camden mendiola ben houston monty prekeris dan rice dan “klitz” johnson

FLyNETCamden Mendiola

Ben HoustonMonty Prekeris

Dan RiceDan “Klitz” Johnson

• 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

• Localized and self managed

Project Review

Ben

BASE STATION• Foundational PC Control software complete

QUADCOPTER• Quadcopter Prototype 1.0 built and ready for

testing• Basic flight software and testing in progress

Hover; Landing; Heading; Directional Movement• GPS and Environmental Sensors in development

GROUND MODULE• Part list complete• Schematic and PCB in preliminary phase

Current Status

Ben

Milestone 1: Basic Flight Commands

• Hover; Manual Landing; Heading

Basic Mesh Network Capabilities• Preliminary Integration of Modules

Milestone 2: Advanced Flight Commands

• Directional Movement with GPS Integration, Automatic Landing

Advanced Environmental Sensor Integration through Mesh Network

EXPO: Autonomous Flight Patterns Complete Mesh Network Integration

Deliverables

Ben

Systems Diagram

Ben

Functional Decomposition

Hardware

Level 0: Wireless Sensing Network

Functional Decomposition: Hardware

Environmental Data

User Interface

Quadcopter Platform

TerrestrialPlatform

Power

Ben


Harness ESC’s Motors

CPU

Power Circuit

Logic Converter

Accelerometer

Barometer

Magnetometer

Gyroscope

GPS

UltrasonicRadioComm.

Battery

Level 1.1: Quadcopter

Environ.Sensors

5V

(3.3V Signal)

SPI

Serial

PWM

11.1V

3.3V

Ben


CPUPower Circuit

ADC

Air Quality

Gas Sensor

Battery

Level 1.2: Terrestrial Unit

Alarm5V 3.3VI2C

SerialAnalog

Gen. I/0

Heart Rate Monitor

9V

RadioComm.

Ben

Schematics and PCB

Version 1 of PCB has been completed and ordered.

A testing strategy is currently in development

PCB Progression

Cam

Motor Control Circuit

Microprocessor

Schematic Overview

Cam

PWM

PWM

PWM

PWM

Schematic OverviewSerial Converter Circuit

Cam

VBUS1

D-2

D+3

GND4

J1

1470156-2 22

R16Res2

22

R17Res2

11 2 2U10

Component_1

100nF

C14Cap

C161uF

5V

1K

R19Varistor

1K

R20Varistor

100nFCap

11

22

U9

Component_1

GND

GND

D-

D+

US

BV

CC

D-D+

USBVCC

MO

S12

SC

K2

YL

ED

2Y

LE

D3

XTAL1-AXTAL2-A

M8R

XD

T8RXD

XTAL11

XTAL22

GND3

VCC4

PC25

PD06

PD17

PD28 P

D3

9

PD

410

PD

511

PD

612

PD

713

PB

014

PB

115

PB

216

PB317

PB418PB519

PB6 20PB7

21PC7 22PC6

23RESET24

PC

525

PC

426

UC

AP

27

UG

ND

28

D+

29

D-

30

UV

CC

31

AV

CC

32

U65ATMEGA-A8U2

Gnd1

Vout2

Vin3

Heatsink4

U7

MC33269ST-50

GND

47uFC8

Cap Pol1

5V

100nF

C7Cap

47uFC6

Cap Pol1

11

22

33

U1

blackconnector

GND

Vin

Diode

Diode 1N914

XTAL2-A

Power Circuit

Schematic Overview

Cam

27

R7

Res2

1M

R6Res2

22pF

C9

Cap

22pF

C10

Cap

22

11

U2Crystal

GND

XTAL2-A

XTAL1-A

GNDGND

3.3V5V

SCL

SDA SDA-L

SCL-L

11

22

33

44

55

66

7 7

8 8

9 9

10 10

11 11

12 12

U?

Component_1

Oscillator Circuit Logic Level Circuit

Schematic Overview

Cam

Schematic Overview

XBee Circuit

Cam

Flight Control Hardware

GenerateInitial Pulse

Ultra-sonic

Chirp Initial Pulse

Listen for

EchoBegin Count

Stop Count when Echo Detected

Calculate Distance

Ultrasonic Range Finder

Cam

PWM

Speed Command

MOSFETDriver

Battery Motor RPM

Electronic Speed Controller

Cam

• Converts DC into 3 phase AC• Back EMF used to detect

rotation• RPM adjusted by Pulse Width to each phase

Electronic Speed Controller

HobbyWing FlyFun Brushless ESC

Cam

• Gyro• Acceleromete

r• Magnetomete

r

9 Degrees of Freedom

Klitz

ITG-3200

• Triple Axis• 3 16-bit ADC’s• 400kHz I2C Interface• Key element for stabilization

Gyro

Klitz

ADXL345

• 3 Axis Accelerometer• High performance g-sensor

Accelerometer

Klitz

HMC5843

• Measures Strength or Direction of Magnetic Field (Compass)

• 3 Axis• 1 to 2 degree range of accuracy• I2C interface• Sensitivity of 0.10 μT• Allows heading tracking

Magnetometer

Klitz

• 300 to 1100 hPa (atmospheric pressure)

• Accuracy of 0.3 hectopascals• I2C Interface• Maintains altitude of

Quadcopter• Beneficial in Autonomous

landing

BMP085

Barometer

Klitz

• Safely Converts 5V to 3.3V and 3.3V to 5V

• Converts 4 pins at one time• I2C Interface

Logic Level Controller

Klitz

Functional Decomposition Software

LEVEL 1.0.0: QUADCOPTER BASIC FLIGHT

Take Off Hover

Directional Movement (Left, Right,

Forward, Back)

Land

Functional Decomposition: Software

Monty

Set GPS Coordinate Check

GPS

Check Heading Set

Heading

Set Direction


LEVEL 1.1.0: QUADCOPTER BASIC FLIGHT

Monty

Check if flat

Check Accel. In Z direction

Decrease Motors Speed

Increase Motor Speed

AdjustAppropriate

Motors

YES

NO

Z > 0

Z < 0

HOVER


Monty

Set Pitch

or Roll

Is Z decreasing

Or increasing

Adjust Appropriate

Motors


DIRECTIONAL MOVEMENT

Monty

Set Heading

Check Mag

Check Hover

Set Yaw

Adjust Motors

No

Yes


HEADING

Monty

Accel. = 0

Decrease Decel. to min value

Kill Motors

Check Hover

Read Ultrasonic

Check Alt.Above

Threshold?

DecreaseDecel.

Increase Decel.

Yes

YesNo

No

Yes

No


LANDING

Monty


Get Sensor Data

Health Readings Abnormal?

Set Local Alarm

NO

YES

WirelessAlert to Base

Station

Send Local Data to Base

Station

Level 1.2.0 TERRESTRIAL UNIT

Monty

Get Packet Parse

Process:

Polling Based

Build Transmit Packet

Receive Packet

SendPacket

Functional Decomposition: Communication

Process:Commands and Data

Monty

Functional Decomposition: Communication

IO_data_sample_RX( )

parse_sample( )

Monty

Current user interface for Command PC is text-based. Displays information based on commands received from user.

Graphical User Interface

Dan

GUI Example Goal: Create a user interface that uses information received

from the Quadcopter to display information about flight status. Need to incorporate Google Maps with GPS data.

Dan

Testing Analysis

Test 1: ◦ Enough Lift with given

weight/propellers/motorsResult: ◦ Quadcopter had plenty of lift with plenty of

motor speed to spare

Test 2: ◦ Ultrasonic sensors range and reliabilityResult: ◦ At low propeller speed ultrasonic sensors

were unaffected, but had narrow beam width

Test Results

A Node Discovery(ND) command can be broadcast to discover which nodes are in the network.

On right, Quadcopter and Terrestrial unit are part of the network.

Network Verification

Timing Diagram of a packet being transmitted over XBee using the Intronix Logicport

XBee Serial Command Timing

12,130 rpm maximum at 60% duty cycle

Lift occurs at 9,800 rpm (old frame)

Increasing duty cycle gives minimal rpm gain after 60%

25 30 35 40 45 50 55 60 650

2000

4000

6000

8000

10000

12000

14000

RPM vs PWM (no load)

Duty Cycle (%)

RP

M

Testing Analysis

Dan

0.662 A maximum current (steady state) draw at max 12,130 rpm (no load)

Current is not dependent on PWM duty cycle

Current spikes occur when incrementing large rpm steps

0.1 0.2 0.3 0.4 0.5 0.6 0.70

2000

4000

6000

8000

10000

12000

14000

RPM vs Current Draw (per motor)

Current (A)

RP

M

Testing Analysis

Dan

Logistics

Quadcopter Terrestrial UnitBase

Station PCB w/components XBee ZB XBee ZB Barometer Heart Rate Monitor CPU: PC Accelerometer Gas Sensor XBee Explorer

Magnetometer Optical Air Quality Sensor

Gyro AT89C51RC2 Frame 32 kB NVSRAM ATMEGA 2560 PCB w/ components Battery Wiring Harness 4 ESC's 4 Motors 4 Propellers + Extras Logic Level Converter Ultrasonic Range Finder XBee ZB Gas Temperature

Updated Parts List

Klitz

Updated Division of Labor

Phase 1: Ben Camden Daniel Klitz MontyPCB Design Flight Command Functional Decomposition

Phase 2:

Testing

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

Klitz

Updated Schedule

Klitz

QUESTIONS?

camden mendiola ben houston monty prekeris dan rice dan “klitz” johnson

Documents

vbenfunctional decomposition

mesh network expo

testingbasic flight

gps integration

pcb version

environmental sensors

testing strategy

phase acback emf