1. Formal Report #2 – Special Sensor Matthew Thompson EEL5666

2.  Quadcopters are naturally unstable  Need a control board to stabilize  Control board senses motion of the quad

3.  Motion Sensors ◦ Gyroscope  Angular rate ◦ Accelerometer  Acceleration ◦ Magnetometer  Magnetic field

4.  Previous Quadcopter  Too many sensors! ◦ 4 ICs on 3 boards below  Giant mess!

5.  Other problems ◦ Alignment ◦ Vibrations ◦ Analog noise  Sparkfun improvements ◦ One board for all sensors ◦ Still needs 3 separate ICs

6.  Invensense’s MPU6000  3 axis gyro  3 axis accelerometer  Digital Motion Processor ◦ Just raw data for now  No alignment  All digital  MPU9000 coming soon ◦ Includes magnetometer

7.  Preliminary data logged ◦ Unfortunately.. Lost data  Real data needs a fully assembled frame ◦ Motor vibrations ◦ Current magnetic fields ◦ Finish up this weekend

8.  Nearly assembled ◦ T-Teched mount plate ◦ McMaster parts ordered  Controller board hw 90% operational ◦ Found a mistake on Xbee tx/rx ◦ Might make a version 2  Eliminate mag board ◦ Board is in rough shape ◦ White wires

9.  Kalman filter ◦ Corrects long term errors ◦ Estimates sensor biases ◦ Uses accels and mag as reference sensors ◦ Need to tune against real data w/ motors running  Controller ◦ PID loops  GPS  Dropping mechanism