1. Final Semester 2 Presentation: April 24, 2008

2. Joshua Lasseigne: Team Lead and Autopilot Programming Christopher Edwards: AGL Subsystem and Website Maintenance William Overstreet: Power, Packaging, and R/C Equipment Brittany Penland: Autopilot Programming and Calibration Shared Responsibilities: Research, Testing and Debugging, and Documentation

3.  Background Information  Problem With Current Systems and the X-Pilot Solution  Constraints  Testing  Packaging  Summary  References

4.  Definition  The First Autopilot  Integration With Computer Software  Current Market

5.  Several Different Companies  Easy To Use  Expensive ($10,000 and up)  Limited User Expandability Current Autopilots

6. Current Autopilot Systems Are: EXPENSIVE and DIFFICULT FOR USERS TO MODIFY

7. ◦ Costs Under $2500 ◦ Capable of Autonomous Flight by Waypoint Navigation ◦ Utilizes Open Source Code for Easy User Modifications ◦ Users Can Integrate Custom Hardware ◦ Equipped With an AGL (Above Ground Level) Sensor for Use With Low Altitude Flight ◦ For Use With Conventional Fixed- Wing or Flying-Wing Aircraft

8.  Crossbow Hardware Platform  Custom AGL  Software Servo Battery MNav Stargate Wireless Card

9.  Waypoint Navigation: Must be as accurate as GPS (±10ft)

10.  Low Altitude Accuracy: ◦ Must be capable of accurate low altitude readings (±3in) ◦ AGL accuracy within ±2in ◦ Range: 4in – 10.5ft

11.  Control Surfaces: Must be capable of controlled flight for fixed-wing aircraft  Dynamic Re-Tasking: Must be capable of dynamic re-tasking at all times

12.  Considered Real-Time: Must have an update rate between 1 Hz and 50 Hz  Groundstation Compatibility: Must be POSIX and Windows compatible

13.  Communication to the Autopilot Must be Secure Ad Hoc Configuration ◦ Using 802.11b wireless WEP Encryption ◦ Not using DCHP so the IP has to be known

14. PartPrice Stargate$800 MNav$1500 Parts for 1 AGL<$200 Total Cost: $2500

15. ItemCost ($) Resistors1.75 Capacitors0.90 Semiconductors / ICs5.75 Transducers7.69 Miscellaneous6.43 PC Board33.00 Total55.52

16.  Due to corrupted firmware, unable to fly  Attempted re-flashing firmware numerous times  Repeated attempts to contact Crossbow

17.  Autopilot  Groundstation  Above-Ground-Level (AGL) Sensor

18.  Completed Ground Software In the Loop Testing for All Subsystems  Completed Ground Hardware In the Loop Testing for All Subsystems  Completed Range Testing  Goal: Complete Flight Testing

19.  Hand-Held GPS: 33.44000 N 88.84565 W Altitude: 101.49 m  R/C Range: 855 ft  Wireless Range: 1425 ft

20. Original Plot Adjusted Plot

21.  Added Local Map of North Farm  Made an X-Pilot Icon  Tested in SIL and HIL

22.  Transducer Spacing Optimized ◦ Achieved through hands- on testing and an oscilloscope  Verified Communication through HyperTerminal

23.  Autopilot Encased in Protective Metal Box  AGL on a PC Board and in Case  Software Included on a CD (and Through Direct Download)

24.  Affordable  Dynamic  Expandable

25.  (2007, Sep. 24) “Micropilot.” [Online]. Available: http://micropilot.com/index.htmhttp://micropilot.com/index.htm  (2007, Sep. 24) “Cloud Cap Technology.” [Online]. Available: http://www.cloudcaptech.com/ http://www.cloudcaptech.com/  (2007, Sep. 24) “Procerus Technology.” [Online]. Available: http://www.procerusuav.com/http://www.procerusuav.com/  (2007, Sep. 24) “Crossbow Inertial Systems.” [Online]. Available: http://www.xbow.com/Home/HomePage.aspx http://www.xbow.com/Home/HomePage.aspx