1. Flamewheel UAV EEL4665 Intelligent Machine Design Lab Fall 2012 Matt Thompson

2. Goals Convert flamewheel into UAV – Self stabilizing – Autonomous takeoff and land – Fly to GPS waypoints – Drop payloads Components – Quadcopter – Flight Controller PCB – Software

3. Quadcopter

4. Flight Controller PCB Features STM32F405 Processor – 168 Mhz, FPU – 192Kb RAM, 1Mb Flash MPU6000 – 3 axis accel and gyro at 1khz – Integrated 16 bit ADCs BMP085 Altimeter Xbee IO – Output: ESCs, Servos – Input: Analog, PWM LEDs! (Can’t ever have enough) Altium PCB Layout

5. Mag/GPS PCB Features LS20031 GPS – 5Hz update rate HMC5883L Magnetometer – 3 Axis magnetometer – 12bit ADCs at 160Hz Altium PCB Layout

6. Software Built on custom RTOS – Multitasking with priorities – Zero interrupt latency Multiple flight modes – Stabilize – GPS – Mission – Acro (after IMDL demo!)

7. INS - 1khz – Integrate gyros – Attitude quaternion EKF - 100hz+ – Tracks INS errors using accels and mag – Estimates accel and gyro biases – Periodically resets INS State estimator

8. Status State estimation simulated in Matlab Basic code tested on a development board PCBs coming Thursday/Friday! Hope to be test flying in 3 weeks – Write drivers for all the hardware – Implement and test state estimator – Design and implement PID control Come up with cool autonomous demo – GPS waypoints + Servos = ?? – GPS waypoints + Bottle rockets = ?!?!