Final Semester 2 Presentation: April 24, 2008

Joshua Lasseigne: Team Lead and Autopilot Programming Christopher Edwards: AGL Subsystem and Website Maintenance William Overstreet: Power, Packaging, and R/C Equipment Brittany Penland: Autopilot Programming and Calibration Shared Responsibilities: Research, Testing and Debugging, and Documentation

 Background Information  Problem With Current Systems and the X-Pilot Solution  Constraints  Testing  Packaging  Summary  References

 Definition  The First Autopilot  Integration With Computer Software  Current Market

 Several Different Companies  Easy To Use  Expensive ($10,000 and up)  Limited User Expandability Current Autopilots

Current Autopilot Systems Are: EXPENSIVE and DIFFICULT FOR USERS TO MODIFY

◦ Costs Under $2500 ◦ Capable of Autonomous Flight by Waypoint Navigation ◦ Utilizes Open Source Code for Easy User Modifications ◦ Users Can Integrate Custom Hardware ◦ Equipped With an AGL (Above Ground Level) Sensor for Use With Low Altitude Flight ◦ For Use With Conventional Fixed- Wing or Flying-Wing Aircraft

 Crossbow Hardware Platform  Custom AGL  Software Servo Battery MNav Stargate Wireless Card

 Waypoint Navigation: Must be as accurate as GPS (±10ft)

 Low Altitude Accuracy: ◦ Must be capable of accurate low altitude readings (±3in) ◦ AGL accuracy within ±2in ◦ Range: 4in – 10.5ft

 Control Surfaces: Must be capable of controlled flight for fixed-wing aircraft  Dynamic Re-Tasking: Must be capable of dynamic re-tasking at all times

 Considered Real-Time: Must have an update rate between 1 Hz and 50 Hz  Groundstation Compatibility: Must be POSIX and Windows compatible

 Communication to the Autopilot Must be Secure Ad Hoc Configuration ◦ Using b wireless WEP Encryption ◦ Not using DCHP so the IP has to be known

PartPrice Stargate$800 MNav$1500 Parts for 1 AGL<$200 Total Cost: $2500

ItemCost ($) Resistors1.75 Capacitors0.90 Semiconductors / ICs5.75 Transducers7.69 Miscellaneous6.43 PC Board33.00 Total55.52

 Due to corrupted firmware, unable to fly  Attempted re-flashing firmware numerous times  Repeated attempts to contact Crossbow

 Autopilot  Groundstation  Above-Ground-Level (AGL) Sensor

 Completed Ground Software In the Loop Testing for All Subsystems  Completed Ground Hardware In the Loop Testing for All Subsystems  Completed Range Testing  Goal: Complete Flight Testing

 Hand-Held GPS: N W Altitude: m  R/C Range: 855 ft  Wireless Range: 1425 ft

Original Plot Adjusted Plot

 Added Local Map of North Farm  Made an X-Pilot Icon  Tested in SIL and HIL

 Transducer Spacing Optimized ◦ Achieved through hands- on testing and an oscilloscope  Verified Communication through HyperTerminal

 Autopilot Encased in Protective Metal Box  AGL on a PC Board and in Case  Software Included on a CD (and Through Direct Download)

 Affordable  Dynamic  Expandable

 (2007, Sep. 24) “Micropilot.” [Online]. Available:  (2007, Sep. 24) “Cloud Cap Technology.” [Online]. Available:  (2007, Sep. 24) “Procerus Technology.” [Online]. Available:  (2007, Sep. 24) “Crossbow Inertial Systems.” [Online]. Available: