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Project Goal
The controller should
be able to control the
drone by single hand.
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Project Definition
• What: a single-hand controller to control a drone by hand
gestures.
• Why: in most drone applications, only one hand of the
user is free.
• Example: Architects inspecting buildings.
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Basic Movements of the Drone
•Altitude (including fly
and land)
• Pitch/ Yaw/ Roll
• Balance in air
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Performance Criteria
• The controller should attach to a single hand and detect hand movements.
• The drone should stay balanced in the air.
• The drone should respond to Roll and Pitch commands in real time.
• The drone should change in Altitude and Yaw smoothly.
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Design and Implementation
Hardware Design
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Touch Sensor Gesture Sensor Microcontroller Drone
Choice 1 Short Flex Sensor Adafruit 9-DOF Absolute
Orientation IMU Fusion
Breakout BNO055
Adafruit Metro Mini
328
DBPOWER MJX
X400W
Choice 2 Square Force-
Sensitive Resistor
(FSR) – Interlink
406
Adafruit 10-DOFIMU
Breakout –
L3GD20H+LSM303+BMP1
80
Teensy 3.2 UDI U818A
Choice 3 Muscle Senor
Surface EMG
electrodes –
H124SG +
MyoWare Muscle
Sensor
L3GD20H Triple Axis Gyro
Breakout Board –
L3GD20/L3G4200 Upgrade
– L3GD20H
Arduino Pro Mini
3.3V 8MHz
SYMA X5C-1
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Block Diagram
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Force-Sensitive
Resistor
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9DOF IMU X Axis Y Axis Z Axis
Max 360 180 180
Min 0 -180 -180
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Drone
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Hardware Decomposition
?
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Design and Implementation
Software Design
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Correlating Gestures:
• Press the touch pad &move in Y axis → ChangeAltitude
• Un-press the touch pad &move in Y axis→ Pitch
• Move in X or Z axis → Roll or Yaw
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Software Flow Diagram
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XBee Connection
Transmitter:
Send sensor data with
header
Receiver:
Decode and store data into
local variables when 10
bytes is received
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PWM Output
PWM
Altitude Add 5 or minus 10 each time
X Add or minus 1 each time
Y pwmYVal = ((0-valY)*255)/100+127;
Or pwmYVal = ((50-valY)*255)/100;
Z pwmZVal = ((0-valZ)*255)/100+127;
Or pwmZVal = ((50-valZ)*255)/100;
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Test and ResultThe controller should attach to a single hand and detect handmovements.
The drone should stay balanced in the air.
The drone should respond to Roll and Pitch commands in real time.
The drone should change in Altitude and Yaw smoothly.
![Page 21: Single-Hand Controller for Quadcopter€¦ · for Quadcopter Senior Project Prof. Traver Yucan Liu liuy@union.edu. Project Goal The controller should be able to control the drone](https://reader033.vdocuments.site/reader033/viewer/2022053100/605c439d97198e1be6424a14/html5/thumbnails/21.jpg)
Future Works
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✓
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Thanks for your time!
Questions?