is closed. This site displays the history of Design
& Development work by Nelson Henderson. Portions of
his work are placed in the public domain (subject to restrictions of US
law). The Products allowed:
- Augmented Navigation with
- Control Attitude
- Control Heading & Direction
- Sense and control level
- Sense Barometric Altitude
- Sense Airspeed
- Sense Ground speed &
- Land and Off-Road Vehicles
- Unmanned Aerial Vehicles
- Antenna Pointing
- Platform Stabilization
- Automotive Test
- Marine Vessels
A dozen (12)
unsold complete systems remain ($2,200 each including a copy of
the source code and compiler). Recommend instead, the
3DRobotics Pixhawk autopilot. Although, the one
unsurpassed feature of the Inertial Solutions product is the 16
channel Time Processing Unit (TPU) on the MC68332 CPU. The
TPU allows the software to synchronize accurately to the GPS
Time Mark strobe which generates a precisely timed interrupt on
one of the TPU channels.
a user's navigation computer reads the stream of attitude, heading,
and position messages coming from the Inertial Solutions processor
card in order to compute and to provide back to the controller,
command messages for steering, throttle, etc..
However, most features and more are available on the Pixhawk from
3DRobotics at a better price. 3DRobotics sponsors an
open source community project doing more advanced development.
The software does more, the hardware is miniturized, and the
processor is more powerful. Mr Henderson of Inertial
Solutions is contributing to the open source project.
page shows The Inertial Solutions Flight Control User Interface
that is similar to "Mission
Planner" software freely downloaded to control the
3DRobotics Pixhawk autopilot.
3DRobotics Pixhawk with the 168 MHz ARM STM32F429 with single
precision floating point coprocessor,
solves the computational limitations of the former Inertial Solutions
16 MHz MC68332 CPU.
The origonal goal of a hands off take-off to landing
flight will soon be accomplished using the Pixhawk. This site records progress seen at its beginning in these old photographs:
model with twin Veco .61 engines.
- Author, designer, builder, &
Pilot at Vandenberg AFB CA.
- Air Weather Service
tracking airborne Rawinsonde.
Blue-Bird 18.5 lb,
9' wingspan twin engine radio-control model. Convert to
- Completed: Install the
airplane auto-pilot, telemetry link, flight control center.
- Completed: Retrain RC flying skills on the Phoenix
fly the Radio-control
model on electric power using Arduino instruments to
collect in-flight data, sending it down for
display on Mission Planner.
- Perform flight test, post flight
analysis of thrust-lift-drag profiles,
stall speed, PID controller tuning.
- Perform hands-off, take-off to landing flight.
- Sell the airplane, seen on this site, along with new
autopilot (installed in airplane), Ground Control Center
(Notebook PC with RF link), and Radio Control (8 channel CDMA 2.4 GHz).
Mission accomplished. ($7K)