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2015/08/22 Longer Visit to Boeing Museum of Flight
π 2015-08-22 00:00 in Flying
Last time I visited, I wrote "one of the best flight museums I've seen so far: a full visit takes over 4H and even a quick one takes over 2H :)". This time, we hada full day (7 hours), although we really had about 5H left after the 3D movie and the special tour of the space shuttle trainer.

We started with the private tour of the space shuttle trainer, the cabin crews actually aren't that big, but they only have to spend about 2 weeks in it, so I guess it's not so bad. This is the actual trainer that was used at Houston Space Center and I guess it was donated to Seattle after Houston got a real space shuttle for their museum :)








We then took a tour of the main floor:












Of course, their SR71 prototype with an A21 drone is a highlight since it's the only one left in existence:



engine starter block with 2 v8 chevy motors
engine starter block with 2 v8 chevy motors




There were many more planes to see:

or cruise missiles
or cruise missiles











The couple of sections about space were good too:





They had a 787 on display, explaining the new avionics:



the pilot has a nice HUD like a fighter pilot would
the pilot has a nice HUD like a fighter pilot would


the beluga plane was used to move the space shuttle trainer
the beluga plane was used to move the space shuttle trainer

Then, they had the room dedicated to old planes from the WW1 and WW2 era:












lots of ammunition stored in the wings
lots of ammunition stored in the wings

The museum also moved the red barn where Boeing used to build its planes 100 years ago, and put it in the museum:



More vintage posters:





And just like that, it was 17:00 again, and I had to rush a few places again, bummer :)
Needless to say that this museum has plenty to see and is definitely worth a whole day.

2015/08/21 Seattle Dinners
π 2015-08-21 00:00 in Dining
While we were in Seattle, we tried several restaurants, some had yummy seared foie gras :)






See more images for Seattle Dinners
2015/08/20 Seaplane Flight in Low Overcast Seattle
π 2015-08-20 00:00 in Flying
We went for an early flight one morning, unfortunately it was a very overcast day in the morning, so the views weren't fantastic, but still, it was nice to see Seattle from the air, and that was my first seaplane flight.



EMP in the bottom right, and science museum just up and left of the space needle
EMP in the bottom right, and science museum just up and left of the space needle

very nice houses with their own boat and seaplane
very nice houses with their own boat and seaplane


did I say overcast?
did I say overcast?

smith tower
smith tower

cars line up for the ferry, with overflow lines
cars line up for the ferry, with overflow lines





many boats...
many boats...



and that was it after our water landing
and that was it after our water landing

2015/08/17 Seattle Museum of Communication and Living Computer Museum
π 2015-08-17 00:00 in Public, Trips
As soon as we landed in Seattle, we went directly to the Museum of Communication, which is only open a mere 5 hours per week (10:00 to 15:00 on sundays). Yes, it's not easy to get to, but it's well worth it: it's an old telco facility that was turned into a nonprofit museum where volunteers who used to work there, give you tours and explain the old technology that used to run our phone systems.

The mechanical switches and relays that route a phone call digit by digit were quite impressive to see, including manual switchboards where an operator would patch in your call with a physical banana plug. Here's a quick video summary:

Our great personal tour guide:





they used microwave links for point to point connections to other COs
they used microwave links for point to point connections to other COs





an old AT&T video phone that worked over phone lines (with a slow bad picture due to line limitations)
an old AT&T video phone that worked over phone lines (with a slow bad picture due to line limitations)








check out the thousand+ amp switch with heavy copper
check out the thousand+ amp switch with heavy copper


later semi electronic phone switches used boards like these, but they are impossible to fix or replace
later semi electronic phone switches used boards like these, but they are impossible to fix or replace

it's fun to hand connect a thousand+ phone lines by hand in a conduit
it's fun to hand connect a thousand+ phone lines by hand in a conduit

before
before


after
after

Next, we went to the living computer museum, which also was quite good and gets credit for having many computers online you can interact with:





a 68k based Sun3, sweet (although it was slow)
a 68k based Sun3, sweet (although it was slow)







the CDC 6600 was the first supercomputer before the Cray1
the CDC 6600 was the first supercomputer before the Cray1




we had a Amstrad PC1512 at home
we had a Amstrad PC1512 at home

and an Amstrad CPC-464 too
and an Amstrad CPC-464 too

we also had an Atari STF and later STE
we also had an Atari STF and later STE

Dongeon Master, I remember spending so many hours with this game
Dongeon Master, I remember spending so many hours with this game

Both museums were quite interesting and worth the visit.

2015/08/13 My First X-UAV Talon, and its demise
π 2015-08-13 00:00 in Rc
After having had a Talon sitting my garage for almost a year, I finally got around to building it. The instructions were poor, but the build was easy, so it didn't matter:

turns out I wouldn't be using the dome, like most people
turns out I wouldn't be using the dome, like most people

my wing extension kit came with this seemingly useless replacement gear that weighed way too much
my wing extension kit came with this seemingly useless replacement gear that weighed way too much

sadly, the wood support didn't have any underneath plate to put the autopilot on
sadly, the wood support didn't have any underneath plate to put the autopilot on

so I had to make my own plate to attach to the supports
so I had to make my own plate to attach to the supports


The kit came with 2 kinds of servo horns. I ended up using the bigger ones, and made holes to use the backing plates with screws:



I got the wing extensions right away:


I got to fit my pitot tube between the main wing and the extension
I got to fit my pitot tube between the main wing and the extension

The motor and ESC aren't super easy to access once everything has been glued:


Given how big the inside of the plane, is, I figured the bluebeam 1.3Ghz antenna might fit inside, but not quite, bummer:



almost fits...
almost fits...

I however had plenty of room to put a 360 degree servo attached to a mobius mount:



The wheel didn't turn freely, I had to cut out some extra foam to help it:


I then went for my first flight, I had to put 10,000mAh of batteries in the very front of the plane just to balance out the CG :)


didn't bother putting the dome
didn't bother putting the dome

The first flight was "interesting" as in I didn't have flaperons working yet, landings were at pretty high speed. The other issue was that my elevator was way too sensitive and I had a hard time adjusting the pitch for landing, causing me to come for many landing approaches before I nailed one:

After a trip, I spent some time to put my FPV gear in because I wanted my next videos to have telemetry showing airspeed and other options on the video so that I could review it more easily and check minimal speed with and without flaps, and see how things go before stalls
I figured I'd cram the $500 gopro inside the CXN mount so that it would be less exposed in case of a crash, and the FPV camera goes on top:



I added some wood so that it would hit first instead of the cameras :)
I added some wood so that it would hit first instead of the cameras :)

The batteries can now be in a more central position without breaking CG:



I then went for the new maiden flight. Takeoff was a bit dicy since my Talon now weighed 4kg with all the gear, but things were ok. It flew pretty fast though and I wanted to see how much I could slow it down with flaps. Unfortunately, after trying full flaps, things looked ok for one second or two, so I got my hand off the flaps slider and that's exactly when the plane pitched straight down.
I only had enough time to pull on the elevator but not enough to retract the flaps. Replaying the video shows (with only a few pixels) that one of my ruddervator surfaces got unglued due to the G and weight stress, causing a full loss of control and full speed crash into the ground :(

The impact was severe enough pretty much everything was broken, including both microsd cards that were in the cameras:


first card has an internal short and won't work and 2nd card was sliced by the shock :(
first card has an internal short and won't work and 2nd card was sliced by the shock :(

the lipos also didn't like the Gs, but thankfully did not burst into flames
the lipos also didn't like the Gs, but thankfully did not burst into flames

The mobius did survive the crash (the lipo inside got compressed and the lens cable unhooked, but it's working again). The gopro unfortunately had its LCD damaged, so it can still record but won't display what it's doing anymore :(
Obviously, this was very disappointing, although I leanred a few things:

  • flaperons on the X-UAV Talon are very dicy because they almost work as reverse elevator :(
  • you need to very heavily glue the ruddervator surfaces, and I failed to do that. Expensive lesson...
  • 2015/08/07 Anniversary Lunch at The French Laundry
    π 2015-08-07 00:00 in Dining
    We had known about French Laundry for years, but hadn't gone so far for a combination of reasons, but mainly that it was far and ridiculous to get reservations at (well, and also because we do have plenty of excellent restaurants closer by). But, I figured that we should still go one day, so I had our excellent concierge make a reservation for us for our anniversary.

    We got an 11:00 reservation on a friday and we got there after a slightly less than 2h drive (yes, if you do the math, it was more time driving than eating at the end, but I knew that). The French Laundry had been closed for 6 months or so to destroy their kitchen and rebuild a new one. When we arrived they were working out of a temporary kitchen as the new one hasn't been built yet, but that didn't seem to have impacted the quality of the food we got.

    The welcoming and setting were good. They had a menu printed in our name, and it only had 2 options: vegetarian or non vegetarian tasting menu, both at the same price ($300 per person). The menu had 3 dishes where you could substitute a more expensive dish. As plenty others have remarked, they strangely did not have a wine pairing option, which in our opinion is a big faux pas and something that no other such restaurant we've been to, was missing.



    The food was very good, the dishes were well presented and the servers all did a very good job (service is included in the price by the way, which is the French way). In the end, my opinion was that it was very good and well executed, but not worth the 100% premium you pay over other very good restaurants with excellent tasting menus too. Part of my reasoning is also based on the fact that due to their popularity, they of course raised their prices quite a bit over time, but unfortunately also removed some dishes. We didn't come out hungry in any way, but they used to have more courses than they do now.

    Then, my last point of comparison is that they serve very good traditional French food, but it's not as fancy/different as what you'd get in a place like Baume which offers molecular gastronomy, something interesting to try, or Alinea in Chicago where the entire fancy meal is a spectacle around how it's presented and served.
    This may be why their online reviews seem to be a mix of 1's and 5's: people who've enjoyed the still great meal, and others who've eaten at other very good such restaurants in the world and don't find TFL so much better as to justify the price their charge and difficulty of getting reservations.

    Either way, we were still happy to have tried it out and cross if off our list :)

    Actually I should mention that what sets them apart is that they give you a very nice booklet that shows all the ingredients used for the meal, and how they were chosen and sourced. That was a nice touch that other restaurants we've seen, don't do.

















    The dinner did finish with a bunch of desserts and sugar, maybe a bit too much for Jennifer, and borderline what I could handle :)

    2015/08/04 Using Flaperons With Ardupilot
    π 2015-08-04 00:00 in Rc
    This page was copied to the official place on ardupilot website The new location may be more up to date and you should likely link to it instead of this page:
    http://plane.ardupilot.com/wiki/flaperons-on-plane

    Elevons, Ruddervators and flaperons with Ardupilot/APM::Plane

    Note that this page is current as of August 2015 and tested with APM::Plane 3.3, although what I'm describing should be relevant to older versions too.

    Ardupilot/APM::Plane takes your RC input and either passes it through, or uses it as input for automatic modules like FBWA or CRUISE (and in some cases will mix the RC input with the generated output, like allowing you to add aileron control to the aileron control computed by let's say RTL).

    The part where things get complicated is:

  • Elevons (flying wings have only 2 controls used as elevator and ailerons)
  • Ruddervators (V-Tail) where rudder and elevator are mixed into a V-Tail surfaces. This is used by planes like the X-UAV Talon
  • Flaperons is simply allowing your 2 ailerons (using one channel each) to be used as flaps and ailerons
  • Elevon and ruddervators are well documented. Even if you care about flaperons, you should look at this page since it explains the basics of mixed modes, and they are relevant to flaperons too: http://plane.ardupilot.com/wiki/arduplane-setup/first-time-apm-setup/reversing-servos-and-setting-normalelevon-mode/

    The first concern on a pixhawk is that using any of those mixed modes requires decoupling the control surfaces from direct passthrough control coming from the RC Controller. Passthrough is a mode where if the pixhawk has a bad failure, it's able to connect RC1-8 directly to the relevant output channels without doing anything with them.
    Obviously, if your control surfaces are mixed by the pixhawk, passthrough will not work anymore. While this kind of bothred me, I've been told that pixhawk failures are so rare that I should just forget that passthrough even exists, and not worry aobut losing it (besides quadcopters never had passthrough support anyway).

    For flaperons, in the past, I naively connected my first aileron to channel 1, and my 2nd aileron to channel 5, setting RC5_FUNCTION to 18. This looks like it works, as in Ardupilot can control both ailerons in auto mode while it will passthrough channel 5 in manual mode and allow my controller to generate flaps down by controlling both ailerons.
    This of course, did not allow Ardupilot to control ailerons itself in auto modes, but I didn't care.

    But, I soon found out that if I had flaps down with my controller and then switched to auto mode, ardupilot would receive an aileron command on channel 1 and assume that I'm trying to mix in a turn into RTL or FBWA. APM::Plane could support this properly, but does not. You can follow this issue for details: https://github.com/diydrones/ardupilot/issues/2186

    Given this, the only way to get proper flaperon support is to use the support in ardupilot is to give aileron control to Ardupilot (i.e. no passthrough anymore). There is only incomplete documentation on it, hence this post. See:

  • http://plane.ardupilot.com/wiki/arduplane-parameters/#flaperon_output_arduplaneflaperon_output
  • http://plane.ardupilot.com/wiki/arduplane-parameters/#servo_out_function_rc5_function (24 and 25)
  • http://plane.ardupilot.com/wiki/arduplane-setup/first-time-apm-setup/automatic-flaps
  • How to get flaperons to work

    So here's what you need to know:
  • do not do any more aileron mixing on your TX, only send aileron input on channel 1
  • channel 1 is unfortunately lost, as in you can't connect an aileron to it (this is because RCx_FUNCTION does not work for channels 1-4). This is arguably a shortcoming of ardupilot because it is able to use a channel for input and output like we will do for channel 5 below.
  • you then need to put your ailerons on 2 other channels. Unfortunately, again, they must be on channels 1-8, even if it would be convenient to put them on RC13 and RC14 so has not to burn channels used by your transmitter. Turns out that as discussed on https://github.com/diydrones/ardupilot/issues/2523 , your ailerons still work in passthrough mode when the pixhawk is crashed or rebooting, but this only works if they are on channels 1-8, so in the end you probably wouldn't want to put them on channels 13 and 14 where passthrough would not work. Given that, you put your ailerons on channels 5 and 6 and set RC5_FUNCTION to 24 and RC6_FUNCTION to 25 (which one is which doesn't matter).
  • now, you need to add a channel on your transmitter to say how much flaps you want in manual mode. The good news is that you can re-use RC5 for this (i.e. it'll be used to sample flap input and totally separately used to generate aileron output). You don't have to do this (you can send flap input on channel 9 for instance) but reusing channel 5 saves you an RC channel since you're unable to move your ailerons on output channels higher than 8.
  • Ok, from there it gets more tricky. If you are unlucky, sending flaps input may cause your flaps to go up and act as spoilers, which is not what you want. To be clear with direct aileron control from your TX, you can have your flaperons go up or down (flaps or spoilers) but once you go through Ardupilot, they will only work as flaps. It's not ideal but likely good enough for most.

    So, here's what you need to do next:

  • Setup your transmitter to send flaps on channel 5 (either a switch or a rotary button)
  • Set FLAP_IN_CHANNEL to 5
  • Set FLAPERON_OUTPUT to 4
  • Switch to FBWA or CRUISE, tilt your plane and make sure the ailerons move in the right direction (flap goes down on the wing that you tilt down). If they don't, try setting FLAPERON_OUTPUT to 1
  • Once this works, try your flaps switch and make sure flaps go down and not up. If they go the wrong way, change RC1_REV from 1 to -1 (or the other way around) and change FLAPERON_OUTPUT too. Make sure FBWA still moves the ailerons in the right direction, and now your flaps should go down.
  • Only then, try the ailerons on your TX. If they go the wrong way, reverse channel 1 on the TX without touching RC1_REV (if you put your stick left, the left aileron should go up)
  • Tuning

  • Go to failsafe setup in apmplanner/mission planner, and make sure the max/min values match RC5_MIN/MAX (or adjust them) so that your flaps move all the way (RC1_TRIM should also be set to 1500)
  • Set FLAP_SLEWRATE to 100 to allow moving flaps from 0 to 100% in one second (or lower this to make your flaps move more slowly)
  • Play with FLAP_x_PERCNT|SPEED as desired for auto modes, see http://plane.ardupilot.com/wiki/arduplane-setup/first-time-apm-setup/automatic-flaps/ (ignore the comment saying "parameter for the channel function for the channel you are using for flaps to a value of 3". This is not true anymore, FLAP_IN_CHANNEL does this).
  • Also have a look at TKOFF_FLAP_PCNT and LAND_FLAP_PERCNT if they are relevant to you.
  • When you are flying in manual mode, it can be helpful to setup an elevator down mix on your TX when you set flaps (i.e. the more flaps you send, the more elevator down you should send to correct pitch up from flaps). I recommend you set up the mix value on a rotary switch so that you can control the elevator down correction during a test flight (if you set too much elevator down as a fixed value in your mix, you'll be stuck not being able to use flaps for landing if you put too much elevator down). Note that using a Frsky Taranis makes such complex mixes much easier (or possible) compared to some other more basic controllers.
  • Crow flaps

    See http://plane.ardupilot.com/wiki/fixed-wing-faq/#how_would_i_setup_crow_flaps gives some hints.

    If you need crow flaps (which means your ailerons must go up, not down), you can use these instructions and reverse RC1_REV so that when you send flaps input, ailerons go up instead of down (while the real flaps go down). Then you should be able to set your flaps channels as flap or flap_auto (see http://plane.ardupilot.com/wiki/flight-features/channel-output-functions/#flap_auto ).
    Note that this is not as versatile as direct RC control where you could use your flaps surfaces 2nd ailerons for tight turns in thermals, but only if a switch if flicked, as with this setup you can only have both flaps go down at the same time your flaperon-ailerons go up as spoilers, and only ailerons can be used for turning.
    This is likely good enough for most people though.

    Notes

  • Manual flaps input is mixed into auto modes. That means if you're landing in manual mode with flaps set to full on your TX, and you flip the mode to RTL or some other mode to abort the landing and go back to an auto mode, flaps will stay full. You need to retract them on your TX.
  • RCx_MIN and RCx_MAX for flaperon output channels limit deflection of flaperons and you can use the TRIM value to move the neutral position in case you want more down travel than up travel.
  • RC1_TRIM acts as normal aileron trim, RC1_MIN and RC1_MAX should match the TX setting
  • If you share RC5 for flap input from TX and aileron output, you must ensure that your TX MIN and MAX for that channel match what you set for RC5_MIN and RC5_MAX if you changed the aileron travel.
  • Don't go fly yet. Go back to square 1 and make really sure that FBWA/CRUISE moves the ailerons in the right direction and that ailerons also go in the right direction in manual mode.
    Now, go flying and enjoy!

    Associated bugs with background:

  • https://github.com/diydrones/ardupilot/issues/760
  • https://github.com/diydrones/ardupilot/issues/2186
  • https://github.com/diydrones/ardupilot/issues/2524
  • My X-UAV Talon with pixhawk I setup flaperons on
    My X-UAV Talon with pixhawk I setup flaperons on

    See more images for Using Flaperons With Ardupilot
    2015/08/01 Future Sounds of Egypt 400 in San Jose
    π 2015-08-01 00:00 in Clubbing
    It was very nice to have a trance event in my backyard, with a good selection of DJs. Unfortunately the sound system was designed badly and had way too much base that was drawning out everything else, so I didn't get to enjoy the music as much as I was hoping for.

    Here are a few pictures:











    2015/07/31 Houston's Johnson's Space Center
    π 2015-07-31 00:00 in Flying
    Since we were flying through Houston on our way back from Costa Rica, we planned to stay a couple of days to go to the Houston Space Center, and that was time very well spent.






    We roamed around the exhibits a little bit before our level9 tour:



    hard to imagine this folded and fit under the lunar lander
    hard to imagine this folded and fit under the lunar lander




    Then, we started our level9 tour: it's a private tour for 12 people showing many out of bounds area up front and personal, it was awesome.

    I love those signs :)
    I love those signs :)

    Our tour started with the Saturn V rocket, and yes, it's big :)

    this piece on top of the rocket is supposed to take off and take the top module with it if the rocket fails at takeoff
    this piece on top of the rocket is supposed to take off and take the top module with it if the rocket fails at takeoff




    2nd stage
    2nd stage

    1st stage + 2nd stage
    1st stage + 2nd stage

    inside of 3rd stage
    inside of 3rd stage

    Next, we went to their big swimming pool where astronauts train:






    From there, we went to Mission Control Center for the space station (ISS) and got some explanations from someone working there and on his break:





    the zoom on my camera came in handy :)
    the zoom on my camera came in handy :)


    The next part, which was super cool is that we were allowed to go in the actual mission control center used to put man on the moon:





    I guess they didn't have Email yet :)
    I guess they didn't have Email yet :)

    I fixed the squawk code on their console :)
    I fixed the squawk code on their console :)

    The nice gentleman who took time off his break to give us a tour
    The nice gentleman who took time off his break to give us a tour

    I need to change my job title to this :)
    I need to change my job title to this :)

    We then went to see the new mission control center that will replace the old one:




    I'm glad to see they use 4 LCDs like me :)
    I'm glad to see they use 4 LCDs like me :)



    Last on our tour was their lab where they build new stuff:












    copy of Soyuz for training
    copy of Soyuz for training




    We then used the remaining part of the day to see parts of the museum, and came back the next morning to finish it:


    one twin stays on the ground, one goes to space, and they'll compare changes after one year
    one twin stays on the ground, one goes to space, and they'll compare changes after one year






    impact testing
    impact testing


    nuclear propulsion would be good
    nuclear propulsion would be good


    one astronaut gave us a talk
    one astronaut gave us a talk



    And that was it for our tour of Houston Space Center, it was plain awesome.

    See more images for Houston's Johnson's Space Center
    2015/07/31 Natural History Museum in Houston
    π 2015-07-31 00:00 in Public, Trips
    Since we stopped in Houston to see the Johnson's Space Center, we had some time left over on the 2nd day and stopped at the Natural History Museum, which is actually quite good.

    We started with a Butterfly and insect exhibit:





    bad ass stick insect, I'm impressed it can fly
    bad ass stick insect, I'm impressed it can fly





    Then, we went to a China history and Egypt exhibit, the 2nd one being quite good:









    The other displays were good too:











    Their dinosaur display was extremely good:








    Time well spent, not worth going to Houston just for that, but well worth stopping if you are there.

    See more images for Natural History Museum in Houston

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