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Hardware Overview

Hardware Overview. Autopilot Control Board- Serves as common platform for other components and has autopilot code and flight plans Battery- Powers the board and servos as well as motor Modem/Antenna- Facilitate communications Ground Control Station- Used to control UAV midflight

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Hardware Overview

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  1. Hardware Overview • Autopilot Control Board- Serves as common platform for other components and has autopilot code and flight plans • Battery- Powers the board and servos as well as motor • Modem/Antenna- Facilitate communications • Ground Control Station- Used to control UAV midflight • GPS- Used for altitude and navigating to waypoints • IR Sensors- Determines control movements • Motor and Controller- Manages the motor functioning • Servos- Adjust control surfaces

  2. Autopilot Control Board (Tiny) • The main control board is the Tiny v2.11 is the brain of the UAV and controls: • Servos (via Pulse-pulse-modulation) • Infrared sensors • GPS • Any applicable payload (CAM) • The autopilot board design is released by and updated by the Paparazzi development team

  3. Battery • 2100mAh 11.1V Li-Poly battery • 6.1 – 18 VDC autopilot input voltage

  4. Datalink Radio(Modem & Antenna) • Autopilot – Groundstation communication • Serial channel

  5. GPS Receiver • Receiver & Antenna built into autopilot • uBlox LEA-4 serial receiver – 4Hz update

  6. GPS configuration • Proprietary control software

  7. IR Sensors • One x-y sensor + one z sensor • Each axis is a thermopile pair • Differential output from each pair

  8. IR Sensor Modification • Driven by 3.3V instead of 5V • Changes amplifier gain • Replace biasing resistors for unity gain

  9. Motor & Controller • Brushless motor and electronic speed control

  10. Servos • Hitec HS-55 servos

  11. Payload • We never officially implemented a payload, though this would not require extensive work • Ostensibly, we would have added a camera to feed back images or video over the modem • Due to data transmission rate limitations (9600 baudrate) any video taken would be of very low quality, though images could certainly be sent at a decent frequency • Payload would likely be placed on the side of the modem transmitter beneath and partially embedded in a wing

  12. Hardware Preparation

  13. Custom Cables

  14. Software Setup • Paparazzi software requires Debian based Linux distribution • We used Ubuntu 8.04 “Hardy Heron” for all our testing • Can build source locally or install prebuilt binary package

  15. Install Bootloader • Bootloader must be flashed to a new board before it can be programmed • Allows Tiny to be programmed via USB • Flashed via custom serial cable • This procedure only needs to be done once per board

  16. Program GPS Receiver • Install GPS Tunnel Program to Tiny • Allows direct communication to GPS Receiver • Program GPS using U-BLOX software • Uses custom serial cable • Software runs on Windows

  17. Programming Autopilot • Tiny is programmed directly from the Paparazzi software • Configuration files are modified and tuned as required for a given configuration • Direct USB connection to Tiny

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