Blade MCX2 (almost) Autonomous Flight
We equipped a stock Blade helicopter with infrared markers and tracked its position and orientation using a Vicon Bonita camera system. A Kalman filter gives us a full state estimate.
Then we hacked the remote and controlled the helicopter via computer.
This can be done with many Blade helicopters (all that have DSM2 compatible remote controls).
More sophisticated controls are to be implemented.
A preliminary version of the report can be found at http://people.ee.ethz.ch/~jrichner/main.pdf
GTK application to control any Blade helicopter by joystick, connecting the transmitter of the remote control to the computer via USB-to-Serial cable as described in the report: http://people.ee.ethz.ch/~jrichner/mcx2serial.zip