Messanger IMDL 2014 with A. Antonio Arroyo, PhD Eric M. Schwartz, PhD By: Revant shah 03/20/2014

Summary The goal is to deliver a payload without any human involvement. To deliver the payload I used the Quad copter and servo gripper attached to the quadcopter. The Main components of Messenger are : 1.Onboard computer (odroid U3). 2.WIFI Module to communicate with ground station. 3.Flight controller (APM 2.6). 4.GPS Module (3DR GPS Module). 5.Onboard Camera. 6.Transmitter and reciver (turnigy 9x-9c dual mode). 7.Servo and servo gripper to drop pay-load.

Main Idea Launch sequence : The main idea is to increase the throttle which basically gives quad acceleration in upward direction by a certain pwm value till gets desired height. Once it gets the desired altitude my program will increase the pitch which basically makes quad will move in forward direction until one coordinate of the final destination is achieved. Once it gets one gps coordinate correct my program will give a yaw which basically turns my quad 90 degree and again pitch to get the second desired coordinate. Once it will achieve the desired co-ordinate it will reduce its altitude and reach camera with the help of my camera I will deliver the payload and follow the same sequence to come back home. During the entire time I can always get control of my quad back by flicking a switch on my controller.

Progress As far as the progress is consider I can fly my quad-copter with controller. I can detect the specific color using camera and opencv and once a colour is detected I can drop a payload All my programming is done in python. I can pretty much send all the commands and read all the msgs from APM which uses mavlink protocol. As far as making it autonomous behavior is concerned my quad can properly execute the launch sequence. The program for my rest steps is ready but yet to be tested. As far as back up plan is considered since it is really difficult to maintain a straight course of my quad back plan is to use auto mode which pretty much takes my quad to desired location and I can reduce the altitude there drop the payload and make my quad land back to home. The finish line is not yet there will required a lot of testing so hopefully it doesn't rain.

THANKS