1. ECE 477 Senior Design MRAV – Multi Rotor Autonomous Vehicle Team 9 April-29-2011

2. Project Overview Quad-rotor helicopter – Autonomously self-stabilizes PID Control Theory – Sensor Fusion Triple Axis Accelerometer Triple Axis Gyroscope Triple Axis Magnetometer Barometric Pressure Ultrasonic Range Finders GPS – Communicates with ground station using Xbee wireless

3. Project Overview [Cont’d]

5. Design Challenges Faced I2C Communication Protocol Floating Point Arithmetic Wireless Communications PID Control Theory and Application Huge amount of code  Debugging High RAM usage

6. ECE270/362 Knowledge Used Power Requirements / Chip Selection / Reading Data Sheets Using IDE and Programming Microcontrollers Microcontroller Peripherals – ADC – PWM – I2C – SPI

7. Project Demo http://www.youtube.com/watch?v=eZEt1d70CV4 http://www.youtube.com/watch?v=eZEt1d70CV4

8. The END