["File Error", 13]
    end
 
   elseif index <= 17 
    serout S_out, i9600, ["Command Error", 13]
    end
 
   elseif index <= 19 
    serout S_out, i9600, ["Write Error", 13]
    end
 
   elseif index <= 24 
    serout S_out, i9600, ["Format Error", 13]
    end
 
   elseif index = 30 
    serout S_out, i9600, ["No match", 13]
    goto SD_sync
 
  endif

'----------------------------Sync Complet open files-----------------------------------

Open_Files:
 
 serout S_out, i9600, [check, "open files", 13]
 
 hserout ["O 2 W /Sensors.TXT", 13]               'Send command to SD to create Sensors in write mode
 
 gosub Check_Return_Command                     'Check for > from SD
 
 serout S_out, i9600, ["Sensor File Made", 13]
 
 'freqout 0,500,1000    'DurationNote 
 'freqout 0,1000,200    'DurationNote 
 
goto GPS_Main
 
 
 '---------------------Open files sub routines------------------
  Check_Return_Command:
 
  hserstat 4, Check_Return_Command            'Check uart for data if no data loop until data
 
   hserin [check]                           'Read in byte Sd sends > after valid command
 
  if check = ">" then                        'If byte = > then no error
   hserstat 0                           'Clear uart buffers
   return
 
 
 
  elseif check = "E"                  'If byte = E then error
   hserin [str stuff2]                  'Read in remaing 2 bytes of error code
   serout S_out, i9600, ["Error", 13]
   gosub errormessage

endif

goto SD_sync



'---------------------------------------Initilize GPS----------------------------------------



GPS_Main:

 serout p7, i9600, [">QST<"]                  'Send command to gps to quiry Status

 serin p6, i9600, [str GPS_status15]           'Read in and store responce
 
 serout S_OUT, i9600, [str GPS_status15,13]   'Send Status out hardware serial port
 

Antenna_Fault:                           'Check for antenna fault
 
 if GPS_status(6) = "0" then
   serout S_OUT, i9600, ["Antenna Good", 13]
   
  elseif GPS_status(6) = "2"
   serout S_OUT, i9600, ["Feedline Open Fault", 13]
   goto GPS_Main
   
  elseif  GPS_status(6) = "6"
   serout S_OUT, i9600, ["Feedline Short Fault", 13]
   goto GPS_Main
   
 endif
 
 
if GPS_status(7) = "1" then                               'Check battery backup
   serout S_OUT, i9600, ["Battery Backup Failed", 13]
   
 else
      serout S_OUT, i9600, ["No Problems", 13]
     
endif 



if GPS_status(11) = "0" then                              'Check RTC and Almanac
   serout S_OUT, i9600, ["No Problems", 13]
   
  elseif GPS_status(11) = "2"
   serout S_OUT, i9600, ["RTC not available", 13]
 
  elseif  GPS_status(11) = "8"
   serout S_OUT, i9600, ["Almanac not complete", 13]
 
  elseif  GPS_status(11) = "A"
   serout S_OUT, i9600, ["No RTC or Almanac", 13]
   
 endif


Tracking:                                      'Routine to monitor GPS until lock

 if GPS_status(5) = "0" then
   serout S_OUT, i9600, ["Doing Position Fixes", 13]     'If doing fixes jump to GPS_Lock
    gosub GPS_LN                                'Quiry for starting location   
    goto GPS_Lock                               
     
  elseif GPS_status(5) = "1"
   serout S_OUT, i9600, ["No GPS Time Yet", 13]
   
  elseif  GPS_status(5) = "3"
   serout S_OUT, i9600, ["PDOP to High", 13]
 
  elseif  GPS_status(5) = "8"
   serout S_OUT, i9600, ["No Usable Satalites", 13]
   
  elseif  GPS_status(5) = "9"
   serout S_OUT, i9600, ["Only 1 Usable Satalite", 13]
   
  elseif  GPS_status(5) = "A"
   serout S_OUT, i9600, ["Only 2 Usable Satalites", 13]
   
  elseif  GPS_status(5) = "B"
   serout S_OUT, i9600, ["Only 3 Usable Satalites", 13]
   
  elseif  GPS_status(5) = "C"
   serout S_OUT, i9600, ["Chosen Satalite is Unusable", 13]
 
 endif

serout p7, i9600, [">QST<"]               'If no lock read in ST sentencen

serin p6, i9600, [str GPS_status15]        'Read in and store responce

pause 500

goto Tracking                        'Repeat until lock

 
 
'------------------------------------------Hardware Ready ---------------------------------------


'-------------------------At Rest Readings--------------------------


 
GPS_Lock:

serout S_out, i9600, ["Get AT rest and wait for liftoff", 13]


At_Rest_Readings:

for counter = 1  to 10                  'Sample sensors 10 times and average for atrest reading

 adin ax0, baro                        'Get baro ADC
 adin ax1, accel                       'Get accel ADC   

 Accel_at_rest = Accel_at_rest + accel      'Add current reading to previous readings
 Baro_at_rest = Baro_at_rest + baro         'Add current reading to previous readings
 
 serout S_out, i9600, [dec accel, " ", dec baro," ",  dec Accel_at_rest, " ", dec Baro_at_rest, 13]

next


Accel_at_rest = Accel_at_rest/10         'Divide by 10 to get average
Baro_at_rest = Baro_at_rest/10            'Divide by 10 to get average

serout S_out, i9600, [dec Accel_at_rest, " ", dec Baro_at_rest, 13]



Calculate_Threashold:                  'Calculate launch detect threashold

threashold = Accel_at_rest - 6            'Subtract 1g(5.6 counts) from atrest reading

serout S_out, i9600, ["Threashold = ", dec threashold, 13]


'--------------------------Launch Detect--------------------



Launch_detection:

repeat                              'Reapeat until accel < threashold
 
 adin ax1, accel                     'Read in accel ADC
 
 serout S_out, i9600, ["No Launch ", 13]
 
until accel < threashold               'Compare to if theashold < accel loop


 serout S_out, i9600, ["Liftoff", 13]

for counter = 1 to 500
 
 adin ax0, baro                           'Get baro ADC
 adin ax1, accel                        'Get accel ADC
 
 delta = Accel_at_rest - accel               'Find differance between atrest and adc accel reading
 
 accel_float = tofloat delta               'Convert delta interger to floating point 
 gees = accel_float/5.6                     'Gees = acel counts / 5.6 counts per gee
 acceleration = gees * 32.2                  'Accel = gees * 32.2 for ft/sec or 9.8 for m/sec
 velocity = (velocity + acceleration) * 0.25   'velocity = (accel + velocity) * timestep
 
 int_velocity = toint velocity               'Convert velocity float to interger
 int_acceleration = toint acceleration         'Convert acceleration float to interger
 
 hserout ["W 2", 13]                     'Send Write file 2 to SD
 
 hserout [dec baro, ",", dec accel, ",", sdec int_acceleration,",", sdec int_velocity, 13, 10] 'Send data to SD
 
 gosub Check_Return_Command                  'Check for > (SD return command)
 
 if counter1 = 15 then                      'Quiry GPS once every 15 samples
  gosub GPS_LN
 
  else
   counter1 = counter1 + 1
 
 endif
 
 next
 
 serout S_out, i9600, ["Close File", 13]
 
 hserout ["C 2", 13]                     'Send command to Close file 2 to SD
 
 gosub Check_Return_Command                  'Check for > (SD return command)
 
 serout S_out, i9600, ["All Done", 13]
 
 end
 
GPS_LN:

 serout p7, i9600, [">QLN<"]                'Send command to gps to quiry Long Nav. message

 serin p6, i9600, [str Long_Nav57]         'Read in and store responce
 
 counter1 = 0
 serout S_OUT, i9600, [str Long_Nav57,13]   'Send version out hardware serial port
 
Save_SD:

 hserout ["W 2 58", 13]                     'Set SD to "W"rite file 2 "57" bytes
                        
 hserout [str Long_Nav57, 13, 10]                'Send bytes to write

gosub Check_Return_Command                  'Check for > (SD return command)

return


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 Post subject: Re: Rocket Payload
PostPosted: Wed Feb 03, 2010 1:12 am 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
Here are some pics of the hardware mounted. I added a led to the expansion port for a status indicator due to buzzer issues.

Hopefully put it up in the next week (fingers crossed). After the flight the SD card should have a file containing:

GPS Status String
GPS Starting Position (Long Navigation message)
Baro @ Rest , Accel @ rest
Baro , Accel , int_acceleration , int_velocity
...
(15 times)
....
GPS Long Navigation Message


The GPS long Navigation Message gives time, lat, long, alt, horizontal speed, vertical speed, heading, # of satallites


Attachments:
000_0027.jpg
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000_0029.jpg
000_0029.jpg [ 895.29 KiB | Viewed 5590 times ]
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 Post subject: Re: Rocket Payload
PostPosted: Wed Feb 03, 2010 2:18 am 
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Joined: Mon Aug 18, 2008 1:26 am
Posts: 799
Location: CA bay Area
If half the fun is in getting there, then the other half is logging trip data?
'Luck! :D

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 Post subject: Re: Rocket Payload
PostPosted: Sat Apr 03, 2010 3:03 pm 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
I now have data from 2 flights. I have compared the flight data with data from a simulated flight. Everything is really close to where it should be :D .

Flight 1 was nice and vertical. The GPS did lag behind a little but altitude from accel looks to be right on until apogee. GPS velocity is where it should be for vertical flight.

For flight 2 the launch rail was set at about 15 deg. off vertical. Again accel and velocity are where they should be. Gps lagging behind again except this time reported altitude is alot lower than expected. GPS velocity looks different also but this should be consistent with a non vertical flight.

Next step is to convert baro data to altitude.

The launch detection routine should also be changed. 1 false reading could trigger launch detection. Also accelrometer drift could cause poor performance in respect to altitude. It is common for the rocket to sit at the pad for a period of time before lanch. If the at rest reading is determind and then left alone drift could cause error in every sample.

To avoid this at rest reading will be updated every so often. The trick will be to not miss launch while updating at rest reading.


Attachments:
Flight 1.zip [58.46 KiB]
Downloaded 317 times
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 Post subject: Re: Rocket Payload
PostPosted: Sat Apr 03, 2010 5:59 pm 
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Joined: Thu Mar 01, 2001 7:00 pm
Posts: 1316
Location: Temecula, CA
Hmm, I wonder if you could have the launch controlled internally? Then instead of wires to the squib(don't know if thats what its called) you have wires to the onboard electronics and the onboard electronics control the squib. Then you could take an idle reading just before launch and you'd know almost exactly when launch happens.

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 Post subject: Re: Rocket Payload
PostPosted: Sat Apr 03, 2010 6:29 pm 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
This would be the best but "procedure" gets in the way.

Once the rocket is demend safe to fly by the RSO (Range Safety Officer) it can be loaded and set for launch. Control is then handed to the LCO (Launch Control Officer). When sky is clear and range is clear countdown begins.

There is the possability of lighting a second motor when the first one burns out or shortly after.


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 Post subject: Re: Rocket Payload
PostPosted: Thu May 06, 2010 6:51 pm 
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Joined: Sun Oct 05, 2008 5:40 pm
Posts: 111
Now its time to add the radios. I decided to redo the hardware a little. On this version an Atom 24 will monitor the Lassen IQ gps along with an ADXL78 accel and a voltage divider for battery voltage. Storage will be with th 25LC256 eeprom. Telemetery will use a pair of 9Xtend radios.

Operation:

Payload will power up and initilize gps once lock is aquired payload will monitor for launch detect. Once launch has been detected accel is sampled and stored to eeprom every second gps and payload data is sent to radio where it is received and displayed in a VB app.

Flight:

I now have a commitment for a high altitude flight June 13. The rocket is an 8ft tall all carbon screamer. Simmed altitude of 33,000 ft at mach 2. I suspect I'll hit 33,000 but I think I might be just shy of mach 2. I have attached a picture of the motor case the six propellant grains and the nozzel.

Improvements:

I have changed the launch detect code to update the at rest reading.

Code:
Launch_Detection:

repeat

 adin ax1, accel                                    'get accel reading


   new_at_rest = (at_rest + accel)/2                     'to calculate at_rest
   threashold = at_rest - offset                        'calculate new threashold
     
     
Serout S_out, I9600, [dec at_rest, " ", dec accel, " ", dec threashold, 13]

 at_rest = mid_at_rest                                       'cycle values through buffer
 mid_at_rest = new_at_rest
 
until accel < threashold



Cycling the values and using the oldest for the at rest reading keeps the false readings out of the flight algorithm. This being the two newest at rest readings just before launch detect are falsely high do to stat of thrust.

I have finished the ground station and have gone a ways on the vb app.

The new boards should be here by wensday once here I will post pics.


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 Post subject: Re: Rocket Payload
PostPosted: Thu May 06, 2010 7:56 pm 
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Location: CA bay Area
Nice job, Mike. I have one concern: It appears yo uhave soldered two wire to the AX# pads under the Atom24 module. How are these going to fare under multiple Gs? Do you have prior experience as to wiring of this sort in past flights. Do you plan to secure these wires in any fashion before flight time?
Keep up the good work. Have a nice (and safe) project.
kenjj

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 Post subject: Re: Rocket Payload
PostPosted: Thu May 06, 2010 9:13 pm 
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I would be suprised If I see more than 20 gee for this flight but in this instance where a pad on the atom could be torn off I will use hot glue for strain releif. I have also used epoxy to pot larger things like caps and such.


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 Post subject: Re: Rocket Payload
PostPosted: Fri May 07, 2010 4:12 pm 
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Location: Temecula, CA
Very nice design so far. Any chance we can get a video of your next flight?

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 Post subject: Re: Rocket Payload
PostPosted: Wed May 26, 2010 4:21 am 
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T minus 19 days and so far still a go for launch. All electronics have been assembled and mounted. The rocket has received a coat of paint and is waiting for clear coat.

The electronics consist of 2 compartments. The first (one on the right) is located in the center of the rocket and consists of 2 record approved altimeters. Between the 2 altimeters I have a single axis accel and baro on one and a dual axis accel and baro on the second.

The second is located in the nosecone. With the rocket being made of carbon fiber the radio signals can not pass. With this being the case the nosecone was made from aerospace grade fiberglass. This is where the telemetery and radio tracker will be located.

The rocket has been dubed "Optimus Prime" and yes he will be caught on video. So far I have 2 cameras one will be on a tripod real close to the launch tower. The second will be used to catch the whole up part.


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 Post subject: Re: Rocket Payload
PostPosted: Tue Jun 08, 2010 2:02 am 
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Leave Thursday for the launch. Weather on Sat looks to be cool & cloudy. Sun looks to be warmer with little clouds.

Sims show the inital mach 2 to be somewhere closer to 1.6 - 1.7 either way still moving :D


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