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Quadrocopter Flight Control

Quadrocopter Flight Control. By: Eric Backman Advisor: Dr. Malinowski. Outline. Introduction Goals Project Overview and Changes Work Completed Updated Schedule. Introduction. Original Goals. Stable Hovering Autonomous take offs and landings Manual control using joystick

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Quadrocopter Flight Control

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  1. Quadrocopter Flight Control By: Eric Backman Advisor: Dr. Malinowski

  2. Outline • Introduction • Goals • Project Overview and Changes • Work Completed • Updated Schedule

  3. Introduction

  4. Original Goals • Stable Hovering • Autonomous take offs and landings • Manual control using joystick • Collision Avoidance • Color Recognition

  5. Goal Changes • Removed use of camera and color recognition due to time constraints • Will focus on more accurate distance measurements • Be able to quickly stop within 5 cm of a specific distance from wall

  6. Block Diagram

  7. Specifications • Overall System Requirements • Quadrocopter can take off and land autonomously • Limit power to maximize time of flight • Able to maintain distance from wall with error +/- 5 cm • Infrared Sensor Requirements • Sense distance to all objects within at least 1 meter with accuracy of 1 cm • Distance sent to microprocessor from 6 sensors at least every millisecond

  8. Specifications Cont. • Atmega168 Microprocessor Requirements • Read the distance sensor voltage with accuracy equivalent to at least 1 cm • Send distance sensor data to BeagleBoard at least every 10 ms using serial port • Create Pulse Width Modulation signal of 50 Hz that has at least 10 us resolution • BeagleBoard Requirements • Update command PWM settings every 20 ms using sensor and joystick inputs

  9. Distance Estimate • Due to the angle of the Quadrocopter, sensors will give longer distances • This will be fixed by using the command to estimate angle • Will use this to accurately stop at a specific distance from the wall going at varying speeds

  10. Distance Estimate Example • If a 1.25 ms pulse corresponds to a 22.5° angle and it has been running a 25% duty cycle for a certain amount of time • This method depends on accuracy of angle measurements

  11. Completed Work • Design • Atmega168 processor programming: • 6 analog channels to ADC w/ sensor resolution .98 cm • 4 channels of PWM w/ 10 us resolution @ 50Hz • UART Serial Communication • Beagleboard programming • Serial communication • UDP network connection • Remote controller programming • UDP network connection

  12. Delays • Software took much longer than expected • Analog to digital converter on Atmega 168 needs capacitor for accuracy, not well documented • Various serial port issues • Removal of camera means the project is still on track to be finished

  13. Work Remaining • Mount hardware • Atmega168 processor programming: • Revising code after integration with quadrocopter • Beagleboard programming • Mapping joystick to PWM control • Revising code after integration with quadrocopter • Collision avoidance • Autonomous emergency landing • Remote controller programming • Joystick

  14. Updated Schedule • March 7 – Mount hardware • March – Final software debugging and initial flight testing • April – Work on getting accurate distances and collision avoidance • Late April – Project analysis and Final report

  15. Questions?

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