camden mendiola ben houston monty prekeris dan rice dan “klitz” johnson
TRANSCRIPT
FLyNETCamden Mendiola
Ben HoustonMonty Prekeris
Dan RiceDan “Klitz” Johnson
• To provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond
• Useful for military, police, search and rescue
• Localized and self managed
Project Review
Ben
BASE STATION• Foundational PC Control software complete
QUADCOPTER• Quadcopter Prototype 1.0 built and ready for
testing• Basic flight software and testing in progress
Hover; Landing; Heading; Directional Movement• GPS and Environmental Sensors in development
GROUND MODULE• Part list complete• Schematic and PCB in preliminary phase
Current Status
Ben
Milestone 1: Basic Flight Commands
• Hover; Manual Landing; Heading
Basic Mesh Network Capabilities• Preliminary Integration of Modules
Milestone 2: Advanced Flight Commands
• Directional Movement with GPS Integration, Automatic Landing
Advanced Environmental Sensor Integration through Mesh Network
EXPO: Autonomous Flight Patterns Complete Mesh Network Integration
Deliverables
Ben
Systems Diagram
Ben
Functional Decomposition
Hardware
Level 0: Wireless Sensing Network
Functional Decomposition: Hardware
Environmental Data
User Interface
Quadcopter Platform
TerrestrialPlatform
Power
Ben
Functional Decomposition: Hardware
Harness ESC’s Motors
CPU
Power Circuit
Logic Converter
Accelerometer
Barometer
Magnetometer
Gyroscope
GPS
UltrasonicRadioComm.
Battery
Level 1.1: Quadcopter
Environ.Sensors
5V
(3.3V Signal)
SPI
Serial
PWM
11.1V
3.3V
Ben
Functional Decomposition: Hardware
CPUPower Circuit
ADC
Air Quality
Gas Sensor
Battery
Level 1.2: Terrestrial Unit
Alarm5V 3.3VI2C
SerialAnalog
Gen. I/0
Heart Rate Monitor
9V
RadioComm.
Ben
Schematics and PCB
Version 1 of PCB has been completed and ordered.
A testing strategy is currently in development
PCB Progression
Cam
Motor Control Circuit
Microprocessor
Schematic Overview
Cam
PWM
PWM
PWM
PWM
Schematic OverviewSerial Converter Circuit
Cam
VBUS1
D-2
D+3
GND4
J1
1470156-2 22
R16Res2
22
R17Res2
11 2 2U10
Component_1
100nF
C14Cap
C161uF
5V
1K
R19Varistor
1K
R20Varistor
100nFCap
11
22
U9
Component_1
GND
GND
D-
D+
US
BV
CC
D-D+
USBVCC
MO
S12
SC
K2
YL
ED
2Y
LE
D3
XTAL1-AXTAL2-A
M8R
XD
T8RXD
XTAL11
XTAL22
GND3
VCC4
PC25
PD06
PD17
PD28 P
D3
9
PD
410
PD
511
PD
612
PD
713
PB
014
PB
115
PB
216
PB317
PB418PB519
PB6 20PB7
21PC7 22PC6
23RESET24
PC
525
PC
426
UC
AP
27
UG
ND
28
D+
29
D-
30
UV
CC
31
AV
CC
32
U65ATMEGA-A8U2
Gnd1
Vout2
Vin3
Heatsink4
U7
MC33269ST-50
GND
47uFC8
Cap Pol1
5V
100nF
C7Cap
47uFC6
Cap Pol1
11
22
33
U1
blackconnector
GND
Vin
Diode
Diode 1N914
XTAL2-A
Power Circuit
Schematic Overview
Cam
27
R7
Res2
1M
R6Res2
22pF
C9
Cap
22pF
C10
Cap
22
11
U2Crystal
GND
XTAL2-A
XTAL1-A
GNDGND
3.3V5V
SCL
SDA SDA-L
SCL-L
11
22
33
44
55
66
7 7
8 8
9 9
10 10
11 11
12 12
U?
Component_1
Oscillator Circuit Logic Level Circuit
Schematic Overview
Cam
Schematic Overview
XBee Circuit
Cam
Flight Control Hardware
GenerateInitial Pulse
Ultra-sonic
Chirp Initial Pulse
Listen for
EchoBegin Count
Stop Count when Echo Detected
Calculate Distance
Ultrasonic Range Finder
Cam
PWM
Speed Command
MOSFETDriver
Battery Motor RPM
Electronic Speed Controller
Cam
• Converts DC into 3 phase AC• Back EMF used to detect
rotation• RPM adjusted by Pulse Width to each phase
Electronic Speed Controller
HobbyWing FlyFun Brushless ESC
Cam
• Gyro• Acceleromete
r• Magnetomete
r
9 Degrees of Freedom
Klitz
ITG-3200
• Triple Axis• 3 16-bit ADC’s• 400kHz I2C Interface• Key element for stabilization
Gyro
Klitz
ADXL345
• 3 Axis Accelerometer• High performance g-sensor
Accelerometer
Klitz
HMC5843
• Measures Strength or Direction of Magnetic Field (Compass)
• 3 Axis• 1 to 2 degree range of accuracy• I2C interface• Sensitivity of 0.10 μT• Allows heading tracking
Magnetometer
Klitz
• 300 to 1100 hPa (atmospheric pressure)
• Accuracy of 0.3 hectopascals• I2C Interface• Maintains altitude of
Quadcopter• Beneficial in Autonomous
landing
BMP085
Barometer
Klitz
• Safely Converts 5V to 3.3V and 3.3V to 5V
• Converts 4 pins at one time• I2C Interface
Logic Level Controller
Klitz
Functional Decomposition Software
LEVEL 1.0.0: QUADCOPTER BASIC FLIGHT
Take Off Hover
Directional Movement (Left, Right,
Forward, Back)
Land
Functional Decomposition: Software
Monty
Set GPS Coordinate Check
GPS
Check Heading Set
Heading
Set Direction
Functional Decomposition: Software
LEVEL 1.1.0: QUADCOPTER BASIC FLIGHT
Monty
Check if flat
Check Accel. In Z direction
Decrease Motors Speed
Increase Motor Speed
AdjustAppropriate
Motors
YES
NO
Z > 0
Z < 0
HOVER
Functional Decomposition: Software
Monty
Set Pitch
or Roll
Is Z decreasing
Or increasing
Adjust Appropriate
Motors
Functional Decomposition: Software
DIRECTIONAL MOVEMENT
Monty
Set Heading
Check Mag
Check Hover
Set Yaw
Adjust Motors
No
Yes
Functional Decomposition: Software
HEADING
Monty
Accel. = 0
Decrease Decel. to min value
Kill Motors
Check Hover
Read Ultrasonic
Check Alt.Above
Threshold?
DecreaseDecel.
Increase Decel.
Yes
YesNo
No
Yes
No
Functional Decomposition: Software
LANDING
Monty
Functional Decomposition: Software
Get Sensor Data
Health Readings Abnormal?
Set Local Alarm
NO
YES
WirelessAlert to Base
Station
Send Local Data to Base
Station
Level 1.2.0 TERRESTRIAL UNIT
Monty
Get Packet Parse
Process:
Polling Based
Build Transmit Packet
Receive Packet
SendPacket
Functional Decomposition: Communication
Process:Commands and Data
Monty
Functional Decomposition: Communication
IO_data_sample_RX( )
parse_sample( )
Monty
GUI
Current user interface for Command PC is text-based. Displays information based on commands received from user.
Graphical User Interface
Dan
GUI Example Goal: Create a user interface that uses information received
from the Quadcopter to display information about flight status. Need to incorporate Google Maps with GPS data.
Dan
Testing Analysis
Test 1: ◦ Enough Lift with given
weight/propellers/motorsResult: ◦ Quadcopter had plenty of lift with plenty of
motor speed to spare
Test 2: ◦ Ultrasonic sensors range and reliabilityResult: ◦ At low propeller speed ultrasonic sensors
were unaffected, but had narrow beam width
Test Results
A Node Discovery(ND) command can be broadcast to discover which nodes are in the network.
On right, Quadcopter and Terrestrial unit are part of the network.
Network Verification
Timing Diagram of a packet being transmitted over XBee using the Intronix Logicport
XBee Serial Command Timing
12,130 rpm maximum at 60% duty cycle
Lift occurs at 9,800 rpm (old frame)
Increasing duty cycle gives minimal rpm gain after 60%
25 30 35 40 45 50 55 60 650
2000
4000
6000
8000
10000
12000
14000
RPM vs PWM (no load)
Duty Cycle (%)
RP
M
Testing Analysis
Dan
0.662 A maximum current (steady state) draw at max 12,130 rpm (no load)
Current is not dependent on PWM duty cycle
Current spikes occur when incrementing large rpm steps
0.1 0.2 0.3 0.4 0.5 0.6 0.70
2000
4000
6000
8000
10000
12000
14000
RPM vs Current Draw (per motor)
Current (A)
RP
M
Testing Analysis
Dan
Logistics
Quadcopter Terrestrial UnitBase
Station PCB w/components XBee ZB XBee ZB Barometer Heart Rate Monitor CPU: PC Accelerometer Gas Sensor XBee Explorer
Magnetometer Optical Air Quality Sensor
Gyro AT89C51RC2 Frame 32 kB NVSRAM ATMEGA 2560 PCB w/ components Battery Wiring Harness 4 ESC's 4 Motors 4 Propellers + Extras Logic Level Converter Ultrasonic Range Finder XBee ZB Gas Temperature
Updated Parts List
Klitz
Updated Division of Labor
Phase 1: Ben Camden Daniel Klitz MontyPCB Design Flight Command Functional Decomposition
Phase 2:
Testing
PCB Revision and Design Environmental Sensor *Hardware design *Software design XBee Mesh Network Phase 3: Basic Auto PatternsGPS Integration
Klitz
Updated Schedule
Klitz
QUESTIONS?