1. TEAM 9 - MRAV DESIGN CONSTRAINTS ANALYSIS by Nick Gentry

2. UPDATED PSSC 1.An ability to remotely monitor remaining battery life (fuel gauge). 2.An ability to hover in a stable position (based on autonomous stability / control algorithm). 3.An ability to fly in any direction (compass orientation) at a variable speed and a stable altitude (based on autonomous stability / control algorithm). 4.An ability to take off/land (ascend / descend) while remaining level (based on autonomous stability / control). 5.An ability to remotely control flight functions (e.g., ascend, descend, hover, compass orientation, forward speed).

3. MAJOR DESIGN CONSTRAINTS Microcontroller must be able to run PID algorithm and Kalman filter at speeds > 50Hz Microcontroller must have SPI (x1), I2C (x4), UART (x3), PWM (x4), and ADC (x6). WiFi module must have baud rate > 400kbps to stream JPEG compressed 640x480i video at ~4fps On-board power supply must be able to source 14.8V with max current draw of 50A Motors must provide enough thrust to achieve a 2:1 thrust to vehicle weight ratio

4. IMU (Inertial Measurement Unit) 3-Axis Gryoscope ITG3200 (I2C interface) 3-Axis Magnetometer HMC6343 (I2C interface) 3-Axis Accelerometer LIS3LV02DQ (I2C interface)

5. Brushless Motors Constraints: Greater than 2:1 thrust to vehicle weight ratio Current should not exceed 10A per motor @ 14.8V Selection: MK2832/35 Brushless 14-Pole Lithium Cell Count: 4 Maximum load current: 10A No load speed: 760RPM/V Maximum Thrust (10x4.5 prop): 820g per motor

6. Electronic Speed Control Constraints: Must be able to source > 10A @ 14.8V Selection: Turnigy Basic 18A ver3.1 Lithium Cell Count: 2-4 Maximum load current: 22A Continuous Current: 18A

7. Battery Constraints: Must be able to supply > 50A @ 14.8V Runtime > 10 minutes Selection: Turnigy Nano-Tech 14.8V / 4500mAh 25C Discharge Rate

8. Camera Constraints: CMOS sensor with resolution >640x480 pixels On-board JPEG compression Selection: Toshiba TCM8240 Max resolution of 1300x1040 pixels 10:1 Internal JPEG compression I 2 C interface

9. Wireless Module Constraints: Baud rate > 400kbps to achieve proper transmission of video and control data Selection: Roving Networks RN-131G 802.11 b/g WPA/WPA2 4uA sleep 40mA Rx 210mA Tx

10. Battery Monitor Constraints: Must be able to monitor 4 Li-Po Cells Undercharge / Overcharge Protection Selection: MAXIM DS2788 1-10 Cell Li-Po Monitor Parameters: Voltage, Current, and Temperature Outputs remaining battery %

11. Primary Microcontroller Constraints: Purpose: Run Stability Algorithm Peripherals I 2 C x2 SPI x1 UART x2 Six channels of 12-Bit ATD Four channels of PWM Selection: Texas Instruments MSP430F5438 16-Bit 25MHz 256KB Flash 16KB Ram

12. Constraints: Purpose: Process video + WiFi interface Peripherals I 2 C x2 UART x2 Selection: Texas Instruments MSP430F2618 16-Bit 16MHz 116KB Flash 8KB Ram Secondary Microcontroller

13. Constraints: Rigid structure Lightweight / durable material Selection: Mikrokopter MK50 Frame Extruded Aluminum beams Carbon fiber base plate 120 grams Airframe

14. Power Supply 14.8 VDC unreg 5 VDC reg via LM7805 @ 1A 3 VDC reg via LM3940 @ 300mA 14.8 VDC Li-Po Battery Pack UART I 2 C 8 bits MSP430F2618TPN UART I 2 C 2 3-Axis Accelerometer 3-Axis MEMS Gyroscope Ultrasonic Range Sensor x6 Speed Controller Motor Speed Controller DB9 Max232 16x2 LCD 2 Wifi Module Base Station (GUI Software) 4-Cell Battery Monitor 3 3 6 Reset Controller RESET SPI UART ADC PWM I 2 C MSP430F5438TPN PWM PWM I 2 C UART 2 2 3 3 CMOS Camera 2 System Block Diagram

15. The END