1. AAVC Competition Design
11/15/2018
AAVC Competition Design
Carson Labrado, Jacob Travis, Brandon Witte

2. Overall Design Idea Philosophy Design High performance
11/15/2018
Overall Design Idea
Philosophy
High performance
Stable / Consistent
Reasonable Cost
Design
Low cost / High performance autopilot
Lidar system to do obstacle detection/mapping
Flow sensor for odometry
High-res webcam for target detection
High performance / Low cost embedded system for image processing

3. Hardware Autopilot Frame kit Motor/Battery selection Sensors
11/15/2018
Hardware
Autopilot
PX4 Pixhawk
Frame kit
3DR ArduCopter Quad C
Motor/Battery selection
AC motors (provided)
V 3 cell Li-Po batteries
Sensors
PX4 Flow sensor
XV-11 Lidar
Logitech 2MP HD Webcam

4. Hardware: Frame/PX4 PX4 Autopilot
11/15/2018
Hardware: Frame/PX4
PX4 Autopilot
Autonomous flight as well as sending odometry and attitude to computer.
3DR ArduCopter Quad C
Required Airframe of AAVC.

5. Hardware: XV-11 LIDAR Alternative Main Choice More expensive (~$1,000)
11/15/2018
Hardware: XV-11 LIDAR
Main Choice
Piccolo Laser Distance Sensor.
Lidar Sensor ~ 7 oz.
3.3 V or 5 V hardware versions
3.3V
~45mA idle (not rotating), ~135mA in use 5V
Alternative
Hokuyo URG-04LX-UG01
More expensive (~$1,000)
Higher resolution, faster

6. Hardware: Flow Sensor PX4 Flow Specs
11/15/2018
Hardware: Flow Sensor
PX4 Flow
Used for relative position as well as altitude
Specs
168 MHz Cortex M4F CPU
CMOS vision sensor 
Onboard 16bit gyroscope up to 2000°/s and 780 Hz update rate
Size: 45.5 mm x 35mm
Power consumption: 115mA / 5V
I2C1 Data Output

7. 11/15/2018
Physical Layout

8. Cost – Mass – Flight Time
11/15/2018
Cost – Mass – Flight Time
Component
Cost
Mass (g)
Power Consumption
PX4 Autopilot
$199 38
5.4V, 2.35 A
PX4FLOW
$150
17.5
5V, 115 mA
XV-11 Lidar
~$100
195
5V, ~135 mA
3DR Radio
$99 10
Logitech Webcam
$42
317.5
5V, 500 mA
ODROID-U3
$60 48
5V, 2A
Frame
$100
420
Batteries (2)
$65
520
11.1 V, 3500 mAh
Distribution Board
$15 33
11.1 V, Max A
Speed Controllers(4)
$104 84
11.1 V, Max 20 A
Motors (4)
$96
280
11.1V, Max 30 A
Propellers 12x45 (4)
$16
111
Totals
$1046
2074
14.2 min flight time
Cost –
PX4 FLOW ~ $150
PX4 autopilot ~ $200
Mass
Power consumption estimates
Flight Time

9. 11/15/2018
PX4 – GCS

10. 11/15/2018
Hardware: Navigation

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Hardware: Power

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Hardware: Autopilot

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Software: Top Level

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Software: Nav. Logic

15. Software: Location Logic
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Software: Location Logic

16. Possible Issues Software Hardware
11/15/2018
Possible Issues
Software
Offboard PX4 control is not yet fully fleshed out within pixhawk community, needs more development
Time
ROS inter-nodal communication may need modification
Hardware
Initial Lidar choice may need additional hardware
Latter Lidar choice is expensive ($1165)

17. 11/15/2018
Questions?