Flying with Arduino!

I like to build stuff with my hands and I like programming and I like things that fly, so for me the tricopter project was really three things coming together. The project was seeded about a year ago after seeing the amazing videos on Youtube made by David Windestål. I soon ordered the hardware needed for the build from Hong Kong, but my order ended up in the customs and I didn’t get the stuff until late autumn. Finally, with a box full of cheep Chinese RC electronics in my possession, I started out making the wooden frame on which I fitted motors and electronics; a rather crude and simple construction. The only moving part (apart from the three rotating propellers, hence its name ”tricopter”) is the tail rotor that controls the machine’s yaw direction (the ”rudder”). This makes a tricopter a much simpler construction than a helicopter. When almost done with the fittings I discovered that my transmitter did not support the mixing needed to make David’s build work.

While hesitating to buy a new transmitter I stumbled upon the multiwii.com project, a project devoted to make multicopters (tricopters, quadcopters, hexacopters) fly with the help of Arduino (programmable microprocessor), Nintendo Wii Motion Plus (gyro), and Nintendo Nunchuck (accelerometer). It turns out that the gyro and accelerometer used in the Nintendo Wii hand controls are pretty competent. The Arduino is like a very small computer with enough processing power to make real time decisions based on the inputs from the Nintendo PCBs and the user. A tricopter is an inherently instable flying machine, and without the help of electronics (configured correctly) it will flip in a matter of milliseconds. The combination of the three main components makes for a very stable flying platform. Since these units are mass produced they come with a relatively low price tag.

Being a happy Arduino hobbyist I immediately fell in love with the idea to use Arduino as the tricopter’s brain, and as a bonus I could use my old transmitter. The mutilwii project comes with a two programs; an Arduino program that needs to be configured with your multicopters specific settings, such as number of rotors, min and max rpm, yaw direction and a few other parameters; and the MultiWiiConf program used to configure and calibrate the multicopter. Even though I followed the assembly instructions as close as I could, it took a while to sort things out. The soldering of the tiny Nintendo components and connecting all the wires to the Arduino proved to be quite a challenge. Finally when I had found the correct positions for the gyro (Wii Motion Plus) and the accelerometer (Nintendo Nunchuck), I could calibrate the thing and spin up the motors for the first time.

Equipped with three brushless motors, each capable of producining almost 1 kilo of thrust and mounted on the tip of long arms, the tricopter has enough punch to break lose from your hand if not  gripped firmly. With safety goggles on I did a lot of test runs, first holding the thing in my hand, and later on the tarmac outside my maker shed. Luckily nothing vital broke and no one got injured. After a few iterations of weeding out vibrations, trims, and other configurations; it finally took off!

Leave a comment »

Be Congruent

Tom raises from his chair and practically leans over Pete while saying with a harsh tone of his voice:

“The solution you proposed last week did not work out. In fact it caused us to lose precious time and now we have to do it quick and dirty anyway.”

Pete is trying to make himself smaller to avoid being crushed under Tom.

“Oh, I’m so sorry, I shouldn’t have aired that stupid idea in the first place. I’m just awfully sorry. Stupid me!”

“Yeah, you’re right”, says Tom–now sitting in his chair again.

“May I add something?” Glen continues without waiting for an answer–”According to our development method, we should spend 15% of our time not doing project stuff. I read this very interesting article on creativity that said most inventions are made when we are doing non-productive things.” (Glen is winking his long finger and index finger on both hands when he says “non-productive”.)

Tom stares at Glen for a while and says: ”Will you get to the point?”

- – - – -

Let’s examine what’s going on here. According to (now late) family therapist Virginia Satir there are five styles of communications and four of them are dysfunctional (!). In a conversation between two people there are three components: me, you, and the context. Only by taking all three parts into account the conversation can be congruent and fully functional. If you remove any part (me, you, comtext), the conversation becomes dysfunctional. Let’s start with Tom. Tom is using the blaming style, leaving out the other person. He’s emphasizing the blaming style using body language. Pete is leaving himself out. He turn himself into a victim and swallow all of Tom’s accusations. Pete is placating. Glen on the other hand is leaving pretty much all out, being hyper-reasonable and irrelevant. No one is being congruent and I doubt this group is very effective.

What communication styles have you seen in action today?

Comments (2) »

How’s Your Coffee?

One of the aspects I like about my new job is the coffee. Actually, it’s more about how the coffee is made rather than the taste of it. Coffee is brewed by the can and not by the cup. As a consultant, I’ve been to many workplaces, I mean lots, and strangely enough I can’t recall seeing a can brewer, ever. After some observations I think I got some insights about the merits of brewing coffee by the can at work:
  • Whoever arrives first at the office in the morning has the benefit of making everybody else happy by putting on the first can of coffee.
  • Whoever comes next are welcomed with a lovely smell of coffee.
  • That first can empties soon and people soon pile up in the kitchen, waiting for the coffee maker to fill up another can of coffee, thus creating room for conversations that might otherwise never happen.
  • Caffeine addiction is equally spread throughout departments, so there’s unexpected cross-fertilization happening all over the place.

And here’s a scenario: we’re sitting bogged down over a piece of code and the oxygen level just got a bit too low, and someone appears with the coffee can in hand, asking: “anyone wanna have some coffee?”. At that moment happiness spread all over the place!

How’s your coffee?

Comments (1) »

Me, My Brain & I

This post is about my relationship with my brain. My very special relationship with my very special brain.

For quite some time the brain was thought of as nothing more than a radiator for the heart–some kind of fancy heat pipe system to cool the blood. It’s true, without a hat in cold weather you loose body heat quickly; but now we know the brain plays a more important role than being a mere heat-exchanger. This doughy blob of fatty goo called brain, with its 100 gad-zillion or so grey and white brain cells, is the most amazing thing nature’s devised.

Most of the time me and my brain cooperates happily and we can be quite productive. We’re not perfect (who cares), but I know we’ve done great stuff together. I owe everything I know to my brain. My brain is dear to me, and I like it for what it is. But sometimes my brain paralyses me and descends me into a dark hole from where I have little or no access to my mind. In this hole I can’t think nor feel normally. In the darkness of this hole my mind finds joy only in figuring out different ways to end itself, and its host: ME. Sometimes my brain gives me limited access to its resources, leaving me in a somewhat sub-functional state, without access to vitality and creativity. Then I feel rightfully boring and dull. Sub-human. And people complain.

From a neuroscientific perspective there’s no distinction between brain and mind and self. Your brain is really YOU. From my personal therapeutic perspective, I find it useful to think about my brain as something separate from ME. That I can look at my mind from a meta level. After all; main lesson from Cognitive Behavior Therapy is “you’re not your thoughts, nor your feelings.” So I like to think of my brain as a devise. Something very useful, essential, and delicate. Something that requires care and attention to work properly. For me, as you’ll see, all this is a rather new way of thinking.

Perhaps my genes and/or my environment made me susceptible to this condition. Perhaps I simply didn’t treat my brain with as much care as it deserved. There was a time when I was determined to succeed with whatever I did; and for a while I was successful. I felt invincible. I absorbed problems around me like a sponge and I wanted to put things right. Fix things. I adopted them as my own. I didn’t notice my mindset was very close to what ancient Greeks would call “hubris.” When I had my first real setbacks, I blamed myself, and tried to work harder. Praise I got washed away quickly, but blame stuck more permanently. I exposed myself to stress without taking time to recover.  I stopped doing physical exercise. I gave my brain no slack. I thought I was just being ambitious. I thought I was doing the right thing. Not.

Then it happened, now five years ago: Whack! One morning I could not transport myself from bed to kitchen. Nor could I continue to work on the software I was supposed to build from scratch to production within seven weeks. Something was broken. Lost. Indeed, I saw it coming, but I didn’t expect the fall to be so hard. My brain’s way of saying: Stop man, gimme a break! So I met the doctor and the doctor prescribed rest, pills, and hooked me up with a therapist. I recovered and got back to work. Did my relationship with my brain change? Did I start to treat my brain any differently? No, not at all. I blamed my brain for being weak and inferior. A year later or so I found myself falling back into the hole, lying in bed incapacitated to think or feel–except feel bad about myself. Another therapist, more pills, and back to work. I was stumbling. And so a year ago, the big one hit me. What the hell. The problem solver in me just kept getting increasingly frustrated because it could not identify the point of failure. OK, I was under stress, yes, I f**ked up at work, yes, I got some not-so-encouraging-feedback, yes. Yikes. So what!? In a world where half of the population is starving and don’t have access to a toilet, how can I be obliged to feel the way I do? Why don’t I just shape up? I have more than enough don’t I… I was beating my brain. Constantly.

As far as I’ve understood, depression (like most mental illnesses) is the result of imbalances in the brain–signaling substances like serotonin, dopamine, noradrenaline … and physical connections between neurons, synapses, receptors, neurotransmitters, and other stuff that makes up the nervous system. Causes to these imbalances are more or less unknown, even to science. Although science know a whole lot more than it did just decades ago, we still know too little. It’s obvious when you start looking for treatments for depression; myriads of pills, therapies, things that could be labeled new age treatments and pure hocus-pocus–what an industry! So far my treatments have been a mix of pills and therapy. There are many pills out there and I’ve only tested a couple of them. The ones I’ve tested did help me when I was at my lowest points, but prolonged use made me drowsy and passive. Helpful but blunt tools. Like a gentle smack with a sledgehammer–great for disrupting a depression, but not without its side effects. Therapy can be great I think. I believe communication is a vital part of recovering from depression. What the depressed mind wishes the most, is to hide from the world, preferably in a dark hole. My therapists have been wise, and helped me see alternatives to what my depressed mind has suggested.

I was laid off last summer. Due to recession apparently. Being laid off like this made me angry and loathful and bitter for a while, but it slowly dawned on me that the only way out of my unhappiness was the unconditional surrender of my ego–to fully let go. Although painful, I think now the separation was all for the better–I had to break some bad old patterns. This pause has been precious to me. I’ve had time to contemplate, learn to bake sourdough bread, play harmonica, goof around with my wonderful girls, read, write, watch horror movies at noon on a Wednesday, feed birds, program my own programs, experiment with cooking, make my own blueberry ice-cream, and I’ve grown confident that I get better and better at controlling my condition. As of today I’m off pills, actively improving my physical condition (swimming mostly); learning more about the brain (a fascinating subject) and depression (out of necessity); trying to practice mindfulness (swimming again); eating, breathing and sleeping right; and reconnecting with the world.

I dare to say these things because I know I’m not alone–far from it. Over a lifetime, one of five falls into depression, all according to statistics. For good and bad, I’ve been straight forward with my depression and in return people have been straight forward with me, and let me in on their own personal experiences. I’m grateful for that, because when suspended in darkness, it helps an awful hell of a lot to know you’re not alone.

Much love.

Comments (5) »

Dear Margareta

Your grandchildren lying here looking beautiful at peace with their dreams. Your daughter just called in the message we’ve all been waiting for. I’ve braced myself for this moment, saved my tears for this. Now I let them start rolling down my cheeks.

Although your body was failing and was ready to give in, you cling on to life like you were climbing Mount Everest. But unlike any climber trying to reach the top of the world, your climb was no day-trip. Cancer had been doing its crippling work for many years. But you were strong, so strong–just like your mother. Your strength’s now passed on to your daughter and your grandchildren–my daughters.

We never said goodbye, just see you another day. Until that day, I’ll miss you dearly.

Leave a comment »

To Bee or not to Bee?

It’s late October and I wake up with the sensation of being bitten by, not one, but three mosquitoes (assuming the average mosquito blood-feeds only once). It’s (from what I know) unlikely to be bitten at this time of the year, but hadn’t it been for the two books I recently devoured I may not have contemplated much over the itch. The two books have a common denominator–bees. Bees and people being facinated (and stung) by bees. I know you’re thinking bee and mosquito are not the same–one has a stinger and the other has a schnabel. Well, both cases you’re left with a itchy spot on your skin, so technically there’s a correlation, although bee’s sting is a maginitude worse than mosquito’s bite. Anyhow, the first book is about young AH (world’s most infamous dictator who’s name I need not utter in public) or Adi as his mother called him. Through the eye’s of a devil we’re there to follow AH and his family until the to-be-dictor becomes a teenager. Author Norman Mailer (now late) adds the longest bibliography I’ve seen in a piece of fiction to his “The Castle in the Forest”, so I can only guess he’s being accurate when he (the devil) reveals AH is product of multilevel incest (AH’s father is a product of a brother and sister, and AH’s mother is his fathers daughter). It turns out that incest plays an important role in the devil’s, call it “mythology”, about great leaders. I think Mailer makes an incredible job telling us this family story through the eye’s of a devil. A large part of the story is devoted to AH’s father interest in bees, or apiculture as it’s called. The father’s love for the little bees is a strong contrast to his otherwise sadistic characteristics. I’d say only a devil could make such a tale plausible. It got to be a though case writing a piece like this, and perhaps it takes a guy like Norman Mailer to pull it off. Mixing history and superficial fiction, like civilized and well-spoke devils, is a balancing act. This book oozes evil on every page, and yet I start feeling for the people in it, which leaves me with… hmm… mixed feelings. Wow. The other book is Douglas Coupland’s “Generation A”, a title paraphrasing his own debuting novel “Generation X”. Here we find ourselves in a Huxlean not-so-distant-future where bees are extinct (along with most fruits and flowers) since five years or so. It’s much like now but worse and cameras have more mega-pixels. Most people are on the new drug “Solon” which makes you feel contempt and not to worry about the future (and the past). However, five seemingly disconnected people get stung by bees in a matter of weeks, and all of them being captured by helicopter rescue teams and taken to remote science facilities for strange examinations. Coupland is the only writer I know that can come up with a new word in every second sentence. To me, his ability is jaw-dropping and I can’t stop reading just to see what new word will turn up in the next sentence. He’s to the point like no other. Although I consider myself a DC fan I couldn’t get through JPod (I will some day), but this experience was pretty much nonstop. So what’s all fuzz about the bees? I won’t tell you. But as Aldous Huxley’s “Brave New World” the team of five meet up with a tribe of natives and weird things unfolds. Gotcha! I caught one of the perpetrators from tonight’s bloodletting with my bare hands. It’s all sqwoosh now.

Comments (1) »

Car 2.0

A talk about the car of the future and the future of cars:

What do you think?

Leave a comment »

Shuffling Files

I’ve spent the day moving www.magnusljadas.se from my old Textdrive account to my new Joyent Accelerator. I hope it’ll work, because now I’ll leave the computers on their own for some horse riding with my girls. Have fun!

Leave a comment »

Citation of the Day

“You know, the older you get, the more you begin to depend upon irony as the last human element you can rely on. Whatever exists will, sooner or later, turn itself inside out”
–Norman Mailer

Leave a comment »

Interviews with Johanna Rothman

It’s been a privilege to spend time with Johanna while doing these interviews. Johanna describes herself as a flaming extravert, and I would like to add to that description that she’s full of humor and wisdom. A great opportunity to meet with Johanna face-to-face, is to attend the PSL Workshop in January next year. There’s still a few seats available. Less than a few actually!

From the PNEHM! interview with Johanna:

“Anyone can achieve this kind of power. Because it comes from within, no one can take it away, except for yourself. And, no one can give it to you, except for yourself.”

From the first part of Johanna’s podcast:

“I took PSL in June of 96, and it was a real turning point for me…”

From the second part of Johanna’s podcast:

“It’s (PSL) really all about: how do you see yourself; how do you understand yourself first; and see what your defaults are; and then how do you make changes–if you choose to make changes.”

Leave a comment »

Follow

Get every new post delivered to your Inbox.