Building a quadcopter

5HC99Group 3

Outline

● Hardware● Software● Tuning● Video● Demo

Hardware

● Standard frame● Two Raspberry PI's● Two camera's● Barometer● Battery alarm

Raspberry PI

● Two Raspberry PI's● Communicate using ethernet● Wlan for communication laptop● USB to stm32f3

Connections

Hardware problems

● Battery died– Leaving it for a month mostly fixed it

● Bad ESC– Thanks Emilio for a replacement

Globalcontrol

● High level interface● Connect Raspberry PI

to STM32● Communicate using

UAVObjects● Containing data

and settings

Globalcontrol applications

● Record video when armed– Other conditions also possible

● Attach barometer to Raspberry PI– I2C didn't work on STM32

– Raspberry PI sends the data to STM32

Face detection

● Face detection using Raspberry PI camera● About 4 fps● Marker detection also possible● But not finished

PID Tuning

● Took a lot of time!● Problems:

– Motors rotating in wrong direction

– Bad ESC

– Easy to break the frame in the process

● Lots of trial and error● Quite stable now :)

Demo

Questions?