This project uses an arduino mini for flight control autonomously! It maxed out the capabilities of the arduino in code size and maximum utilization of the 1k of ram and of the Blade CX2 in payload capacity and power consumption! It was truly a work of art, for 6 seconds flat :)

The Blade CX2. It uses Proximity sensors for the Cyclic control, a honeywell HMC6352 for the Rudder, and a proximity sensor for the Throttle. All of the flight control is done onboard in the Arduino Mini's Atmel 168.

 My project backup videos are now available on youtube under "wash uav"


6 second flight... not bad for a first attempt :)

Description of first flight:
As you can see; when the Blade CX2 bounces on the ground, the power wire for the compass comes unplugged, then the rudder is out of control, which allows the Blade CX2 to spin, then the proximity cyclic no longer have a fix on the two walls. Once the Wash UAV's cyclic is pointing at the couch rather than the wall, the Blade CX2 backs up into the wall behind it, knocking out the battery. once the battery is dangling, the Wash UAV is no longer balanced in a way that the software can handle, it crashes full on forward into the wall. SPECTACULAR!


The new platform is much more dangerous and requires the Test Rig which I fashioned from Bricks and Wood. When securely bolted down, you can see what this chopper is capable of!


The rudder is also controlled by the  Stock Gyro within the mixer, so in the video when I am going back to the center at the end, the stock gyro is the reason the top blade stops momentarily.


The throttle is controlled by 2 multipliers. One for when it is above the threshold and one for when it is below the threshold.


The cyclic is dependent on there being two walls withing scanning distance. Obviously this is not ideal, or practical or useful, but it is an excellent first start.