1. End of Semester 1 Presentation: November 28, 2007

2. Joshua Lasseigne: Team Lead and Autopilot Programming Christopher Edwards: AGL Subsystem and Website Maintenance William Overstreet: Power and EMI Shielding Brittany Penland: Autopilot Programming and Documentation Coordinator Shared Responsibilities: Research, Testing and Debugging, and Documentation

3.  Background Information  Problem With Current Systems and the X-Pilot Solution  Technical and Practical Design Constraints  Subsystems and Testing  Prototype Design and Prototype Testing  Current Problems and Next Semester Goals  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

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 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)  Low Altitude Accuracy: Must be capable of accurate low altitude readings (±3in)

10.  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

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

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

13.  Communication to the Autopilot Must be Secure

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

15.  Software ground testing  Hardware ground testing  Full system flight testing

16.  Waypoint Navigation: As accurate as GPS ( ± 10m)  Control Surfaces: Capable of controlled flight for fixed-wing aircraft  Considered Real-Time: Have an update rate between 1 Hz and 50 Hz  Functional GUI: Display a functional GUI for user observation of autopilot function

17.  Waypoint Navigation: Achieved by using gains and verified with flight log files  Control Surfaces: Proper movement of the five control surfaces visually verified  Update Rate: Confirmed in software that proper rate achieved  Functional GUI: Verified visual and through hands- on testing

18.  Secure Communication: 802.11 wireless router  Dynamic Re-tasking: The groundstation and autopilot are always connected allowing data to be transferred between them  Groundstation Compatibility: Both POSIX and Windows compatible because it is written in C++ and uses OpenGL  GUI: Display the plane’s attitude clearly and effectively

19.  Dynamic Re-tasking: Verified by uploading new waypoints during the course of a mission  Compatibility: Confirmed by running the groundstation on both a Windows and a POSIX machine  GUI: Verified visually and through hands- on testing

20.  Accurate Low-Level Readings: Achieved with an ultrasonic AGL (Above-Ground- Level) sensor  Range: 6 inches to 10 feet with an error of ± 3 inches  Optimize separation of transducers: Minimize board size and maximize range  Power: Independent of autopilot with 9V alkaline battery  Communication With Autopilot: Serial connection  Cost: Goal: Under $200, Actual: Under $30

21.  Range Accuracy: Verified by hands-on testing  Transducer Spacing Optimization: Achieved through hands-on testing and an oscilloscope  Serial Link to Autopilot: Verified with HyperTerminal

22.  GPS connection and functionality  Converting AGL connection from serial to USB  Ground simulation tests  Flight testing

23.  Get GPS unit functioning with autopilot system  AGL on to PC board  Extensive flight testing Time Permitting:  Auto-takeoff/auto-landing  Improved groundstation functionality and graphics  Temperature compensation for AGL calculations

24.  X-Pilot: Autopilot Solutions  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