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Efficient Design Overview for FlySpy Software Control Algorithms

This document provides a comprehensive narrative overview of the FlySpy Software workflow, focusing on crucial input and output formats used in costly calculations. It details the software's algorithmic approach in managing Rx/Tx coordinate information to SD card, leveraging regular text file formats and XML outputs with precise timestamps. Additional insight into orientation algorithms, such as the use of accelerometers and gyroscopes, is provided. The timing the software utilizes is also highlighted, alongside calculation methods for coordinate distances and heading adjustments, ensuring an efficient control algorithm design.

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Efficient Design Overview for FlySpy Software Control Algorithms

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  1. Team 12 - Jeremy Tillman FlySpySoftware Design Narrative

  2. Overview • Software workflow • Input/Output Format • Costly Calculations • Timing

  3. Software Design – Control Algorithm

  4. Rx/Tx Coordinate Info to SD • File System Input • Regular txt file format • Line by line command instructions • [Latitude_Coord] [Longitude_Coord] [Altitude] [Pic?] • File System Output • XML File format • Log with timestamps • Position • Orientation • Controls

  5. Costly Calculations • The more accurate, the more expensive • Calculating coordinate distance • Calculating change needed in heading • Orientation Algorithms • Accelerometer – Lookup Tables vs. Trig functions

  6. Timing • GPS works • Uses a timer at 5hz • Read GPS from receiver • Calculate needed heading and distance • Accelerometer and Gyro • Uses a timer at 50 hz • Sums Gyro change for pitch and roll • Check Accelerometer readings for Gyro correction

  7. Timing • Fasted Clock (fosc)– 32Mhz • Fasted Instruction Clock ( fosc/2) – 16Mhz • Instructions costs • Atan – 696 cycles • Sqrt – 493 cycles • Cos – 3249 cycles • Sin – 2238 cycles

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