gauchohawkyoga/capstone/media/gauchohawk... · 2019-12-12 · pixhawk is an independent,...
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GauchoHawkEnd of Quarter Report
Vikram Sastry, Yesh Ramesh, Kurt Madland, Jack Zang, Richard Young, and Shawn Zhang
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INTRODUCTIONPixhawk Pitfalls
1. No high quality inertial measurement unit (IMU) for precision flight control.
2. No magnetometer for extended periods of inertial guidance and state estimation.
3. No Ethernet interface for high speed connection to Linux Computers or IP data links.
4. No Real Time Kinetic (RTK) capable GPS for accurate reference “truth” measurements.
5. No precise time source for time-stamping sensor data in absence of GPS.
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What is the Pixhawk?
Pixhawk is an independent, open-hardware project aiming at providing high-end autopilot hardware and open-source flight control software to the academic, hobby, and industrial communities at low costs and high availability.
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Pixhawk + Improved Hardware + a few Gauchos(and a little help from Aerovironment)
= GauchoHawk
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MEET THE TEAM
Vikram Sastry
Yesh Ramesh
Kurt Madland
Jack Zang
Shawn Zhang
Richard Young
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Team Leader, System Design
Software Porting, Digital Design
Analog & Digital Design, System Design
Analog & Digital Design, System Design
Software Porting, Interface Design
Software Porting, Interface Design
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Shield Hardware DevelopmentWe propose to use the STMicroelectronics Nucleo-STM32F767ZI board in conjunction with a “Shield” daughterboard to introduce a high quality IMU, Barometer/Altimeter, Magnetometer, Airspeed Sensor, RTK GPS, XBEE Radio, SBUS, CAN, Servo/Motor PWM, and Interrupt/GPIO capability.
PROJECT DESCRIPTION
PX4 Software ImplementationWe propose to port the open source PX4 middleware, flight control stack, and NuttX OS to the Nucleo board and develop a new sensor driver suite to support the full expanded functionality of the sensor shield daughterboard.
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PROJECT APPLICATIONS
1. Agriculture● Identifying irrigation deficiencies,
inspect crops for stress, etc.
2. Military● Training, tactical UAV missions,
missile guidance, etc.
3. Online Retail● Reduce delivery overhead, etc.
4. Many more…
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System Design Overview
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Components
▫ List of Components▪ Microcontroller Unit - STM32F767ZI▪ Wireless Network - XBEE 900HP▪ Pressure - LPS22HB▪ Pressure & Temperature - MS4515DO▪ Navigation - Neo-M8P▪ Magnetometer - QMC5883L▪ Motion Tracking - MPU-9250 IMU
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Hardware
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PCB Schematic
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PCB Layout
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PCB
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Power Distribution
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Supplying 24V to our PCB● 5.5 V analog (servos), 5V digital, and 3.3V digital● Servos require 5.5V to VDD
Component Supply Voltage
Servos (8) 5.5 V
Peripherals (7) 3.3 V
Servos Signal (8) 5 V
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Software
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Software
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▫ Port PX4 to Nucleo F7▪ Successfully able to flash and run the PX4
firmware on our board▪ Use STM32CubeProgrammer application to load
“.elf” file▪ Use mavproxy via python’s pip installer to
connect to appropriate serial port▪ Run:
▫ “module load nsh”▫ “nsh start”
▪ Above commands will run NuttX Shell▫ Allows us to interface with the board and
pass commands/read data
▫ Commands▪ PWM currently working▪ Some driver specific commands are still needed
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Software
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▫ Drivers▪ We have code for most of the drivers, but
most are untested▪ Currently working on setting up tests for
each component and driver pair
▫ Prototype Skeleton Code▪ Our sponsor sent us some skeleton code
fleshing out some of the drivers we don’t have configured yet
▪ Caveat: They’re not formatted for PX4 usage, so some adaptation is needed
▪ Shouts out to the Phil Dawg
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Progress Check
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Critical Elements
18 ▫ PCB Assembly may be faulty▪ Requires us to re-spin the PCBs, which
is a time consuming process▪ Could be problematic to debug given
state of drivers▫ Drivers not all functioning, or even tested
▪ We have an assortment of driver code from various sources:▫ Some from the official PX4 Repo▫ Some from our sponsor’s skeleton
code▪ Skeleton code requires adaptation to
function with the PX4 flight stack▪ Above could lead to consistency issues
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Conclusion
19 ▫ Goals for Spring 2018:▪ All modules have a corresponding
driver▪ All drivers to be integrated and
communicating with NuttX▫ Including driver specific commands
accessed via serial port▪ Work through test cases for each
module on the board▪ Ensure that Auto Pilot is correctly
functioning▪ Integrate servos and Ground Control
communication▪ Put it on an airframe
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Questions?
Thank you to Dr. Isukapalli, Caio, and Phil Tokumaru for their patience and guidance.