===== Design =====
* 4 Motors ESC
* ARM Cortex-M3 80Mhz
* Sensors: Gyro, Accelerometer, Compass, Temperature, GPS & Sonar(to come in later design)
* Xbee 802.15.4 Wireless Communication
{{:quadrotor_flightchassis.jpg | 650px}}
===== Plan =====
Project is current in **Phase B-9**.
Design Diagram: {{:quadrotor uav arko.vsd}}
==== Phase A - Hardware Development ====
- Build a one motor/ESC setup, vary speed (Prototype with Arduino)
- Build a two motor/ESC setup, vary speed (Prototype with Arduino)
- Design board with new TI chip, sensors, power management, etc.
- Layout, mill and test proto board
- Build a two motor/ESC setup teeter-tot (Pitch) and wire up to proto board, test all hardware
==== Phase B - Modeling & Software Development ====
- Create library (or use Maple IDE)
- Create Kalman filter for all sensor inputs
- Create basic flight control/stabilization code
- Balance one degree of freedom very well (Pitch)
- Code Clean Up
- Build a rig to support two degrees of freedom (Pitch and Roll)
- Balance two degrees of freedom (Pitch and Roll) very well
- Modify rig to support three degrees of freedom (Pitch, Roll, Yaw)
- Balance and stabilize all three axis, add fourth degree of freedom (Altitude)
- Create wireless communication with computer/controller and command set
==== Phase C - Testing/Revising ====
- Test and improve board layout, filtering, design
- Design/CAD new chassis, mount and update model
- Add any extra features
- Test, Test, Test
==== Phase D - Package and Document ====
- Document all parts, assembly notes, and code
- Create cost summary and links to buy parts
==== Phase E - Complex Flight ====
- Follow flight path defined by user
- Do tricks?
- Stage 6 to CDM, separation at level 4
==== Phase F - ??? ====
==== Phase G - Profit ====
===== Chassis and Hardware =====
- Build teetertot 1 degree of freedom (pitch)
* Picture and build instructions coming soon..
- Build 2 degrees of freedom balance (pitch and roll)
- Build 3 degrees of freedom rig (pitch, roll, yaw)
- Build 6 degrees of freedom rig (hang on a string?, pitch, roll, yaw, long, lat, alt)
===== Board Layout and Schematic =====
* Board layout and schematic to be posted soon..
* List of Parts to be posted soon..
===== State Estimation & Kalman Filter =====
To obtain a clean state estimation one must first filter the sensory inputs then produce a state model based on that.
- Create Kalman filter
* Here's a simulation of a gyro and accelerometer filtered to give a clean angle estimation: {{:kalman_gyro_acc.m}}
- Create state model
===== Control System =====
===== Hardware links =====
* Processor: [[http://focus.ti.com/docs/prod/folders/print/lm3s9b96.html|TI LM3S9B96 - ARM Cortex-M3 80Mhz]]
* Gyro: [[http://www.mouser.com/ProductDetail/STMicroelectronics/L3G4200D/?qs=Mmr5WwCtLzN7Jc5xVj4UAQ%3d%3d|L3G4200D]]
* Accelerometer: [[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=ADXL335BCPZ-RL7CT-ND|ADXL335]]
* Compass: [[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=342-1071-1-ND|HMC5843]]
* Temperature: [[http://www.analog.com/static/imported-files/Data_Sheets/TMP35_36_37.pdf|TMP35]]
* Crystals: [[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=300-8206-1-ND|16 Mhz Crystal]]
* Crystals: [[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=300-8218-1-ND|25 Mhz Crystal]]
* Power Regulator Buck: [[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=296-23844-1-ND|TPS54231]]
* Level Logic: [[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=BSS138-FDICT-ND|BSS138]]
* Wireless: [[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=XB24-AWI-001-ND|Zigbee Module]]
===== Software Links =====
* Maple IDE: [[http://leaflabs.com/|Maple IDE]]
* QGroundControl: [[http://qgroundcontrol.org/|qgroundcontrol]]
* IAR: [[http://www.iar.com/website1/1.0.1.0/68/1/|IAR ARM]]
===== Pictures & Videos =====
First Stable Flight with APM!
New Chassis!
{{:apm2_1.jpg | 650px}}
{{:apm2_2.jpg | 650px}}
First flight test with APM
New Frame!
{{:quadrotor_flightchassis.jpg | 650px}}
Fixed Kalman Filter Lag issues! Small setback, but the control should be much cleaner.
New Mount! Finally Rotational X,Y,Z!
{{:quadonmount.jpg | 650px}}
New Chassis!! Finally have 4 rotors!
{{:quadrotor.jpg | 650px}}
New board in action!
{{:drone_newboard.png | 650px}}
Balancing with a Kalman Filter and PID loop tuned!
Balancing for the first time! (no Kalman Filter)
{{:5439741756 fa41a7dce1 b.jpg | 650px}}
{{:5447116545 4d5cdab391 b.jpg | 650px}}
Powered up the motors and able to read accelerometer!
First time firing up the board and the code uploaded just fine! Test code works!
{{:pop_board_rev2.jpg | 500px}}
Beginning code works! Able to read multiple ADC inputs and output multiple PWM outputs!
{{:complete_board.jpg | 500px}}
{{:devel_board_quad.jpg | 500px}}
{{:photo (1).jpg | 500px}}
{{:half_asm.jpg | 600px}}
{{:nsldroneproto.jpg | 600px}}