FLyNET

Ben Houston

Camden Mendiola

Dan “Klitz” Johnson

Dan Rice

Monty Prekeris

MISSION STATEMENT

To provide a flexible low power wireless aerial/terrestrial network that allows the user to survey, sense, and respond.

Useful for military, police, search and rescue, and/or back country navigation

Localized and self managed.

Camden

OBJECTIVE

To design and implement an autonomous quad-copter platform that can remotely sense and relay data to a base station

To utilize the IEEE 802.15.4 protocol to create a low power mesh network

Camden

TEAM GOALS

Secondary: • Autonomous flight with mesh network integration. • Advanced sensor integration.

Primary: • Manual flight through keyboard remote control.• Basic autonomous flight pattern. • Wireless Zigbee Comm. Bridge Station

Elevated: • GPS navigation and obstacle avoidance. • Integration of more sensors.

Camden

Command StationXBee

Command Station

PC

BLOCK DIAGRAM OVERVIEW

XBee

FlightSensors& GPS

Third CommModule

Environmental Sensors

Motors

XBee

FlightSensors& GPS

Quad-copterATMega

2560

Environmental Sensors

Motors

Camden

AUTONOMOUS FLIGHT FUNCTIONALITY

Manual Flight

Command

Locate unoccupied air space

Perform Autonomous Flight Pattern

Manual Return Flight

Assert UAV Mode and Input GPS

Point

Autonomous Navigation

to GPS Point

Perform Autonomous

Flight Pattern

Autonomous Return

Navigation

SECONDARY GOAL

ELEVATED GOAL

Camden

SYSTEMS OVERVIEW

COMMAND STATION BLOCK DIAGRAM

• XBee PRO ZB• 2.4GHz RF• 3.2 km range• 250 Kbps data throughput

• XBee Explorer USB

Command StationWINDOWS OS PC

USB IEEE 802.15.4Zigbee Protocol

Dan J.

XBee(Serial)

Flight Sensors

Flight Sensors:• Barometer – BMP085• Magnetometer – HMC5843• Accelerometer – ADXL345• Gyro – ITG3200• Ultrasonic range finder – Daventech SFR10• GPS – USGlobalSat EM-408• I2C

Motors• E-Flight Brushless• 1020Kv• 22A max continuous• 2lb nominal payload/motor

Environmental Sensors (tentative):• Temperature• Gas• CMOS Camera - TCM8230MD

30A ESC’s:• Allows 35,000 rpm• 40A for 10s Burst• PWM

Env. Sensors

CopterATMEGA

2560ZigBee

ESC

Motors

Dan J.

Terrestrial UnitTemperatureChemical SensingPerson

○ Heart Rate

Second Quad CopterMirror functionality of former

Quad-Copters

Dan J.

POWER SYSTEM• Battery – 11.1 V, 8000mAh High Discharge Li-Po Battery

• Power Rails – 5V rail for the ATMega 2560, 3.3V for Sensors and XBee

• MC33269 Voltage Regulator – takes 12V to 5V

• Logic Level converter – converts 5V to 3.3V for input to XBee and 3.3V to 5V for signals output from XBee

• Battery Monitor – checks the status of the battery voltage and signals a warning if it is too low. If the battery supply voltage drops even further, the Quadcopter will begin to land.

• ESCs (Electronic Speed Controller) – Convert PWM signals from the ATMega2560 into signals for the brushless motors.

Dan J.

FLIGHT SENSORSFlight Sensors(Primary):• Barometer – Used to measure atmospheric pressure. Allows the flight control to determine

height of the Quadcopter and attempt to increase power to motors in order to maintain altitude.

• Magnetometer – Measures the strength of the Earth’s magnet field to get the heading of the Quadcopter

• Accelerometer – Measures acceleration of the Quadcopter along the x, y, z axes.

• Gyro – Measures radial velocity in terms of roll, pitch, and yaw.

Flight Sensors(Secondary):• Ultrasonic range finder – Determines distance objects are away from the sensor. Can be used to

avoid objects that come within range of the Quadcopter. Can also be used to aid in landing.

• GPS – Gets longitude and latitude coordinates from a satellite which allows the Quadcopter to determine a flight path to its desired location

Dan J.

ENVIRONMENTAL SENSORS

• Temperature Sensor – Analog output. (Primary)

• Gas Sensors – CO, Methane, Hydrogen gas. Analog Output. (Elevated)

• CMOS Camera – Communicates using I2C. (Elevated)

• Heart rate monitor – Uses a Polar transmitter and communicates through I2C. (Elevated)

Dan R.

SENSOR RISK AND CONTINGENCY PLAN

Ultrasonic Multiple Ultrasonic sensors may cause interference with one another

○ Alternate sets of opposing sensors to fire at different times. Wide beam width may cause unexpected detection

○ Size down the beam width and use more sensors Motor interference

○ Relocate sensors Barometer

Propeller interfering with air pressure○ Encapsulate barometer or shield it from motors

CMOS Camera Exceed XBee bandwidth

○ Use high compression○ Stream at lower frames per second ○ Store images locally Dan R.

WIRELESS COMMUNICATION

Ben

XBee COMMUNICATION PLATFORM

Ad hoc On-demand Distance Vector (AODV) Mesh Routing Allows data packets to traverse multiple nodes (hops) from

source to destination Does not necessarily have to be routed through the

coordinator AODV Routing Algorithm dictates ever changing and

locally stored look up table of nearest one hop neighbors

Ben

Digi International has designed the Xbees in a way that allows a PAN to include up to 40 drop-in radio devices in an Ad Hoc configuration.

Ease of use when building a large self healing network.

DROP-IN NETWORKS

Ben

ZB Pro RF data throughput: 250 kbps Line of site range: 3.2 km Serial Flow Control via RTS and CTS pins Encryption (adds latency) Sleep Mode(s) Ability to self manage digital and analog sensors Application Program Interface

ADVANCED XBee FEATURES

Ben

XBee API(APPLICATION PROGRAM INTERFACE)

The API specifies how commands, command responses and module status messages are sent and received from the module using a UART Data Frame.

Follows IEEE 802.15.4 standard Useful for software design 84 byte payload Multiple command features

Ben

XBee Software

Software drivers contain algorithms that can build or parse API packets

Payloads can contain the following data:Radio Addresses12 bits of analog sensor data converted to

digital at the XBee hardware levelCommand Status bytes AT commands

Embedded System Experience

Ben

RisksSignal InterferenceRangePower ConsumptionBandwidth

ContingencyXBee-PRO® ZB Wall Routers

○ Extends signal strength and range of an XBee ZB mesh network

○ Creates additional network pathways for more reliable mesh networking

Adjust Sleep Mode settings via XBee firmwareLimit amount of simultaneous data output

XBee RISK AND CONTINGENCIES

Ben

FLIGHT CONTROL SYSTEM

ATmega2560 Operating Voltage: 5V JTAG Interface Digital I/O Pins: 54 (of which 14 provide PWM output) ADC Pins: 16 UART Ports: 4 SPI Interface I2C Interface 2 External Interrupt Pins DC Current per I/O Pin 40 mA DC Current for 3.3V Pin 50 mA Flash Memory: 256 KB of which 8 KB used by bootloader SRAM: 8 KB EEPROM: 4 KB Clock Speed: 16 MHz

MICROPROCESSOR OVERVIEW

Monty

Eclipse C/C++ Dev environment for Arduino MegaAllows for parallel development of flight

programs and control during PCB development ATMEL Professional Dev Suite intended

for low level debugging though JTAGNeed access to JTAG pin outs which the

Arduino Mega does not give access toEmulator AVR JTAG ICE

device will be used

DEVELOPMENT ENVIRONMENT

Monty

200Hz• Read Gyro• Read Accelerometer

100Hz• Flight Controls (Stabilization routines)

50Hz• Process Telemetry

25Hz• Read Barometer

10Hz• Read Battery• Process Compass

SOFTWARE TASK SCHEDULER

Monty

MOTOR CONTROL SYSTEM

PIDATmega MOTORSChange ofPosition

SENSOR RESPONSE

Monty

Task Scheduling – Addition of sensors consumes clock cyclesScheduling sensors in order of priorityCircumvent processer and straight to XBeeCo-ProcessorHard Real Time System – Sam

Monty

LOGISTICS

FLYNET QUAD FRAME

• Prototype Frame: Made from Balsa, Poplar and Oak.

• Aluminum Frame: Aeroquad frame that is more robust. • Future Frames: A Carbon Fiber or Fiberglass frame could be used, as these are lightweight at the risk of durability

Dan R.

Indoor net and pulley apparatus

Emergency Shutoff via firmware watchdog timer

Manual Emergency shutoff via a serial command

Dan R.

DIVISION OF LABOR

Phase 1: Ben Camden Daniel Klitz MontyPCB Design    Flight Command                 Phase 2:          

PCB Revision and Design      Environmental Sensor *Hardware design       *Software design    XBee Mesh Network                 Phase 3:          Basic Auto PatternsGPS Integration

Dan R.

SCHEDULE

Dan R.

RISK AND CONTINGENCY

PLAN• Frame

• Plan to buy Aluminum frame in the future. If it is not available, we may have to make it ourselves.

• Schedule uncertainty• Current timeline does not incorporate weekends.

• Availability of components• Utilize multiple distributers

• Code Sharing• Tortoise SVN with revision control

• Broken Parts• Backup Parts on hand (Propellers)

Dan R.

BUDGETComponent # Price

E-Flite 480 Brushless Motors 4 $54 each

Hobbywing Pentium 30A ESCs 4 $23 each

Accelerometer ADXL-345 1 $15

Magnetometer HMC-5843 1 $15

Barometer BMP-085 1 $20

Gyro ITG-3200 1 $50

XBee ZB Pro 2.4GHz 3 $40 each

Arduino Mega2560 Temp Dev. Boards 2 $50 each

Safe Testing Apparatus 1 $75

8000 mAH LiPo Battery 1 $55

Revision 1 Frame Materials 1 $30

Revision 2 Aluminum Frame 1 $225

PCB Orders 3 $65 each

ATMega 2560 QFP Processors 2 $20 each

US GlobalSat EM-408 GPS Module 1 Free, Thanks Nate Bernstein

Other Sensors (Gas, Heartrate, Camera, etc) 1 $20 - $100 eachDan R.

BUDGET

Component # Price

Other SMT Board Components 3 $50 each

Total (Not including tentative high level sensors) ~ $1400

Funding:

-UROP -EEF (possible)-Sponsorship through Elintrix

Dan R.

QUESTIONS?