MSD Project P10236: Configurable Control Platform for Unmanned Vehicles

1. P10236 Introduction MSD Project P10236:Configurable Control Platform for Unmanned Vehicles Project Introduction

2. P10236 Introduction Presentation Topics • The Need for P10236 • Objectives and Deliverables • History of Project Family • Customer Needs and Engineering Specifications • Risks • Concept Development and Selection • External Benchmarking

3. P10236 Introduction The Need for P10236 • UAV has completed 1st-generation airframe • Next phase: control electronics • P09233: Aircraft Controls, initial interface work • P09122: MAV II, highly successful integration • Extend previous efforts to increase system flexibility, ease of integration, configurability • Harris Corporation, RF Division

4. P10236 Introduction Our Objective • A control electronics product that: • Provides a processing core on which to run control code from compiled Simulink control models • Interfaces with a configurable variety of I/O sensors and peripherals for multiple vehicle types • Is highly modular: measurement, filtering, processing, and command functions being separable and independent, but easily integrated • Is accurate, “black box” package, highly flexible

5. P10236 Introduction Deliverables •  A control unit to store and run Simulink code • Highly modular unit that is easy to implement in multiple or at least in the RIT UAV • Design and Programming Documentation

6. UAV- 09233 • Ambitions were to measure GPS, velocity, altitude, roll, yaw, pitch, and power consumption • Full IMU and control system were never planned on being developed • Microcontroller approach • Could have worked Project and Family History

7. Problems • Team lacked programming experience to implement things on the MCU • MCU Dev board was damaged while attempting to fit it in their case • Group was unable to read samples from IMU, and was unable to write GPS data to SD card reliably Project and Family History

8. Lessons learned • An MCU approach is feasible and should be considered • Care should be taken when modifying prebuilt board or laying out a custom board • Team had a decent sensor outfit • Enclosure was engineered very well Project and Family History

9. MAV2 - P09122 • Took softcore on FPGA approach • One core devoted to gathering data from sensors (GPS, IMU) • Other core devoted to running control system code and outputting actuator commands • Control system was meant to stabilize flight controls • Designed gimbal to test sensor data • Control system was modeled and exported from Simulink Project and Family History

10. Problems • Autocode generator didn’t generate code that could be compiled and ran on their softcore • Precision and fixed point architecture conflicted with Simulink’s expectations of a target architecture Project and Family History

11. Lessons Learned • FPGA solution is feasible • Split softcore approach is of interest • Architecture and compiler toolchain should be selected to be compatible with Realtime Workshop generated code Project and Family History

12. Other projects • Data Acquisition P09311 explored, but scope and objectives fundamentally different. Project and Family History

13. Customer NeedsEngineering Specs • (See EDGE_MASTER_SHEETS.xls • Customer Needs Tab (“1”) • Engineering Metrics Tab (“5”) • Needs to Metrics Mapping Tab (“5b”)

14. Universal Control System for Autonomous Vehicle Applications P10231 – Airframe Telemetry • DAQ • NIDAQ • Direct USB • Field PC • GUI • Labview • Matlab • Visual Studio • Receive: Display Vehicle Info (GPS, etc.) • Receive: Display Vehicle Images • Internal: Test Control Algorithms • Transmit: Vehicle Actuator Commands • Transmit: Vehicle Waypoint Destinations • Transmit: Vehicle Imagery Requests • Telemetry • FPGA / DSP / MC • Measurements • Imagery • Int. Control Variables • Actuator Commands • Ground Commands • Waypoints • Servo Cmds. • Take Image • Measurements • Imagery P10236 – Versatile Adaptive Controller P09233 – Airframe Measurements e.g. e.g. Measurement Unit (MU) Controller Unit (CU) Actuator Unit (AU) INPUTS Digital Serial Analog Analog (PWM) (PWM) (PWM) Analog Analog CameraLink (or CCD) • FPGA / DSP / MC • Input: Known Type • Output: Known Comm Protocol • FPGA / DSP / MC • Matlab / Simulink Autocode • Internal DAQ (SD card) • FPGA / DSP / MC • Input: Known Comm Protocol • Output: Known Type • Control Switch Capable of Ground or Onboard Control Digital Digital Digital Digital Analog Analog ServoCmd_1 GPS IMU ServoCmd_2 Tach Altitude ServoCmd_3 ServoPos_1 ServoPos_2 ThrottleCmd Comm. Protocol Comm. Protocol ServoPos_3 Motor Curr Battery Volt • Internal DAQ • SD card • Internal DAQ • SD card P09235: Aircraft Payload P09561: Visible Spectrum Imaging System Imagery External Simulink Code Interface

15. Harris’ Proposal

16. External Projects

17. Concept Development See HIGH_LEVEL_SYSTEM_CONCEPTS.xls Brainstorm tab is first Subsequent tabs for each subcategory

18. P10236 Introduction UAV Completion

19. P10236 Introduction System Level Design

20. P10236 Introduction I/O Control Concepts Concept I: Many microcontrollers FPGA cores Concept II: Single microcontroller FPGA core

21. Risk Assessment • (Master Planning Spreadsheets xls)