1. Nicholas Reich Ethan Plummer R. Alex Kibler

2. Introduction
What is Project X-Fly?
Project goals and motivation

3. Block Diagram

4. Quadcopter Specs. (4) Motors / (4)ESCs Carbon Fiber Propellers
3S LiPo /(4) AA NiMh batteries
Flight Controller Board
H-Frame Chassis

5. Manual Mode
Transmitter / Receiver
Pulse Width Modulation

6. Autonomous Mode
Raspberry Pi & Camera
Transmitter PWM “mimic”

7. Mode Switching A Unique Problem MUX 8-Pin DIP MCU
Printed Circuit Board

8. Motor Control
PWM -> FCB -> ESC -> Motors

9. Embedded Linux
Raspbian
Overclocking/Heatsinks
Startup scripts

10. Computer Vision
Color Filtering and Tracking
RaspiCam Interface

11. 3D Printing
Ball Joint / Socket
Motor Mounts

12. Conclusion
Project X-Fly Outcomes
What We Learned

13. References

14. Thank you!
Questions?