Robotics Institute 

University of Michigan, Ann Arbor

© 2017 by Bruce Personal Website. 

Updated on 8/21/2017

Outline & Link


Hexacopter Update

January 31, 2016

#include "../GCS_MAVLink/include/mavlink/v1.0/mavlink_types.h"
#include "../GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink.h"


// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
static uint8_t crlf_count = 0;

static int packet_dro...

January 21, 2016

#include <EEPROM.h>
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Math.h>
#include <math.h>
#include <GCS_MAVLink.h>
#include <LiquidCrystal.h>  
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
static boolean      mavbeat = 0;
static uint8_t      apm_...

December 25, 2015

This diagram shows how the MavLINK on arduino receives the information of flying control system.




November 12, 2015

 * Will connect an EE-SX671 use to set deg 0
 void homing()
  int trig = 0;
        digitalWrite(stepps, HIGH);   

November 2, 2015

// <date>2015-11-2</date>

#include <FastSerial.h>
#include "..libraries\mavlink\include\mavlink.h"        // Mavlink interface
#define dir 13 //Set pin 13 as Direction pin. Not important, only use to set the motor directi...

October 17, 2015


  1. It is a protocol for communication

  2. Transmit in UART Serial interface

  3. Are Hexadecimal and Octadecimal numbers

Heartbeat Pack


  • Heart beat pack is a special pack which is for “register”, so a device which sanding this pack in a frequency of...

October 11, 2015

I transferred the power received by the rotating patch array to voltage and recorded it with the Arduino computer. Moreover, the power received by the patch array consists of an RF signal. A rectifier is therefore placed at the end of the patch array so as to convert t...

October 10, 2015

  • High accurate stepped motor

    • 1.8 deg for a step

    • 200 steps as a rotation

  • Arduino with stepped motor control circuit shield

    • Powered by ATmega328P

    • Operating Voltage: 5V

  • A4988 stepped motor control circuit

    • The...

October 9, 2015

 a wireless charging pad, which is often located in a sheltered location where there is a greater chance of lost GPS signals. I have put an omni-antenna on the charging pad and a rotating high-directivity antenna array with a step-motor and an Arduino computer on the h...

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